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Set the calibrationMeasurementToLink matrix to the initial when resetAll is called #421

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Set the calibrationMeasurementToLink matrix to the initial when resetAll is called #421

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9586fc3
set the calibrationMeasurementToLink matrix to the initial when reset…
davidegorbani Dec 4, 2024
8053e66
Update CHANGELOG.md
davidegorbani Dec 4, 2024
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5 changes: 5 additions & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -2,6 +2,11 @@

This file documents notable changes to this project done before November 2023. For changes after that date, please refer to the release notes of each release at https://github.com/robotology/human-dynamics-estimation/releases.

## [Unreleased]

### Fixed
- Set the calibrationMeasurementToLink matrix to the initial when `resetAll` rpc command is called (https://github.com/robotology/human-dynamics-estimation/pull/421).

## [3.0.0] - 2023-11-09

### Changed
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2 changes: 2 additions & 0 deletions devices/HumanStateProvider/HumanStateProvider.cpp
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Expand Up @@ -787,6 +787,8 @@ bool HumanStateProvider::open(yarp::os::Searchable& config)
fixedRightRotation);
pImpl->wearableTargets[targetName].get()->calibrationMeasurementToLink.setPosition(
fixedRightPositionOffset);
pImpl->wearableTargets[targetName].get()->calibrationMeasurementToLinkInitial =
pImpl->wearableTargets[targetName].get()->calibrationMeasurementToLink;
yInfo()
<< LogPrefix << "Adding Fixed Rotation for " << targetName << "==>"
<< pImpl->wearableTargets[targetName].get()->calibrationMeasurementToLink.toString();
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3 changes: 2 additions & 1 deletion interfaces/IWearableTargets/hde/interfaces/IWearableTargets.h
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Expand Up @@ -46,6 +46,7 @@ namespace hde {

iDynTree::Transform calibrationWorldToMeasurementWorld;
iDynTree::Transform calibrationMeasurementToLink;
iDynTree::Transform calibrationMeasurementToLinkInitial;
iDynTree::Vector3 positionScaleFactor;

// buffer variables
Expand Down Expand Up @@ -89,7 +90,7 @@ namespace hde {
{
std::lock_guard<std::mutex> lock(mutex);
calibrationWorldToMeasurementWorld = iDynTree::Transform::Identity();
calibrationMeasurementToLink = iDynTree::Transform::Identity();
calibrationMeasurementToLink = calibrationMeasurementToLinkInitial;
};

void clearWorldCalibrationMatrix()
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