[KinematicInertial] Fix use of state-observation #391
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Hi @arntanguy I have made some tests and found the correct version to call in state-observation (the one was that was copy-pasted from the state-observation repo back then) although it required a fix in Will merge when the CI lands |
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Added --- - [mc_control] Added motor status to joint sensor (#395) - [mc_control/FSM] Posture tasks' reset can be disabled (#389) - [mc_rtc/Configuration] Added support for `std::variant` (#393) - [mc_rtc/Configuration] Added `Configuration::find` (#393) - [mc_rtc/GUI] Added form elements to provide more complex forms (#394) Changes --- - [mc_control/FSM] FSM embedded in a Meta state no longer reset the posture at transition by default (#389) Fixes --- - [mc_observers] KinematicInertial uses the correct function from state-observation (#391) - [mc_solver] Fix a crash in monitor activation - [mc_tvm] Correctly include refAccel in Orientation|PositionFunction
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This PR fixes the mistakes introduced by #388 (I have temporarely reverted it on master with d4de8d3)
During walking I could see no differences checking the results of the old versus new method.
However, while perturbing the robot manually (dragging it around in choreonoid), there are still slight differences.
For example (displayed as RPY angles)
@mehdi-benallegue Could you confirm that this is indeed correct?