public GazeboOutputWriter(DRCRobotModel robotModel) {
estimatorTicksPerControlTick =
(int) Math.round(robotModel.getControllerDT() / robotModel.getEstimatorDT());
estimatorFrequencyInHz = (int) (1.0 / robotModel.getEstimatorDT());
}
public GazeboOutputWriter(DRCRobotModel robotModel) {
estimatorTicksPerControlTick =
(int) Math.round(robotModel.getControllerDT() / robotModel.getEstimatorDT());
estimatorFrequencyInHz = (int) (1.0 / robotModel.getEstimatorDT());
}