src/angle-estimator.cpp · a56d01bf344982a338524a441ca6d809607dca8b · Stack Of Tasks / sot-dynamic-pinocchio

14 years ago

Fix computation of WaistWorldPositionSOUT. · a56d01bf

Florent Lamiraux authored 14 years ago

    * src/angle-estimator.cpp: previous implementation did not take into account
      contactWorldPositionSIN and returned position of the waist in contact
      joint frame.
      New implementation returns position of the waist in the global frame.

a56d01bf

History

Fix computation of WaistWorldPositionSOUT.

Florent Lamiraux authored 14 years ago

    * src/angle-estimator.cpp: previous implementation did not take into account
      contactWorldPositionSIN and returned position of the waist in contact
      joint frame.
      New implementation returns position of the waist in the global frame.