Question about the LinearKFPositionVelocityEstimator

mit-biomimetics / Cheetah-Software

MIT License

2.58k stars 918 forks source link

Question about the LinearKFPositionVelocityEstimator #67

Open SSmarshal opened 3 years ago

SSmarshal commented 3 years ago

Sorry to interrupt, but I am confused by the codes below: _ps.segment(i1, 3) = -p_f; _vs.segment(i1, 3) = (1.0f - trust) * v0 + trust * (-dp_f) pzs(i) = (1.0f - trust) * (p0(2) + p_f(2)) I wonder what the _ps and the _vs are, it seems that _ps is negative value of the position of four legs in the world coordinate.

daniu22 commented 3 years ago

_ps is the position vector from foot to CoM in the world frame, _vs is the relative velocity vector of CoM with respect to foot (just personal understanding)