Robot Acceleration Estimation

Description

Refactoring the RobotAccelerationEstimator class to be easily incorporated into the RobotController as an optional source of an estimate of robot joint and tool acceleration. (The acceleration estimate just comes from first-order difference with filtering of the velocity being reported from the robot.)

An estimate of the robot joint acceleration is needed in order to calculate the inverse dynamics and estimate the disturbance force from the user. This change makes it easy to access the acceleration from the RobotController, and adds some improvements to the sandbox program RobotAccelerationEstimatorTest for better debugging capabilities.

What to focus on

• Use the RobotAccelerationEstimatorTest program in BurtSharp.Sandbox to test the acceleration estimation while interacting with the robot, and look for any weird behavior.
• Use the '+' and '-' keys to adjust the filter cutoff frequency, and use the 'v' key to see the velocity signal.
• Try disabling/enabling, using the estop, and switching handedness. Make sure the acceleration output is still reasonable.
• Use the max values printed below the streaming values to see if there are ever any large spikes.

Issues

What issues does this fix?

• Fixes #237