Closed diegoferigo closed 4 years ago
Yes, internally iDynTree free-floating frame Jacobians are used to compute the velocity assuming rigid contacts at the feet. And these Jacobians are computed using mixed-velocity representations (which are default).
Thanks @prashanthr05 for the confirmation!
The
baseEstimatorV1
devices streams the estimated quantities to the/base-estimator/floating_base/state:o
port. The methods called are the following, where a minimal documentation exists:https://github.com/robotology/whole-body-estimators/blob/9608ba9ccb2262ae18244328c4efa1b5aafe5583/devices/baseEstimatorV1/include/baseEstimatorV1.h#L427-L444
It is not clear, however, what is the velocity representation used. Is it the mixed representation as defined in Multibody Dynamics Notation?
cc @prashanthr05 @traversaro