Currently the entity ForceTorqueEstimator computes:
joint velocities and accelerations (using polynomial filters)
joint torques and contact wrenches
Since the computation of joint velocities and accelerations is independent of the second operation we should split this entity into two. This makes especially sense considering that for the new robot (Pyrene) we will not need to estimate the joint torques using the robot dynamic model as we do now for HRP-2, but we'll still need to estimate the joint velocities (and maybe also the accelerations).
Currently the entity ForceTorqueEstimator computes:
Since the computation of joint velocities and accelerations is independent of the second operation we should split this entity into two. This makes especially sense considering that for the new robot (Pyrene) we will not need to estimate the joint torques using the robot dynamic model as we do now for HRP-2, but we'll still need to estimate the joint velocities (and maybe also the accelerations).