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[WIP] Add preliminary support in wholeBodyDynamicsDevice to use BerdySparseMAPSolver #240
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traversaro
changed the title
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I am afraid that for this we need to add a |
traversaro
commented
Sep 4, 2017
| linearAccelerometer.setParentLink(model.getFrameName(model.getFrameLink(imuFrameIndex))); | ||
| linearAccelerometer.setLinkSensorTransform(model.getFrameTransform(imuFrameIndex)); | ||
| linearAccelerometer.updateIndices(model); | ||
| ok = ok && sensorsActuallyUsedInEstimation.addSensor(linearAccelerometer); |
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addSensor returns an int.
traversaro
commented
Sep 4, 2017
| angularAccelerometer.setParentLink(model.getFrameName(model.getFrameLink(imuFrameIndex))); | ||
| angularAccelerometer.setLinkSensorTransform(model.getFrameTransform(imuFrameIndex)); | ||
| angularAccelerometer.updateIndices(model); | ||
| ok = ok && sensorsActuallyUsedInEstimation.addSensor(angularAccelerometer); |
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This PR (adding Berdy-like estimation support to the WBD device that runs on the robot) adds a lot of complexity to wbd, with little added value. |
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@traversaro |
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Ok. Closing the PR, as GitHub remembers, so if we ever need this code, we can just go back to this PR and recover it. |
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Depends on iDynTree's branch
floatingBerdyPlusPlus.