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| m_basePosOut("basePosOut", m_basePos), // ベースリンク位置出力値 | ||
| m_baseRpyOut("baseRpyOut", m_baseRpy), // ベースリンク姿勢出力値 (rpy) | ||
| m_baseTformOut("baseTformOut", m_baseTform), // ベースリンク位置姿勢 (matrix) | ||
| m_basePoseOut("basePoseOut", m_basePose), // ベースリンク位置姿勢 (rpy) |
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(basePos,baseRpy), baseTform, basePose は同じ値で、表現形式が違うという理解でいいかな？
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はい，どういう経緯でそうなったかわかりませんが（使いたい側でm_baseTformから適宜変換すればいい気がします），表現が違うだけで元の中身は同じものです．
| m_qRefIn("qRef", m_qRef), // 関節角度入力値 | ||
| m_basePosIn("basePosIn", m_basePos), // ベースリンク位置入力値 | ||
| m_baseRpyIn("baseRpyIn", m_baseRpy), // ベースリンク姿勢入力値 (rpy) | ||
| m_zmpIn("zmpIn", m_zmp), // ZMP 入力値 (腰座標) |
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腰座標はベースリンク位置姿勢と同じかな？
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同じものなので，ベースリンクで統一してpush -fしました．
| m_diffCPOut("diffCapturePoint", m_diffCP), // Capture Point 誤差 (world 座標) | ||
| m_diffFootOriginExtMomentOut("diffFootOriginExtMoment", m_diffFootOriginExtMoment), // モーメント誤差 (支持脚座標) | ||
| m_actContactStatesOut("actContactStates", m_actContactStates), // 各脚の実接触状態 (false: 遊脚, true: 支持脚) | ||
| m_COPInfoOut("COPInfo", m_COPInfo), // (COP 計算に必要な)各足に作用するモーメント (end-effector 座標) |
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end-effector 座標 は 支持脚座標と同じかな？
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支持脚座標系は接地している足のセンサリンクの中間点で，かつz座標が常に鉛直方向を向くように変換しなおした座標系です．（xyはセンサリンクの中間座標と同じ向きです）
YutaKojio
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@YoheiKakiuchi
このような感じでよろしいでしょうか．