Merge pull request #193 from robotology/fixwbdwithlessfts

WholeBodyDynamicsDevice: Remove meaningless check that total number FTs in attached device match the total number of FTs consired by estimation
robotology · Jul 5, 2024 · 8db1926 · 8db1926
2 parents 10675f7 + 1fc1d54
commit 8db1926
Showing 1 changed file with 0 additions and 12 deletions.
diff --git 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++)
     {