Cop estimator and stabilization fix

resibots / inria_wbc

Generic whole-body controller based on quadratic programming

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Closed ibergonzani closed 2 years ago

ibergonzani commented 2 years ago

fix -> filtered cop equal to boost::none if in single support fix - > use of filtered left or right cop for com and zmp admittance in single support

minor clean of cop_estimator class

dalinel commented 2 years ago

I have tested it on my side, it works well and improves stabilization