Fix for #156 (#157)

* Fix for #156 * Update WholeBodyDynamicsDevice.cpp * Update CHANGELOG.md * Update CHANGELOG.md
robotology · Aug 31, 2022 · 3bf3f03 · 3bf3f03
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -10,6 +10,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ### Changed
 
 ### Fixed
+- Fix a bug introduced in 0.8.0, due to which estimation of external forces and internal torques when FT sensors are read from sensors that expose an `IAnalogSensor` interface was not working (https://github.com/robotology/whole-body-estimators/pull/157, https://github.com/robotology/whole-body-estimators/pull/156).
 
 ## [0.8.0] - 2022-08-23
 

diff --git a/devices/wholeBodyDynamics/WholeBodyDynamicsDevice.cpp b/devices/wholeBodyDynamics/WholeBodyDynamicsDevice.cpp
@@ -2051,7 +2051,7 @@ bool WholeBodyDynamicsDevice::readFTSensors(bool verbose)
             auto ftAnalogIter = (std::find(ftAnalogSensorNames.begin(), ftAnalogSensorNames.end(), sensorName));
             if (ftAnalogIter != ftAnalogSensorNames.end())
             {
-                auto ftID = std::distance(ftMultipleAnalogSensorNames.begin(), ftMasITer);
+                auto ftID = std::distance(ftAnalogSensorNames.begin(), ftAnalogIter);
                 int ftRetVal = ftSensors[ftID]->read(ftMeasurement);
                 ok = (ftRetVal == IAnalogSensor::AS_OK);
             }