Add HumanWrenchWrapper and HumanWrenchRemapper
#362
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lrapetti
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lrapetti
requested review from
traversaro,
Zweisteine96,
dariosortino and
davidegorbani
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Probably we can start using nws and nwc from this new devices? Or at least avoid remapper for something that is clearly not a remapper? |
I was considering it, but at this point I would prefer changing all of them together. Still if we don't have a better name, I can do that. |
traversaro
approved these changes
Oct 7, 2023
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Thanks @traversaro, in the meantime #359 is starting so we will update the name soon. |
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This PR adds the new devices as mentioned in #361.
In a4aebad I have also modified the⚠️ this means that old applications where the wrench data were streamed on analog port will no longer be compatibile with the visualizer. In order to avoid this issue, it is requested to replace the
HumanStateVisualizerin order to exploit this novel devices.analogServerdevice with theHumanWrenchWrapperdevice as done in https://github.com/robotology/human-dynamics-estimation/compare/add-humanwrench-wrapper-remapper?expand=1#diff-90882fd47b6c2e86b383770e476062185beb69ba0b5dceacdfb8b8280b384819L185-L194. For this reason a release will follow this PR.