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Stable BaseEstimatorFromFootIMU.#792

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G-Cervettini wants to merge 45 commits intoami-iit:masterami-iit/bipedal-locomotion-framework:masterfrom G-Cervettini:fix_imu_base_estimation_rebasedG-Cervettini/bipedal-locomotion-framework:fix_imu_base_estimation_rebasedCopy head branch name to clipboard

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Commits on Dec 5, 2023

• Fixed an issue with baseEstimatorFromFootIMU wich did not properly reset the orientation info before each advance call

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• Using IMU yaw insted of planned yaw

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• Reverting last commit, using planned yaw to replace imu yaw

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• Fixed rotation bug and using IMU yaw again

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• Fixed bug regarding the use of IMU yaw

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• Fixed foot sole local frame axes

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• Code semplification in the translation calculation to spot the translation discontinuities bug

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• updating foot corners in inertial frame when foot is flat

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• Modified the estimator to export foot corners position for debug

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• Typo in comments

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• It's finally working!

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• Adding a translation to cyan dots so that they are fixed to the robot foot

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• Code updates related to first test on the robot

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• Comment updates related to first test on the robot

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• Better contact corner update, get CoM, code refactoring

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• Minor code refactoring

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• Minor visualization changes

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• Edited class BaseEstimatorFromFootIMU to enable stance foot switch

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• Pose update fix. Calculating the offset at each step.

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• Fixed stance foot corners visualization

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Commits on Dec 18, 2023

• Fix discontinuity in the contact foot yaw angle while turning

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Commits on Jan 3, 2024

• Ignore delta Z between steps.

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Commits on Jan 4, 2024

• Added a zero translation vector as class member.

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• Improved setModel method, added debug console prints.

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Commits on Jan 5, 2024

• Added warning for error between input and output feet rotations above threshold.

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Commits on Jan 6, 2024

• Bug fix: yaw discontynuity at stance switch for the first of a direction change.

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Commits on Jan 9, 2024

• Typo fix.

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Commits on Jan 11, 2024

• Avoid to call BufferedPort::prepare every time VectorsCollectionServer::VectorsCollectionServer is called

  

  GiulioRomualdi

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Commits on Jan 12, 2024

• Revert unwanted changes.

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Commits on Jan 15, 2024

• Writing estimated pose to yarp port for the WalkingModule.

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Commits on Jan 16, 2024

• Changed from Bottle to yarp::sig::vector.

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Commits on Jan 18, 2024

• Added YarpRobotLoggerDevice config files for ergoCubGazeboV1_1.

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Commits on Feb 6, 2024

• Updated YarpRobotLogger for ergoCubGazeboV1_1

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• Increased error threshold to limit warning messages.

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Commits on Feb 13, 2024

• Adding feet IMU to yarp logger device.

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• Additional changes needed to actually log the imu data through the yarp logger.

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Commits on Feb 19, 2024

• Removed yarp write of the output from the estimator. This must be perforned by the RFModule.

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Commits on Feb 29, 2024

• Added estimation of the floating base twist to the BaseEstimatorFromFootIMU.

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Commits on Mar 1, 2024

• Code refactoring for improved error handling.

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• Improved orientation error warning logic.

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Commits on Mar 6, 2024

• Added a reset method for the BaseEstimatorFromFootIMU.

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• Specified type into variable declaration.

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Commits on Mar 28, 2024

• Added TimeProfiler to BLF.

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Commits on Mar 29, 2024

• Added time profiler inside System in BLF.

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Commits on Mar 31, 2024

• Final changes to TimeProfiler: changelog, clang-format and removed std::cerr.

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