{"action":"created","comment":{"url":"https://api.github.com/repos/robotology-playground/yarp-wholebodyinterface/pulls/comments/27040006","id":27040006,"diff_hunk":"@@ -760,7 +768,37 @@ bool yarpWholeBodyEstimator::threadInit()\n     left_sole_local_id = wbi::ID(LEFT_LEG,8);\n     right_sole_local_id = wbi::ID(RIGHT_LEG,8);\n     */\n-\n+    \n+    /*    Eigen::Map<Eigen::VectorXd> dqjVect(dqj,dof);\n+    Eigen::Matrix<double,6,Eigen::Dynamic,Eigen::RowMajor> complete_jacobian(6,dof+6), joint_jacobian(6,dof),floatingBase_jacobian(6,6);\n+    Eigen::Matrix<double,6,Eigen::Dynamic,Eigen::RowMajor> tempMatForComputation(6,dof);//, minusTemp(6,dof);\n+    Eigen::VectorXd dvbVect(6);\n+    Eigen::Map<Eigen::VectorXd> yarpWrapper(estimates.lastBaseVel.data(), estimates.lastBaseVel.size());\n+  */  \n+  \n+     int dof = estimates.lastQ.length();\n+//     dqjVect_.resize(6,dof+6);\n+//     std::cout<<\" dqjVect : \"<<dqjVect_.rows()<<\" , \"<<dqjVect_.cols()<<\"\\n\"; \n+\n+\n+    \n+    complete_jacobian.resize(6,dof+6);\n+    joint_jacobian.resize(6,dof);\n+//     floatingBase_jacobian(6,6);\n+    tempMatForComputation.resize(6,dof);\n+    new (&rotationalVelocityWrapper) Eigen::Map<Eigen::VectorXd>(estimates.lastBaseVel.data(), estimates.lastBaseVel.size());\n+    new (&dqjVect) Eigen::Map<Eigen::VectorXd>(estimates.lastDq.data(),dof);","path":"src/yarpWholeBodyStates.cpp","position":73,"original_position":71,"commit_id":"00df8f1db48d36082cd529ce956973e817a6890e","original_commit_id":"1ae23aca459c4cb74bedae162ce69d203299c3af","user":{"login":"traversaro","id":1857049,"avatar_url":"https://avatars.githubusercontent.com/u/1857049?v=3","gravatar_id":"","url":"https://api.github.com/users/traversaro","html_url":"https://github.com/traversaro","followers_url":"https://api.github.com/users/traversaro/followers","following_url":"https://api.github.com/users/traversaro/following{/other_user}","gists_url":"https://api.github.com/users/traversaro/gists{/gist_id}","starred_url":"https://api.github.com/users/traversaro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/traversaro/subscriptions","organizations_url":"https://api.github.com/users/traversaro/orgs","repos_url":"https://api.github.com/users/traversaro/repos","events_url":"https://api.github.com/users/traversaro/events{/privacy}","received_events_url":"https://api.github.com/users/traversaro/received_events","type":"User","site_admin":false},"body":"Ah... ok! I still guess that a local `Eigen::Map` is more readable, but apparently this is endorsed on Eigen docs..","created_at":"2015-03-24T15:40:20Z","updated_at":"2015-03-24T15:40:20Z","html_url":"https://github.com/robotology-playground/yarp-wholebodyinterface/pull/23#discussion_r27040006","pull_request_url":"https://api.github.com/repos/robotology-playground/yarp-wholebodyinterface/pulls/23","_links":{"self":{"href":"https://api.github.com/repos/robotology-playground/yarp-wholebodyinterface/pulls/comments/27040006"},"html":{"href":"https://github.com/robotology-playground/yarp-wholebodyinterface/pull/23#discussion_r27040006"},"pull_request":{"href":"https://api.github.com/repos/robotology-playground/yarp-wholebodyinterface/pulls/23"}}},"pull_request":{"url":"https://api.github.com/repos/robotology-playground/yarp-wholebodyinterface/pulls/23","id":29683205,"html_url":"https://github.com/robotology-playground/yarp-wholebodyinterface/pull/23","diff_url":"https://github.com/robotology-playground/yarp-wholebodyinterface/pull/23.diff","patch_url":"https://github.com/robotology-playground/yarp-wholebodyinterface/pull/23.patch","issue_url":"https://api.github.com/repos/robotology-playground/yarp-wholebodyinterface/issues/23","number":23,"state":"open","locked":false,"title":"root world velocity feature and unit test added","user":{"login":"naveenoid","id":3089530,"avatar_url":"https://avatars.githubusercontent.com/u/3089530?v=3","gravatar_id":"","url":"https://api.github.com/users/naveenoid","html_url":"https://github.com/naveenoid","followers_url":"https://api.github.com/users/naveenoid/followers","following_url":"https://api.github.com/users/naveenoid/following{/other_user}","gists_url":"https://api.github.com/users/naveenoid/gists{/gist_id}","starred_url":"https://api.github.com/users/naveenoid/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/naveenoid/subscriptions","organizations_url":"https://api.github.com/users/naveenoid/orgs","repos_url":"https://api.github.com/users/naveenoid/repos","events_url":"https://api.github.com/users/naveenoid/events{/privacy}","received_events_url":"https://api.github.com/users/naveenoid/received_events","type":"User","site_admin":false},"body":"Root-world rototranslation and root-velocity functionality added. Currently uses filtered joint angles and a joint jacobian to compute quantities assuming contact link_name is a constrained link in the world. The unit test runs 1 of 2 possible tests - a torso twist or a squat for 4 iterations while also storing the data and displaying on screen. \r\n@DanielePucci \r\n@traversaro \r\n@alecive ","created_at":"2015-02-20T09:48:16Z","updated_at":"2015-03-24T15:40:20Z","closed_at":null,"merged_at":null,"merge_commit_sha":"1859641bee3b69ad53f7cebdc5b34ade81329ba5","assignee":null,"milestone":null,"commits_url":"https://api.github.com/repos/robotology-playground/yarp-wholebodyinterface/pulls/23/commits","review_comments_url":"https://api.github.com/repos/robotology-playground/yarp-wholebodyinterface/pulls/23/comments","review_comment_url":"https://api.github.com/repos/robotology-playground/yarp-wholebodyinterface/pulls/comments{/number}","comments_url":"https://api.github.com/repos/robotology-playground/yarp-wholebodyinterface/issues/23/comments","statuses_url":"https://api.github.com/repos/robotology-playground/yarp-wholebodyinterface/statuses/00df8f1db48d36082cd529ce956973e817a6890e","head":{"label":"robotology-playground:feature/root_world_velocity","ref":"feature/root_world_velocity","sha":"00df8f1db48d36082cd529ce956973e817a6890e","user":{"login":"robotology-playground","id":5544745,"avatar_url":"https://avatars.githubusercontent.com/u/5544745?v=3","gravatar_id":"","url":"https://api.github.com/users/robotology-playground","html_url":"https://github.com/robotology-playground","followers_url":"https://api.github.com/users/robotology-playground/followers","following_url":"https://api.github.com/users/robotology-playground/following{/other_user}","gists_url":"https://api.github.com/users/robotology-playground/gists{/gist_id}","starred_url":"https://api.github.com/users/robotology-playground/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/robotology-playground/subscriptions","organizations_url":"https://api.github.com/users/robotology-playground/orgs","repos_url":"https://api.github.com/users/robotology-playground/repos","events_url":"https://api.github.com/users/robotology-playground/events{/privacy}","received_events_url":"https://api.github.com/users/robotology-playground/received_events","type":"Organization","site_admin":false},"repo":{"id":19981805,"name":"yarp-wholebodyinterface","full_name":"robotology-playground/yarp-wholebodyinterface","owner":{"login":"robotology-playground","id":5544745,"avatar_url":"https://avatars.githubusercontent.com/u/5544745?v=3","gravatar_id":"","url":"https://api.github.com/users/robotology-playground","html_url":"https://github.com/robotology-playground","followers_url":"https://api.github.com/users/robotology-playground/followers","following_url":"https://api.github.com/users/robotology-playground/following{/other_user}","gists_url":"https://api.github.com/users/robotology-playground/gists{/gist_id}","starred_url":"https://api.github.com/users/robotology-playground/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/robotology-playground/subscriptions","organizations_url":"https://api.github.com/users/robotology-playground/orgs","repos_url":"https://api.github.com/users/robotology-playground/repos","events_url":"https://api.github.com/users/robotology-playground/events{/privacy}","received_events_url":"https://api.github.com/users/robotology-playground/received_events","type":"Organization","site_admin":false},"private":false,"html_url":"https://github.com/robotology-playground/yarp-wholebodyinterface","description":"Implementation of the wholeBodyInterface for YARP robots. 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