def addRemoveHumans(tf, humans, env,                     
                    base_frame='/map',
                    kin_frame='/head/skel_depth_frame',
                    **kw_args):
        
    """
    Add or remove humans in the simulated environment on the basis 
    of the information coming from the kinect
    
    @param tf tf
    @param humans vector of the humans that are loaded into the simualted environment
    @base_frame reference frame of the environment
    @kin_frame frame respect to all the tf coming from the kinect are publisched
    """ 

    all_human_ids = utils.humanList(tf)
    utils.removeHumans(all_human_ids, humans, env)
        
    # adding
    for id in all_human_ids:
        found = False
        for human in humans:
            if human.id == 'user_' + id:
                found = True
                break
        if not found:
            humans.append(Orhuman('user_' + id, env,
                                  base_frame='/map',
                                  kin_frame='/head/skel_depth_frame'))
def addRemoveHumans(tf, humans, env, 
                    enable_legs=True, 
                    segway_sim=True,
                    base_frame='/map',
                    kin_frame='/head/skel_depth_frame2'):
    
    """
    Add or remove humans in the simulated environment on the basis 
    of the information coming from the kinect
    
    @param tf tf
    @param humans vector of the humans that are loaded into the simualted environment
    @enable_legs True if the human legs have to be tracked and updated in the simualted env
    @segway_sim True if the roboto localization is off
    @base_frame reference frame of the environment
    @kin_frame frame respect to all the tf coming from the kinect are publisched
    """ 
    all_human_ids = utils.humanList(tf)
    utils.removeHumans(all_human_ids, humans, env)
        
    # adding
    for id in all_human_ids:
        found = False
        for human in humans:
            if human.id == 'user_' + id:
                found = True
                break
        if not found:
            humans.append(Orhuman('user_' + id, env, 
                                  enable_legs=enable_legs,
                                  segway_sim=segway_sim,
                                  base_frame=base_frame,
                                  kin_frame=kin_frame))