[HumanLogger] Add joint names

robotology · Aug 31, 2023 · eda3a7d · eda3a7d
1 parent ed291be
commit eda3a7d
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Showing 2 changed files with 8 additions and 7 deletions.
diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -16,6 +16,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Fixed
 - [`HumanLogger`] Removed IWrapper from implemented interface to fix checks on log flags and attached interfaces (https://github.com/robotology/human-dynamics-estimation/pull/344)
+- [`HumanLogger`] Fix joint names (https://github.com/robotology/human-dynamics-estimation/pull/352)
 
 
 ## [2.7.1] - 2023-02-16

diff --git a/devices/HumanLogger/HumanLogger.cpp b/devices/HumanLogger/HumanLogger.cpp
@@ -69,10 +69,10 @@ class HumanLogger::impl
     std::array<double, 6> baseVelocity;
     std::vector<double> jointPositions;
     std::vector<double> jointVelocities;
-    std::vector<std::string> jointNamesStateInterface;
+    std::vector<std::string> jointNamesState;
     // iHumanDynamics
     std::vector<double> jointTorquesInterface;
-    std::vector<std::string> jointNamesDynamicsInterface;
+    std::vector<std::string> jointNamesDynamics;
 
 };
 
@@ -303,20 +303,20 @@ bool HumanLogger::impl::configureBufferManager()
     if(settings.logHumanState) {
         if (loggerType == LoggerType::MATLAB)
         {
-            jointNamesStateInterface =  iHumanState->getJointNames();
+            jointNamesState =  iHumanState->getJointNames();
             ok = ok && bufferManager.addChannel({"human_state::base_position", {3, 1}});
             ok = ok && bufferManager.addChannel({"human_state::base_orientation", {4, 1}});
             ok = ok && bufferManager.addChannel({"human_state::base_velocity", {6, 1}});
-            ok = ok && bufferManager.addChannel({"human_state::joint_positions", {jointNamesStateInterface.size(), 1}});
-            ok = ok && bufferManager.addChannel({"human_state::joint_velocities", {jointNamesStateInterface.size(), 1}});
+            ok = ok && bufferManager.addChannel({"human_state::joint_positions", {jointNamesState.size(), 1}, jointNamesState});
+            ok = ok && bufferManager.addChannel({"human_state::joint_velocities", {jointNamesState.size(), 1}, jointNamesState});
         }
     }
     if (settings.logHumanDynamics)
     {
         if (loggerType == LoggerType::MATLAB)
         {
-            jointNamesDynamicsInterface =  iHumanDynamics->getJointNames();
-            ok = ok && bufferManager.addChannel({"human_dynamics::joint_torques", {jointNamesDynamicsInterface.size(), 1}});
+            jointNamesDynamics =  iHumanDynamics->getJointNames();
+            ok = ok && bufferManager.addChannel({"human_dynamics::joint_torques", {jointNamesDynamics.size(), 1}, jointNamesDynamics});
         }
     }