Sensors cleanup

[traversaro]

There are some tasks necessary to finish the cleanup of the sensors iDynTree system.

Things necessary for this week, to produce the regressor bindings for @ommac and @DiegoRomeres :

• [x] Remove Sensors dependency on KDL, to enable the use of SWIG to produce bindings
  • [x] Substitute references to KDL::Wrench with iDynTree::Wrench. The code that uses SensorsMeasurements but is still using KDL::Wrench can be still supported using the functions in https://github.com/robotology-playground/idyntree/blob/master/core/include/kdl_codyco/KDLConversions.h
  • [x] Substitute references to KDL::Frame with iDynTree::Transform .
  • [x] Move the simulateMeasurement method, that dependes on a lot of stuff from the core/kdl library, in a separated files as a stand-alone function.

(relatively) Low priority:

• [x] Rename SensorsTree in something more meaningful
• [x] Add a Gyroscope sensor type & class (this will require adding a AngularVelocity class to Core.
• [x] Add an Accelerometer sensor type & class (this will require adding an LinearAcceleration or LinearProperAcceleration (to be discussed) to Core
• [x] Add Sensors headers to swig bindings compilation, and clean up anything that is not working.

cc @naveenoid can you look into this?

[naveenoid]

im on it

[naveenoid]

SensorsTree renamed to SensorsList in 600659ab077393e705e7b47feae3ff5349a70b28

[traversaro]

@naveenoid I was thinking about the solution we discussed yesterday and I was wondering how you can deal with different type of sensors (such as internal six-axis ft sensors as opposed to a six-axis force plate, in a sense a "sensor of external force") that have the "measurement type".

In that case you cannot simply use the sensor type that you encoded for your measurement type, because there is not unequivocal mapping between the "measurement types" and the "sensor types".

Perhaps leaving the SensorType enum in the interface is slightly more insecure (only runtime checking as opposed to compile) but easier (and quicker) to implement. : )

[naveenoid]

My idea was that each sensor type has a unique measurement type but its not one to one. Each sensor has only one of the measurements. But let me think a bit after the first push. So we can debate better.

[naveenoid]

First version (incomplete still) is in https://github.com/robotology/idyntree/commit/793ad4efa87bc430cc9efdcfe019a8afb0d12b2f

[traversaro]

@naveenoid any updates?

[traversaro]

Solved in https://github.com/robotology/idyntree/pull/89 .