Fix FT IMU frames conversion #274
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For a better back-to-back review: https://github.com/robotology/icub-firmware/pull/274/files?diff=split&w=1. |
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fyi @isorrentino |
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Merging anyway as it's a localized fix. |
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This PR fixes a problem we spotted in the conversion between the FT reference frame and the frame of the mounted IMU.
Ref: icub-tech-iit/documentation#212
cc @davidetome @simeonedussoni @marcoaccame