Add dcm bias accessor and 3d Foot Force Difference Control

jrl-umi3218 / mc_rtc

mc_rtc is an interface for simulated and real robotic systems suitable for real-time control

BSD 2-Clause "Simplified" License

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Closed antodld closed 1 year ago

antodld commented 1 year ago

This PR adds :

An accessor for the estimated DCM bias, it is also possible to compute this latter without applying it for DCM feedback regulation or CoM correction
A change in the DCM bias estimation where it is now computed from the robot state and not the state error
An extension of the ffdc to the 3d case
Accessor fix for CoM Velocity