Remove duplicate call to joint torques extraction of berdy and debug …

…code
robotology · Aug 21, 2019 · f91920f · f91920f
1 parent 0a7b4be
commit f91920f
Showing 1 changed file with 1 addition and 11 deletions.
diff --git a/devices/HumanDynamicsEstimator/HumanDynamicsEstimator.cpp b/devices/HumanDynamicsEstimator/HumanDynamicsEstimator.cpp
@@ -1171,24 +1171,14 @@ void HumanDynamicsEstimator::run()
     iDynTree::VectorDynSize estimatedDynamicVariables(pImpl->berdyData.helper.getNrOfDynamicVariables());
     pImpl->berdyData.solver->getLastEstimate(estimatedDynamicVariables);
 
-    // Extract joint torques from estimated dynamic variables
-    pImpl->berdyData.helper.extractJointTorquesFromDynamicVariables(estimatedDynamicVariables,
-                                                                    pImpl->berdyData.state.jointsPosition,
-                                                                    pImpl->berdyData.estimates.jointTorqueEstimates);
-
-    // Debug code
-    //yInfo() << "Input measurements : " << pImpl->berdyData.buffers.measurements.toString();
-    //yInfo() << "Estimated dynamic variables : " << estimatedDynamicVariables.toString();
-    //yInfo() << "Extracted Torque estimates : " << pImpl->berdyData.estimates.jointTorqueEstimates.toString();
-
     // ===========================
     // EXPOSE DATA FOR IHUMANSTATE
     // ===========================
 
     {
         std::lock_guard<std::mutex> lock(pImpl->mutex);
 
-        // Extract the joint torque estimates and store to the variable
+        // Extract joint torques from estimated dynamic variables
         pImpl->berdyData.helper.extractJointTorquesFromDynamicVariables(estimatedDynamicVariables,
                                                                         pImpl->berdyData.state.jointsPosition,
                                                                         pImpl->berdyData.estimates.jointTorqueEstimates);