CHANGELOG

Changelog for package legged_estimation

2.7.3 (2025-07-27)

  • Fix the center of pressure computation!

  • Contributors: qiayuanl

2.7.2 (2025-07-21)

  • Update CHANGELOG.rst

  • Contributors: qiayuanl

  • Update CHANGELOG.rst

  • Contributors: qiayuanl

2.7.1 (2025-07-11)

2.7.0 (2025-06-17)

  • Merge branch ‘master’ into feature/async # Conflicts: # legged_rl_controllers/src/RlController.cpp

  • Merge branch ‘master’ into feature/async

  • Merge branch ‘master’ into feature/async

  • Contributors: qiayuanl

2.6.0 (2025-06-17)

2.5.0 (2025-06-15)

2.4.0 (2025-06-14)

2.3.1 (2025-06-02)

2.3.0 (2025-05-31)

2.2.0 (2025-05-26)

2.1.1 (2025-05-01)

  • Merge branch ‘refs/heads/master’ into feature/lio_fuse

  • Contributors: qiayuanl

2.1.0 (2025-04-28)

  • Merge pull request #2 from qiayuanl/feature/lio_fuse Feature/lio fuse

  • Merge pull request #1 from qiayuanl/fix/estimator Fix/estimator

  • Move the position sensor topic from LinearKalmanFilterRos2 to StateEstimator.

  • Add LinearKalmanFilter::updatePositionMeasurement

  • Separate LinearKalmanFilter::update() to LinearKalmanFilter::updateImuProcess() and LinearKalmanFilter::updateContactsMeasurement()

  • Add configuration for contact probabilities of LinearKalmanFilter

  • Add acceleration bias estimation

  • Add ZMP visualization for LinearKalmanFilterVisualization

  • Add LinearKalmanFilter::updateContactProbabilities, use force threshold and ZMP to determine the probability

  • Set kalman gain to zero for foot not in contact

  • Add LinearKalmanFilter::reset

  • Add LinearKalmanFilter::getImuProcessNoiseCovariance

  • Remove foot velocity measurement from LinearKalmanFilter

  • Correct the usage of linear velocity state estimation result!

  • Contributors: Qiayuan Liao, qiayuanl

2.0.0 (2025-04-08)

1.4.0 (2025-04-02)

1.3.1 (2025-04-01)

1.3.0 (2025-03-29)

1.2.1 (2025-03-29)

  • Add and run pre-commit

  • Contributors: qiayuanl

1.2.0 (2025-03-28)

1.1.0 (2025-03-26)

  • Add gm_observer.cut_off_frequency and gm_observer.force_threshold configuration

  • Simplify LinearKalmanFilter, don’t do measurement update if no contact exit.

  • Add param interface for LinearKalmanFilter

  • Replace all ZYX with quaternion

  • Remove incorrect initialization of lowPassLast_ in GmObserver::GmObserver

  • Fix minor problem in LeggedModel

  • Add GmObserverRos2

  • Use size_t in some for loop

  • Add LinearKalmanFilter

  • Use shared_library

  • Using SharedPtr = std::shared_ptr

  • Add legged_estimation

  • Contributors: qiayuanl