91 const MatrixHomogeneous &waistMfoot,
const MatrixRotation &waistRsensor,
92 const MatrixRotation &worldRsensor, MatrixHomogeneous &res);
96 unsigned int &
whichFoot(
const MatrixHomogeneous &waistMlfoot,
97 const MatrixHomogeneous &waistMrfoot,
102 std::istringstream &cmdArgs, std::ostream &os);