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robotology / human-dynamics-estimation

Software repository for estimating human dynamics
BSD 3-Clause "New" or "Revised" License
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Add the possibility to use the HumanControlBoard with just kineamtics or dynamics #252

Closed lrapetti closed 3 years ago

lrapetti commented 3 years ago

Currently, the HumanControlBoard, which is the device that exposes the output of the HDE as a robot controlboard, is working only if both HumanStateProvider and HumanDynamicsEstimator are running.

With this PR, I add the possibility of running it, even with just one of the two. This is possible by changing the network elements. To the desired one. Data related to the other device are fixed to be zero.

I have tested the device in combination with the WB-toolbox, after the changes and it is working fine.

lrapetti commented 3 years ago

In the PR I am also removing a left-over deprecated device (RobotPositionController-old.cpp)

yeshasvitirupachuri commented 3 years ago

Thanks @lrapetti Merged.