Fix Head kexpoint name

source/armarx/navigation/human/HumanTracker.cpp

@@ -182,10 +182,10 @@ namespace armarx::navigation::human
 
         // calculate the yaw of the specified keypoint representing the orientation if it exists
         double yaw = 0;
-        if (humanPose.keypoints.count(parameters.rotationKeypoint) > 0)
+        auto head = humanPose.keypoints.find(parameters.rotationKeypoint);
+        if (head != humanPose.keypoints.end())
         {
-            const armem::human::PoseKeypoint& refKeypoint =
-                humanPose.keypoints.at(parameters.rotationKeypoint);
+            const armem::human::PoseKeypoint& refKeypoint = head->second;
             ARMARX_CHECK(refKeypoint.orientationGlobal.has_value());
             Eigen::Quaternionf qhead = refKeypoint.orientationGlobal->toEigenQuaternion();
             Eigen::Vector3f vec(1, 0, 0);

source/armarx/navigation/human/HumanTracker.h

@@ -102,7 +102,7 @@ namespace armarx::navigation::human
         struct Parameters
         {
             // the keypoint which should be used for calculating the rotation of the humans
-            const std::string rotationKeypoint = "HEAD";
+            const std::string rotationKeypoint = "Head";
             // the duration after which tracked humans will be erased if no new measurement for
             // this human is found
             Duration maxTrackingAge = Duration::MilliSeconds(500);