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robotology / whole-body-estimators

YARP devices that implement estimators for humanoid robots.
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Clarify velocity representation #81

Closed diegoferigo closed 4 years ago

diegoferigo commented 4 years ago

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

prashanthr05 commented 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).

diegoferigo commented 4 years ago

Thanks @prashanthr05 for the confirmation!