Update footorigincoords in OCTD and ABC/ST static balance point calculation #1180
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…wo feet contact is supported.
…ference contact states in object contact turnaround detector foot origin coords calculation
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…e point calculation
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restartしてtravis通りました。 |
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ありがとうございます。 |
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OCTD/ABC/STのいくつかの変更をまとめました。
支持足座標系を実姿勢を反映するfootorigin coords計算のものを使うようにしました(snozawa@023db87)
支持足をABCがだすrefrenceなcontact statesで計算するようにしました(snozawa@258b181)
片足立ちでも良いように修正しました。
よろしくお願いします。