Stefano Dafarra

Just to provide some data: - Number of IK iterations: 2799 ## Timings - Sample Mean: 3.9614 ms - Sample Variance: 0.1205 ms - Max time: 556 ms - Min...

Can you call the ``init`` method again? The idea is to filter the ``z`` component from the outside (even if I am not sure about which kind of side effects...

So in principle you could also reinitialize the odometry by setting the "modified" transform of the fixed link. I don't know how this affects the performances of the base estimator...

In principle we could improve that method, but maybe we can achieve the same effect by calling ``init`` and ``changeFixedFrame`` in sequence.

A possibility could be to add an optional parameter to the ``changeFixedFrame`` method to force the the fixed link to a specified transform.

>To be part of the library, we can add an option that assumes flat terrain and allows us to use the method described by @GiulioRomualdi >>Yes, exactly and the desired...

What about the floating base part? Should we consider a 6dof joint there? Also, is there any possibility to use these computations also for the matrix mapping base velocity and...

Just to provide another source, Equation 13 of https://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=240619 corresponds to Equation 37 of https://ieeexplore.ieee.org/stamp/stamp.jsp?arnumber=1554272

Aren't those related to time derivative? :thinking:

Thanks @jcarpent! I will definitely go though that. I updated the [above comment](https://github.com/robotology/idyntree/issues/464#issuecomment-402405375) to have the references all together. By any chance, do you have any document about the mathematical...