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robotology / yarp-devices-forcetorque

YARP Drivers for various commercial Force Torque sensors.
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Bug fixed in ftshoeDriver.cpp #10

Closed isorrentino closed 5 years ago

isorrentino commented 5 years ago

Bug fixed in the resulting moment formula

traversaro commented 5 years ago

Good catch!

traversaro commented 5 years ago

Can you comment a bit on what was the effect of this bug before the fix? I think it affected several results obtained in the past, thanks!

isorrentino commented 5 years ago

I'm not sure on how the torques were used in the past, but in my case (I'm using that vector to compute the center of pressure on the shoe), I was having totally wrong results.

The important thing is that for the sensors PRO.02 a different formula was used, because the orientation of the ftsensors was different.

@claudia-lat @traversaro

traversaro commented 5 years ago

Ok, thanks!

traversaro commented 5 years ago

Not sure who the maintainer of the repo is supposed to be (perhaps @fjandrad , but he is busy with the thesis, so I went ahead and I merged the PR).

fjandrad commented 5 years ago

Ups yes, I think it was a shared responsibility between me and @lucaTagliapietra , now it should be me. Thanks @traversaro