bool SensorsMeasurements::setNrOfSensors(const SensorType& sensor_type, unsigned int nrOfSensors)
{
Wrench zeroWrench;
LinAcceleration zeroLinAcc;
AngVelocity zeroAngVel;
unsigned int returnVal = 0;
switch (sensor_type)
{
case SIX_AXIS_FORCE_TORQUE :
zeroWrench.zero();
this->pimpl->SixAxisFTSensorsMeasurements.resize(nrOfSensors,zeroWrench);
break;
case ACCELEROMETER :
zeroLinAcc.zero();
this->pimpl->AccelerometerMeasurements.resize(nrOfSensors,zeroLinAcc);
break;
case GYROSCOPE :
zeroAngVel.zero();
this->pimpl->GyroscopeMeasurements.resize(nrOfSensors,zeroAngVel);
default :
returnVal = 0;
}
return(returnVal);
return true;
}
bool SensorsMeasurements::resize(const SensorsList &sensorsList)
{
Wrench zeroWrench;zeroWrench.zero();
LinAcceleration zeroLinAcc;zeroLinAcc.zero();
AngVelocity zeroAngVel;zeroAngVel.zero();
this->pimpl->SixAxisFTSensorsMeasurements.resize(sensorsList.getNrOfSensors(iDynTree::SIX_AXIS_FORCE_TORQUE),zeroWrench);
this->pimpl->AccelerometerMeasurements.resize(sensorsList.getNrOfSensors(iDynTree::ACCELEROMETER),zeroLinAcc);
this->pimpl->GyroscopeMeasurements.resize(sensorsList.getNrOfSensors(iDynTree::GYROSCOPE),zeroAngVel);
return true;
}
