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Fixed NaN during calibration #243
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traversaro
reviewed
Sep 29, 2017
| @@ -1088,6 +1088,29 @@ bool WholeBodyDynamicsDevice::readFTSensors(bool verbose) | |||
| yWarning() << "wholeBodyDynamics warning : FT sensor " << sensorName << " was not readed correctly, using old measurement"; | |||
| } | |||
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| if (ftMeasurement.size() != 6) | |||
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This needs to be removed because wholeBodyDynamics can be used with robots that have an arbitrary number of FT sensors.
traversaro
reviewed
Sep 29, 2017
| break; | ||
| } | ||
| } | ||
| if( isNaN ) |
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I think this check should remain, sanity checking on data read from another software module is a good practice.
traversaro
reviewed
Sep 29, 2017
| @@ -1210,12 +1233,47 @@ void WholeBodyDynamicsDevice::filterSensorsAndRemoveSensorOffsets() | |||
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| iDynTree::Wrench rawFTMeasureWithOffsetRemoved = ftProcessors[ft].filt(rawFTMeasure); | |||
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| bool isNaN = false; | |||
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I would remove this check, in the end once we removed the bugs from the processing of data, this should always be fine, and I don't think it make sense to have checks on all the points of the code.
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Ok, I'll do the modifications and merge |
francesco-romano
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@traversaro we have to understand if we want to keep the prints or not.
Of course, once we decide we can divide the PR in two commits: the actual fix and the prints