Using the feetYawDelta and the slowWhenBackwardFactor.

[GiulioRomualdi]

This PR should be merged after #87

cc @S-Dafarra

[S-Dafarra]

This PR should be merged after #87

cc @S-Dafarra

And after robotology/unicycle-footstep-planner#41

[S-Dafarra]

@GiulioRomualdi I cannot add you as a reviewer, but please take a look at the code

[GiulioRomualdi]

I think we can merge it

[GiulioRomualdi]

Let's wait for #87 before merging this PR

[S-Dafarra]

I just realized that the reason why the robot was not walking straight when using the feetYawDelta, is because the reference coming from the joystick is translated in the "robot frame" by using the foot orientation, while instead it should use the unicycle angle. I will try to fix it, so this is an additional blocking point for this PR.

[S-Dafarra]

I just realized that the reason why the robot was not walking straight when using the feetYawDelta, is because the reference coming from the joystick is translated in the "robot frame" by using the foot orientation, while instead it should use the unicycle angle. I will try to fix it, so this is an additional blocking point for this PR.

Done in dc33e9a

[GiulioRomualdi]

Since #87 contains several rebase, I'm fixing the commits. A rebase should be enought

[GiulioRomualdi]

@S-Dafarra let me know if we can merge it

[S-Dafarra]

I think so. The main structural change has been introduced in 86792c8, where the logic to transform the references from a local frame to a global frame has been moved in a single place in the computeThread. If it is ok for you we can proceed.

[GiulioRomualdi]

@S-Dafarra seems ok 😃