Manage base reference frame
In appli_dcmZmpControl_estimator.py (still on my fork) I am using a small entity which I called StateTransformation to convert the estimator's output from the reference frame of the feet to the one of the SoT.
The entity takes as input the position of the feet center as expressed in the reference frame of the SoT and it multiplies the estimation result by this value.
It would be nice if this calculation were embedded inside the base estimator so that I can get rid of this tiny entity.
@fbailly would you agree?