[icubWholeBodyInterface] [icubWholeBodyStates] removeEstimate method not working about codyco-modules HOT 5 CLOSED

Agreed. Let's simplify!

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Perfect. I guess this could lead to a difference (with respect to current situation) in interface semantic (beside obviously removing the remove* sensors).

I propose that all add* methods MUST be called before the init() function of the interface, and they return false if called after the init() function. In this way all the configuration code can be done in the init() function, as all the structure will be definite at that time. This would help also the implementation of the wbi on hard real-time systems, by ensuring that all dynamic allocation of memory occur in add* and init() methods (anyway before the return of init() method).

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+1

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I agree as well.

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Solved in 8684d8a .

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