ExternalWrenchesEstimation: if there are no unknowns do not do the pseudoinverse #443
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…eudoinverse See 9517af7 for the original commit
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@fjandrad can you please review and approve this PR? |
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I think I was a bit too late, but yeah I approve |
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In the classes devoted to the external force-torque estimation, since #343 it is possible to have external forces that are completly estimated from external sensors such as skin sensors. If in a given submodels there are no unknown due to this, the pseudoinverse should be skipped.
See 9517af7 for the original commit.