Compare the measurements with the head IMU

[fiorisi]

Using WholeBodyDynamics as described here we will compare the measurements of the new IMU with the Bosh IMU installed in the iCub head.

cc @gabrielenava

[fiorisi]

With @gabrielenava we mounted the robot on the pole and compared the measurements of the head IMU with the measurements of the Xsens IMU. To ease the comparison the IMUs measurements have been expressed in the iCub root frame.
While the robot was on the pole we moved the wheeled base back and forth along the root frame x axis and then along the y axis.
Note as already discussed in this issue the head IMU is not properly working, so it is not possible to compare the results. Once the problem is solved, we will perform another time the experiments.

[gabrielenava]

cc @GiulioRomualdi