{"action":"created","issue":{"url":"https://api.github.com/repos/robotology-playground/idyntree/issues/24","labels_url":"https://api.github.com/repos/robotology-playground/idyntree/issues/24/labels{/name}","comments_url":"https://api.github.com/repos/robotology-playground/idyntree/issues/24/comments","events_url":"https://api.github.com/repos/robotology-playground/idyntree/issues/24/events","html_url":"https://github.com/robotology-playground/idyntree/pull/24","id":58468755,"number":24,"title":"First implementation of Sensors system","user":{"login":"traversaro","id":1857049,"avatar_url":"https://avatars.githubusercontent.com/u/1857049?v=3","gravatar_id":"","url":"https://api.github.com/users/traversaro","html_url":"https://github.com/traversaro","followers_url":"https://api.github.com/users/traversaro/followers","following_url":"https://api.github.com/users/traversaro/following{/other_user}","gists_url":"https://api.github.com/users/traversaro/gists{/gist_id}","starred_url":"https://api.github.com/users/traversaro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/traversaro/subscriptions","organizations_url":"https://api.github.com/users/traversaro/orgs","repos_url":"https://api.github.com/users/traversaro/repos","events_url":"https://api.github.com/users/traversaro/events{/privacy}","received_events_url":"https://api.github.com/users/traversaro/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-02-21T18:15:17Z","updated_at":"2015-02-23T15:17:36Z","closed_at":"2015-02-23T15:17:36Z","pull_request":{"url":"https://api.github.com/repos/robotology-playground/idyntree/pulls/24","html_url":"https://github.com/robotology-playground/idyntree/pull/24","diff_url":"https://github.com/robotology-playground/idyntree/pull/24.diff","patch_url":"https://github.com/robotology-playground/idyntree/pull/24.patch"},"body":"With @ommac we had several issue while debugging some function related to ft regressors, and we lost an entire day without reaching a conclusion. \r\n\r\nMost of the problems are related to the use of the `FTSensor` and `FTSensorList` classes, that were an ugly hack that I quickly implemented more than one year ago, and I never had the time to clean up. Thanks to the TGV, I was able to refactor some code and to introduce a proper class system for representing sensor information. At the moment this is simplifying the debugging of inertial parameters regressors , but in the long term it can be useful for the C++ implementation of Berdy (hence cc @iron76 @nunoguedelha @claudia-lat @jeljaik @naveenoid ). \r\n\r\n@francesco-romano can you quickly review the `SensorsTree`/`SensorsMeasurements`/.. system? My polymorphism is quite harsh and I abused some concepts here and there, but can you check that I didn't do anything of completely wrong? "},"comment":{"url":"https://api.github.com/repos/robotology-playground/idyntree/issues/comments/75560907","html_url":"https://github.com/robotology-playground/idyntree/pull/24#issuecomment-75560907","issue_url":"https://api.github.com/repos/robotology-playground/idyntree/issues/24","id":75560907,"user":{"login":"traversaro","id":1857049,"avatar_url":"https://avatars.githubusercontent.com/u/1857049?v=3","gravatar_id":"","url":"https://api.github.com/users/traversaro","html_url":"https://github.com/traversaro","followers_url":"https://api.github.com/users/traversaro/followers","following_url":"https://api.github.com/users/traversaro/following{/other_user}","gists_url":"https://api.github.com/users/traversaro/gists{/gist_id}","starred_url":"https://api.github.com/users/traversaro/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/traversaro/subscriptions","organizations_url":"https://api.github.com/users/traversaro/orgs","repos_url":"https://api.github.com/users/traversaro/repos","events_url":"https://api.github.com/users/traversaro/events{/privacy}","received_events_url":"https://api.github.com/users/traversaro/received_events","type":"User","site_admin":false},"created_at":"2015-02-23T15:17:36Z","updated_at":"2015-02-23T15:17:36Z","body":"Everything works fine on the real robot and the test are passing, so I merge to avoid balkanization of the branches. \r\n\r\nComments and suggestions are obvious still more then welcome. "}}