fix missing DOF_ACCELERATION to dynamic variable ordering

[lrapetti]

The DOF_ACCELERATION is not add to the dynamicVariablesOrdering

[lrapetti]

CC @prashanthr05 @Yeshasvitvs

[traversaro]

Thanks @lrapetti , can you also update the changelog at https://github.com/robotology/idyntree/blob/devel/doc/releases/v0_12.md ?

Furthermore, following Beyonce's Law:

"Cause if you like this code, then you shoulda put a test on it"

it would be nice to make sure that this code is tested, by generalizing the following test: https://github.com/robotology/idyntree/blob/master/src/estimation/tests/BerdyHelperUnitTest.cpp#L158 to the floating base case.

[lrapetti]

Thanks @lrapetti , can you also update the changelog at https://github.com/robotology/idyntree/blob/devel/doc/releases/v0_12.md ?

done db0eefb

[traversaro]

To clarify, fixing the test is not strictly required to get this PR merged.

[lrapetti]

it would be nice to make sure that this code is tested, by generalizing the following test: https://github.com/robotology/idyntree/blob/master/src/estimation/tests/BerdyHelperUnitTest.cpp#L158 to the floating base case.

But is it also the test for fixed base currently commented out??https://github.com/robotology/idyntree/blob/master/src/estimation/tests/BerdyHelperUnitTest.cpp#L337-L341

[traversaro]

But is it also the test for fixed base currently commented out??https://github.com/robotology/idyntree/blob/master/src/estimation/tests/BerdyHelperUnitTest.cpp#L337-L341

Good catch, I probably wrongly commented it out in and that slipped in in the review (probably due to the size, see #356 and https://twitter.com/iamdevloper/status/397664295875805184) . Actually I opened an issue on this back in #445 , this MAPest issue also seems related: claudia-lat/MAPest#28 .

[lrapetti]

After closing this PR I will try to fix the tests for the original berdy, and eventually add those for the floating base

[traversaro]

@lrapetti I guess we can merge this PR even with no additional tests?

[lrapetti]

@lrapetti I guess we can merge this PR even with no additional tests?

yess