human-dynamics-estimation

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Initial refactoring of human-dynamics-estimation

4

As discussed, we are planning a refactoring of the code contained in human-dynamics estimation. Initially, the code contained in this repo was meant to be a collection of `YARP` applications...

lrapetti

Update yarpmanager retargeting application with all possible module dependencies to ensure correct Rviz model visualization

2

Recently we observed that Rviz model visulization was failing when running the [retargeting demo](https://github.com/robotology/human-dynamics-estimation/blob/master/conf/xml/applications/XsensRetargetingVisualization.xml) yarpmanager application. One of the action points to address this issue is to ensure that all...

yeshasvitirupachuri

As proposed in https://github.com/robotology/human-dynamics-estimation/issues/250#issuecomment-849082406, it would be nice to have the possibility to use hde library in python matlab through python bindings. Reference PR for the initial implementation in `blf`...

lrapetti

Add logging tool in HDE library

8

At this stage, the hde library depends on YARP just for the terminal logging tool. We could then remove this dependency by moving to an independent tool (e.g. `spdlog` as...

lrapetti

Fix HumanStateProvider on Windows

9

We have tried to run the `HumanStateProvider` and the visualizer on a Windows machine, and we have noticed a strange behaviour. Results are shown in the following video where we...

lrapetti

The README could be enhanced by adding a simple demo. This would provide a way to both have a first check on the installation and provide an example of usage...

RiccardoGrieco

Add COM Computation for all the IK methods in human state provider

4

Currently, we have the CoM information only for integration based IK. We should add it also for other IK methods.

kouroshD

Following this https://github.com/robotology/wearables/issues/83#issuecomment-708976336, the configuration parameter `outputPortName` of `iwearremapper` device needs to be removed from all the [configuration files](https://github.com/robotology/human-dynamics-estimation/blob/master/conf/xml/Human.xml#L17) CC @lrapetti @kouroshD @claudia-lat

yeshasvitirupachuri

Investigate and fix memory leak in human dynamics estimation code base

1

Give the code base of [human-dynamics-estimation](https://github.com/robotology/human-dynamics-estimation) repo went through a major refactoring for V2.0.0 and the code review was not consistent, there are a lot memory leaks which sometimes lead...

yeshasvitirupachuri

Currently, in the `human-state-provider` we have a fixed value for tuning each of the gain matrices (i.e., `k X identityMatrix`). Normally, in a gain matrix, the value of the gains...

kouroshD