wholebodydynamics: Remove support for reading FT and IMU using IAnalogSensor and IGenericSensor interfaces #181
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…gSensor and IGenericSensor interfaces This support was not explicitly declared deprecated in wholebodydynamics, however the related interfaces have been deprecated in YARP for a long time. For users interested in using them, please use whole-body-estimators v0.10.0 . The HW_USE_MAS_IMU group is now compulsory.
traversaro
requested review from
CarlottaSartore,
GiulioRomualdi,
S-Dafarra and
HosameldinMohamed
| rawIMUMeasurements.linProperAcc(2) = imuMeasurement[5]; | ||
| } | ||
| } | ||
| else | ||
| { |
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This parenthesis "{" is not needed anymore since the if-else has been deleted
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Yes, I know, but I did not want to add unnecessary noise in the PR, with all those lines that just changed due to indentation.
| * implements the ISixAxisForceTorqueSensors interface | ||
| * and getNrOfSixAxisForceTorqueSensors() >= 1 . | ||
| * If the device also implements the ITemperatureSensors | ||
| * interface, that is handled. |
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Not sure about this comment, what do you mean? That the phrase is not clear?
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Sorry @traversaro I missed this message !I was not super sure about the meaning of the sentence but it is fine :)
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Ack, I will change it in a future PR then. I meant. If the device also implements the yarp::dev::ITemperatureSensors interface, this interface will be viewed and configured in this method.
Fix #179 .
Fix #170 .
This support was not explicitly declared deprecated in wholebodydynamics, however the related interfaces have been deprecated in YARP for a long time. For users interested in using them, please use whole-body-estimators v0.10.0 . The
HW_USE_MAS_IMUgroup is now compulsory.Further cleanup is probably possible (especially in the FT handling logic), but I did not want to mix up the removal of support from the further cleanup.