Add libraries for observers #27
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These are mostly high level comments, I'll have a closer look after this first round.
Within reason try to avoid long functions and try to avoid duplicating large swat of codes between different functions, this makes it harder to follow the logic and to understand the difference in implemented behavior for some of them without paying close attention to the details which makes it harder to reason about and to debug
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…on_Arnaud into LibrariesPR
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Thanks again for the work you put into this. I think we will be able to merge this soon.
I have pushed something closer to what I add in mind with the introduction of the contacts' callbacks, feel free to cherry-pick them on the relevant branches or adapt them otherwise
Please also address the (relatively few) remaining points and we'll be good to go :)
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| } // namespace mc_state_observation::measurements |
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I have pushed something closer to what I had in mind about passing callbacks to the update function: gergondet@ad5f447
(matching observer code change: gergondet@1dbe830 without considering whether going through the contact list is absolutely needed or it can be done in the callback)
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| #include <mc_state_observation/conversions/kinematics.h> | |||
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| #include <mc_state_observation/odometry/LeggedOdometryManager.h> | |||
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I have adressed your latest requests |
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