Make CoM position and velocity body relative instead of absolute

sachinumans / SAUmansThesis

All code written for the Systems&Control Master of Science thesis of Sachin Umans

MIT License

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Make CoM position and velocity body relative instead of absolute #41

Closed sachinumans closed 11 months ago

sachinumans commented 12 months ago

This means that x and y will be fixed to 0, but these velocities could still be estimated

velocities in x and y could be estimated 0 -> ignoring steady state velocity? This however introduces the problem of how to translate the foot position.