Closed Nanda-Kishore-V closed 5 years ago
QPs for contact estimation are constructed once in the constructor of CassieRbtStateEstimator and updated in the Update() function for each optimization. This pull request fixes #76.
CassieRbtStateEstimator
Update()
QPs for contact estimation are constructed once in the constructor of
CassieRbtStateEstimatorand updated in theUpdate()function for each optimization. This pull request fixes #76.