From 1fc1d54c9db9183f7a6e4a2f537ea8bef885230c Mon Sep 17 00:00:00 2001 From: Silvio Traversaro Date: Fri, 5 Jul 2024 14:59:42 +0200 Subject: [PATCH] WholeBodyDynamicsDevice: Remove meaningless check that total number FTs in attached device match the total number of FTs consired by estimation --- .../wholeBodyDynamics/WholeBodyDynamicsDevice.cpp | 12 ------------ 1 file changed, 12 deletions(-) diff --git a/devices/wholeBodyDynamics/WholeBodyDynamicsDevice.cpp b/devices/wholeBodyDynamics/WholeBodyDynamicsDevice.cpp index c4b3829..be973b7 100644 --- a/devices/wholeBodyDynamics/WholeBodyDynamicsDevice.cpp +++ b/devices/wholeBodyDynamics/WholeBodyDynamicsDevice.cpp @@ -1822,18 +1822,6 @@ bool WholeBodyDynamicsDevice::attachAllFTs(const PolyDriverList& p) return false; } - if (nrMASFTSensors != remappedMASInterfaces.ftMultiSensors->getNrOfSixAxisForceTorqueSensors()) - { - yError() << "WholeBodyDynamicsDevice::attachAll Invalid number of MAS FT sensors after remapper"; - return false; - } - - if (nrMASFTSensors != ftMultipleAnalogSensorNames.size()) - { - yError() << "WholeBodyDynamicsDevice::attachAll Invalid number of MAS FT sensor names"; - return false; - } - ftMultipleAnalogSensorIdxMapping.resize(ftMultipleAnalogSensorNames.size()); for (auto ftDx = 0; ftDx < nrMASFTSensors; ftDx++) {