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WholeBodyDynamicsDevice: Remove meaningless check that total number FTs in attached device match the total number of FTs consired by estimation #193

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Jul 5, 2024
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WholeBodyDynamicsDevice: Remove meaningless check that total number FTs in attached device match the total number of FTs consired by estimation #193

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12 changes: 0 additions & 12 deletions devices/wholeBodyDynamics/WholeBodyDynamicsDevice.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1822,18 +1822,6 @@ bool WholeBodyDynamicsDevice::attachAllFTs(const PolyDriverList& p)
return false;
}

if (nrMASFTSensors != remappedMASInterfaces.ftMultiSensors->getNrOfSixAxisForceTorqueSensors())
{
yError() << "WholeBodyDynamicsDevice::attachAll Invalid number of MAS FT sensors after remapper";
return false;
}

if (nrMASFTSensors != ftMultipleAnalogSensorNames.size())
{
yError() << "WholeBodyDynamicsDevice::attachAll Invalid number of MAS FT sensor names";
return false;
}
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ftMultipleAnalogSensorIdxMapping.resize(ftMultipleAnalogSensorNames.size());
for (auto ftDx = 0; ftDx < nrMASFTSensors; ftDx++)
{
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