[fbeV1] Publishing COM computed from estimated base state

robotology / whole-body-estimators

YARP devices that implement estimators for humanoid robots.

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[fbeV1] Publishing COM computed from estimated base state #13

Closed prashanthr05 closed 4 years ago

prashanthr05 commented 4 years ago

This PR does the following,

computes COM state from estimated base pose, base velocity and kinematic measurements The COM state is available on the port / estimator-prefix /center_of_mass/state:o in serialziation x y z vx vy vz
fixes deprecation of yarp::os::Mutex and yarp::os::LockGuard by using std::mutex and std::lock_guard

cc @S-Dafarra

prashanthr05 commented 4 years ago

Merged, thanks!

prashanthr05 commented 4 years ago

I have tested it on simulation. The /base-estimator/center_of_mass/state:o port appears and streams estimated com state as soon as a startFloatingBaseEstimator command is sent on the RPC port through yarp rpc /base-estimator/rpc