Convert Eigen vectors (member variables) of force-torque-estimator from static to dynamic size.
Merge branch 'master' of https://github.com/andreadelprete/sot-torque-control into debug_eigen_alignment
Improve python functions for testing estimator on the robot. Set desired velocity to zero after sending sinusoid. Add a ros topic for the fake state (i.e. output of the integrator inside device). Correct sign of (temporary) constant gravity (to be used as long as the device accelerometer doesn't work.
Add measurement of computation time.
Merge branch 'debug_eigen_alignment' of https://github.com/andreadelprete/sot-torque-control into debug_eigen_alignment
Add measurement of computation time for estimator. Remove call to init method in function create_estimator, because before calling it I need to start the graph.