Removed a method updateBaseVelocityWithIMU() which was unused and the internal computations seemed to be wrong. (missing an adjoint velocity transform from IMU frame to base frame)
Removed redundant opening of controlboard devices, which is unused by the estimator device, since we open a remotecontrolboardremapper and the estimator device attaches to this remapper. Thanks to @diegoferigo for spotting this.
Removed a method updateBaseVelocityWithIMU() which was unused and the internal computations seemed to be wrong. (missing an adjoint velocity transform from IMU frame to base frame)
Removed redundant opening of
controlboarddevices, which is unused by the estimator device, since we open a remotecontrolboardremapper and the estimator device attaches to this remapper. Thanks to @diegoferigo for spotting this.Update documentation. Fixes #81.