magnitude_frequency_table

In the following table we have a list of the frequencies and sizes of the data we are working with. This is important to calculate how much time we have between two consecutive readings, to test the performance of the system (how fast it can write to the circular buffer)

Data type	Unitary dimension	Occurrences	Frequency	Type
desired joint positions	23x1	1	100Hz	`double`
measured joint positions	23x1	1	100Hz	`double`
desired joint velocities	23x1	1	100Hz	`double`
measured joint velocities	23x1	1	100Hz	`double`
desired joint accelerations	23x1	1	100Hz	`double`
measured joint accelerations	23x1	1	100Hz	`double`
desired joint torques	23x1	1	100Hz	`double`
measured joint torques	23x1	1	100Hz	`double`
measured joint currents	23x1	1	100Hz	`double`
measured joint PWM	23x1	1	100Hz	`double`
desired CoM position	3x1	1	100Hz	`double`
measured CoM position	3x1	1	100Hz	`double`
desired momentum	6x1	1	100Hz	`double`
measured momentum	6x1	1	100Hz	`double`
estimated base transform	4x4	1	100Hz	`double`
estimated base velocity	6x1	2	100Hz	`double`
desired feet transform	4x4	2	100Hz	`double`
measured feet transform	4x4	2	100Hz	`double`
desired feet velocity	6x1	2	100Hz	`double`
measured feet velocity	6x1	2	100Hz	`double`
desired orientation of other frames	4x4	4	100Hz	`double`
desired contact wrenches	6x1	4	100Hz	`double`
measured contact wrenches	6x1	4	100Hz	`double`
IMU readings (orientation)	3x1	5	100Hz	`double`
IMU readings (acceleration)	3x1	5	100Hz	`double`
IMU readings (gyros)	3x1	5	100Hz	`double`
Mass matrix	29x29	1	100Hz	`double`
Corilis matrix	29x1	1	100Hz	`double`
Jacobians	29x6	5	100Hz	`double`
Messages coming from the robot boards	?	1	?	Text, separated by type (Error, Warning, Info, ..)
controller settings	?	1	Only once	Struct

Let's assume to have around 5ms of free time every 10ms.