├── .devcontainer └── devcontainer.json ├── .github ├── dependabot.yml └── workflows │ └── industrial_ci_action.yml ├── .gitignore ├── DockerFiles └── Dockerfile ├── LICENSE ├── README.md ├── compose.yaml ├── doc ├── Controller_UML_scheme.pdf ├── Controller_est.png ├── PRONTO _ROS_UML.pdf ├── PRONTO_ROS_UML.png ├── ROS_Pronto_UML.pdf ├── architecture.md ├── pronto_node_ros1.png └── ros pronto.vpd.png ├── pi3hat_moteus_int_msgs ├── CMakeLists.txt ├── msg │ ├── FeetPos.msg │ ├── JointsCommand.msg │ ├── JointsStates.msg │ ├── OmniMulinexCommand.msg │ ├── PacketPass.msg │ └── QuadFootState.msg └── package.xml ├── pronto_biped_core ├── CHANGELOG.rst ├── CMakeLists.txt ├── COLCON_IGNORE ├── LICENSE ├── include │ └── pronto_biped_core │ │ ├── FootContact.hpp │ │ ├── FootContactAlt.hpp │ │ ├── biped_forward_kinematics.hpp │ │ ├── common_conversions.hpp │ │ ├── definitions.hpp │ │ ├── foot_contact_classify.hpp │ │ ├── leg_estimate.hpp │ │ ├── legodo_common.hpp │ │ ├── legodo_module.hpp │ │ ├── yawlock_common.hpp │ │ └── yawlock_module.hpp ├── package.xml ├── python │ ├── collections_test.py │ ├── send-a-pose.py │ ├── send-fake-imu-ros.py │ ├── send-fake-imu.py │ ├── send_a_robot_state_anymal.py │ ├── state-sync-simple-multisense-standalone.py │ ├── state-sync-simple.py │ └── test_pose_command.py └── src │ ├── FootContact.cpp │ ├── FootContactAlt.cpp │ ├── foot_contact_classify.cpp │ ├── leg_estimate.cpp │ ├── legodo_common.cpp │ ├── legodo_module.cpp │ ├── yawlock_common.cpp │ └── yawlock_module.cpp ├── pronto_biped_ros ├── CHANGELOG.rst ├── CMakeLists.txt ├── COLCON_IGNORE ├── include │ └── pronto_biped_ros │ │ ├── forward_kinematics_ros.hpp │ │ ├── legodo_handler_ros.hpp │ │ ├── treefksolverposfull_recursive.hpp │ │ └── yaw_lock_handler_ros.hpp ├── package.xml └── src │ ├── forward_kinematics_ros.cpp │ ├── legodo_handler_ros.cpp │ ├── pronto_biped_ros.cpp │ ├── treefksolverposfull_recursive.cpp │ └── yaw_lock_handler_ros.cpp ├── pronto_core ├── CHANGELOG.rst ├── CMakeLists.txt ├── README.md ├── doc │ ├── pronto_logotype.svg │ └── pronto_logotype_se.svg ├── include │ └── pronto_core │ │ ├── definitions.hpp │ │ ├── gps_module.hpp │ │ ├── indexed_meas_module.hpp │ │ ├── init_message_module.hpp │ │ ├── ins_module.hpp │ │ ├── lidar_odometry_module.hpp │ │ ├── pose_meas_module.hpp │ │ ├── pronto_core.hpp │ │ ├── rbis.hpp │ │ ├── rbis_update_interface.hpp │ │ ├── rigidbody.hpp │ │ ├── rotations.hpp │ │ ├── scan_matcher_module.hpp │ │ ├── sensing_module.hpp │ │ ├── state_est.hpp │ │ ├── update_history.hpp │ │ ├── vicon_module.hpp │ │ ├── visibility_control.h │ │ └── visual_odometry_module.hpp ├── launch │ └── parameter_test.launch ├── package.xml ├── src │ ├── gps_module.cpp │ ├── indexed_meas_module.cpp │ ├── init_message_module.cpp │ ├── ins_module.cpp │ ├── lidar_odometry_module.cpp │ ├── pose_meas_module.cpp │ ├── pronto_core.cpp │ ├── rbis.cpp │ ├── rbis_update_interface.cpp │ ├── rigidbody.cpp │ ├── rotations.cpp │ ├── scan_matcher_module.cpp │ ├── state_est.cpp │ ├── update_history.cpp │ ├── vicon_module.cpp │ └── visual_odometry_module.cpp └── test │ └── imu_module_test.cpp ├── pronto_msgs ├── CHANGELOG.rst ├── CMakeLists.txt ├── msg │ ├── BipedForceTorqueSensors.msg │ ├── ControllerFootContact.msg │ ├── FilterState.msg │ ├── GPSData.msg │ ├── IndexedMeasurement.msg │ ├── JointStateWithAcceleration.msg │ ├── LidarOdometryUpdate.msg │ ├── QuadrupedForceTorqueSensors.msg │ ├── QuadrupedStance.msg │ ├── VelocityWithSigmaBounds.msg │ └── VisualOdometryUpdate.msg └── package.xml ├── pronto_quadruped ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ ├── Doxyfile.in │ ├── README.md │ ├── dls_logo.svg │ └── pronto_logo.svg ├── include │ └── pronto_quadruped │ │ ├── DataLogger.hpp │ │ ├── DynamicStanceEstimator.hpp │ │ ├── FlexEstimator.hpp │ │ ├── FootSensorStanceDetector.hpp │ │ ├── ForceSensorStanceEstimator.hpp │ │ ├── ImuBiasLock.hpp │ │ ├── InverseSchmittTrigger.hpp │ │ ├── LegOdometer.hpp │ │ ├── LegOdometerBase.hpp │ │ ├── StanceEstimator.hpp │ │ ├── StanceEstimatorBase.hpp │ │ ├── pronto_quadruped.hpp │ │ └── visibility_control.h ├── package.xml └── src │ ├── DataLogger.cpp │ ├── DynamicStanceEstimator.cpp │ ├── FlexEstimator.cpp │ ├── FootSensorStanceDetector.cpp │ ├── ForceSensorStanceEstimator.cpp │ ├── ImuBiasLock.cpp │ ├── LegOdometer.cpp │ ├── StanceEstimator.cpp │ └── pronto_quadruped.cpp ├── pronto_quadruped_commons ├── CHANGELOG.rst ├── CMakeLists.txt ├── doc │ ├── Doxyfile.in │ └── dls_logo.svg ├── include │ ├── iit │ │ └── rbd │ │ │ ├── InertiaMatrix.h │ │ │ ├── StateDependentBase.h │ │ │ ├── StateDependentMatrix.h │ │ │ ├── TransformsBase.h │ │ │ ├── eigen_traits.h │ │ │ ├── internals.h │ │ │ ├── rbd.h │ │ │ ├── robcogen_commons.h │ │ │ ├── scalar_traits.h │ │ │ └── utils.h │ └── pronto_quadruped_commons │ │ ├── declarations.h │ │ ├── feet_contact_forces.h │ │ ├── feet_jacobians.h │ │ ├── forward_kinematics.h │ │ ├── geometry │ │ ├── algebra.h │ │ └── rotations.h │ │ ├── inertia_properties.h │ │ ├── inverse_dynamics.h │ │ ├── inverse_kinematics.h │ │ ├── joint_bool_map.h │ │ ├── joint_data_map.h │ │ ├── joint_id_tricks.h │ │ ├── jsim.h │ │ ├── leg_bool_map.h │ │ ├── leg_data_map.h │ │ ├── leg_vector_map.h │ │ ├── link_data_map.h │ │ ├── robcogen │ │ ├── scalar │ │ │ ├── cppad.h │ │ │ └── internals.h │ │ ├── test │ │ │ ├── cmdline_fd.h │ │ │ ├── cmdline_id.h │ │ │ ├── cmdline_jsim.h │ │ │ ├── dynamics_cmd_line.h │ │ │ ├── dynamics_consistency.h │ │ │ └── fext.h │ │ └── utils.h │ │ └── transforms.h └── package.xml ├── pronto_quadruped_ros ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── pronto_quadruped_ros │ │ ├── bias_lock_handler_ros.hpp │ │ ├── conversions.hpp │ │ ├── dynamic_stance_estimator_ros.hpp │ │ ├── foor_sensor_stance_detector_ros.hpp │ │ ├── foot_sensor_stance_detector_ros.hpp │ │ ├── force_sensor_stance_estimator_ros.hpp │ │ ├── leg_odometer_ros.hpp │ │ ├── legodo_handler_ros.hpp │ │ ├── pronto_mammal_utilities.hpp │ │ ├── pronto_quadruped_ros.hpp │ │ ├── quad_model_parser.hpp │ │ ├── stance_estimator_ros.hpp │ │ └── visibility_control.h ├── package.xml └── src │ ├── bias_lock_handler_ros.cpp │ ├── conversions.cpp │ ├── dls_state_estimator_ros_node.cpp │ ├── dynamic_stance_estimator_ros.cpp │ ├── foot_sensor_stance_detector_ros.cpp │ ├── force_sensor_stance_estimator_ros.cpp │ ├── leg_odometer_ros.cpp │ ├── legodo_handler_ros.cpp │ ├── pronto_mammal_utilities.cpp │ ├── pronto_quadruped_ros.cpp │ ├── quad_model_parser.cpp │ └── stance_estimator_ros.cpp ├── pronto_ros ├── CHANGELOG.rst ├── CMakeLists.txt ├── include │ └── pronto_ros │ │ ├── gps_ros_handler.hpp │ │ ├── index_meas_ros_handler.hpp │ │ ├── init_message_ros_handler.hpp │ │ ├── ins_ros_handler.hpp │ │ ├── lidar_odometry_ros_handler.hpp │ │ ├── pose_msg_ros_handler.hpp │ │ ├── pronto_node.hpp │ │ ├── pronto_ros.hpp │ │ ├── pronto_ros_conversions.hpp │ │ ├── ros_frontend.hpp │ │ ├── scan_matcher_ros_handler.hpp │ │ ├── vicon_ros_handler.hpp │ │ ├── visibility_control.h │ │ └── visual_odometry_ros_handler.hpp ├── launch │ ├── pronto_ros.launch │ └── pronto_ros.launch.py ├── package.xml └── src │ ├── gps_ros_handler.cpp │ ├── index_meas_ros_handler.cpp │ ├── init_message_ros_handler.cpp │ ├── ins_ros_handler.cpp │ ├── joint_state_with_acceleration_republisher.cpp │ ├── lidar_odom_viz.cpp │ ├── lidar_odometry_ros_handler.cpp │ ├── pose_msg_ros_handler.cpp │ ├── pronto_ros_conversions.cpp │ ├── pronto_ros_node.cpp │ ├── ros_frontend.cpp │ ├── scan_matcher_ros_handler.cpp │ ├── vicon_ros_handler.cpp │ └── visual_odometry_ros_handler.cpp ├── pronto_ros2_node ├── CMakeLists.txt ├── config │ ├── anymal_c_sim.yaml │ ├── omni_car.yaml │ ├── omnicar_tune_1.yaml │ ├── omnicar_tune_2.yaml │ ├── omnicar_tune_3.yaml │ └── pronto_mulinex.yaml ├── include │ └── pronto_ros2_node │ │ ├── qualysis_mt.hpp │ │ └── wheeled_odometry.hpp ├── launch │ ├── bench_pronto.launch.py │ ├── pova.launch.py │ ├── pronto_mul_exp.launch.py │ └── pronto_node.launch.py ├── package.xml └── src │ ├── pronto_ros2_node.cpp │ ├── qualysis_mt.cpp │ └── wheeled_odometry.cpp ├── pronto_utils ├── CHANGELOG.rst ├── CMakeLists.txt ├── LICENSE ├── include │ └── pronto_utils │ │ ├── BipolarSchmittTrigger.hpp │ │ ├── BlipFilter.hpp │ │ ├── CumulativeAverage.hpp │ │ ├── DataFileLogger.hpp │ │ ├── DistributedDiff.hpp │ │ ├── ExpireTimer.hpp │ │ ├── Filter.hpp │ │ ├── Gaussian.hpp │ │ ├── HeavyLowPassFilter.hpp │ │ ├── MedianFilter.hpp │ │ ├── NumericalDiff.hpp │ │ ├── RateChange.hpp │ │ ├── SchmittTrigger.hpp │ │ ├── SignalTap.hpp │ │ ├── TrapezoidalInt.hpp │ │ ├── alpha_filter.hpp │ │ ├── backlash_filter.hpp │ │ ├── kalman_filter.hpp │ │ ├── simple_kalman_filter.hpp │ │ ├── torque_adjustment.hpp │ │ └── visibility_control.h ├── package.xml ├── src │ ├── BipolarSchmittTrigger.cpp │ ├── CumulativeAverage.cpp │ ├── DataFileLogger.cpp │ ├── DistributedDiff.cpp │ ├── ExpireTimer.cpp │ ├── Filter.cpp │ ├── Gaussian.cpp │ ├── HeavyLowPassFilter.cpp │ ├── MedianFilter.cpp │ ├── NumericalDiff.cpp 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