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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 set different type of targets and different type of sensors in HumanStateProvider #273

Closed lrapetti closed 2 years ago

lrapetti commented 2 years ago

Currently, the human-state-provider device is implemented so that all the measurement targets are added as angular velocity (rotational) targets, and a single linear velocity (position) target is used just for the base frame (see here). Moreover, only virtualLink wearable data source are used.

We should add, instead, the possibility to use multiple linear and angular targets from different wearable data sources. In order to do so, we could update the configuration file with a field that specifies the type of target (e.g. position, position-velocity, orientation, orientation-angularVelocity) and then define the targets accordingly.

lrapetti commented 2 years ago

Feature merged onto the main development branch add-different-target-types, we can close this issue.