Generic fixes

ami-iit · May 2, 2023 · b6ef4c9 · b6ef4c9
1 parent fca0829
commit b6ef4c9
Show file tree

Hide file tree

Showing 4 changed files with 8 additions and 4 deletions.
diff --git a/src/Estimators/include/BipedalLocomotion/FloatingBaseEstimators/BaseEstimatorFromFootIMU.h b/src/Estimators/include/BipedalLocomotion/FloatingBaseEstimators/BaseEstimatorFromFootIMU.h
@@ -31,6 +31,7 @@ namespace BipedalLocomotion
  struct BaseEstimatorFromFootIMUState
  {
  manif::SE3d basePose; //final output of the estimator
+ bool isValid{false};
  };
 
  /*

diff --git a/src/Estimators/src/BaseEstimatorFromFootIMU.cpp b/src/Estimators/src/BaseEstimatorFromFootIMU.cpp
@@ -238,7 +238,8 @@ const BaseEstimatorFromFootIMUState& BaseEstimatorFromFootIMU::getOutput() const
  if (!m_isOutputValid)
  {
  log()->error("{} The output is not valid.", logPrefix);
- return;
+ static const BaseEstimatorFromFootIMUState dummy;
+ return dummy;
  }
  return m_state; //m_state.basePose would be the actual output
 }
diff --git a/src/Estimators/tests/FloatingBaseEstimators/BaseEstimatorFromFootIMUTest.cpp b/src/Estimators/tests/FloatingBaseEstimators/BaseEstimatorFromFootIMUTest.cpp
@@ -1,5 +1,5 @@
 /*
- * @file BaseEstimatorFromFootIMU_Test.cpp
+ * @file BaseEstimatorFromFootIMUTest.cpp
  * @authors Guglielmo Cervettini
  * @copyright 2023 Istituto Italiano di Tecnologia (IIT). This software may be modified and
  * distributed under the terms of the BSD-3-Clause license.
@@ -11,7 +11,8 @@
 #include <Eigen/Dense>
 
 #include <BipedalLocomotion/Conversions/ManifConversions.h>
-#include <BipedalLocomotion/FloatingBaseEstimators/BaseEstimatorFromFootIMU.h>
+#include <../../include/BipedalLocomotion/FloatingBaseEstimators/BaseEstimatorFromFootIMU.h>
+//#include <BipedalLocomotion/FloatingBaseEstimators/BaseEstimatorFromFootIMU.h>
 #include <BipedalLocomotion/ParametersHandler/IParametersHandler.h>
 #include <BipedalLocomotion/ParametersHandler/StdImplementation.h>
 

diff --git a/src/Estimators/tests/FloatingBaseEstimators/CMakeLists.txt b/src/Estimators/tests/FloatingBaseEstimators/CMakeLists.txt
@@ -16,10 +16,11 @@ if(FRAMEWORK_USE_icub-models)
  SOURCES InvariantEKFBaseEstimatorTest.cpp
  LINKS BipedalLocomotion::FloatingBaseEstimators BipedalLocomotion::ParametersHandler BipedalLocomotion::ManifConversions Eigen3::Eigen MANIF::manif icub-models::icub-models)
 
+message(STATUS "-------------------------------------YES")
 
  add_bipedal_test(
  NAME BaseEstimatorFromFootIMU
  SOURCES BaseEstimatorFromFootIMUTest.cpp
  LINKS BipedalLocomotion::FloatingBaseEstimators BipedalLocomotion::ParametersHandler BipedalLocomotion::ManifConversions Eigen3::Eigen iDynTree::idyntree-modelio-urdf icub-models::icub-models)
 
-endif()
+endif()