BipedalLocomotion::Estimators::RobotDynamicsEstimator::SubModelCreator class
#include <BipedalLocomotion/RobotDynamicsEstimator/SubModel.h>

SubModelCreator is a concrete class and splits a model into sub-models along the force/torque sensors specified as configuration parameters.

Public functions

auto createSubModels(const std::vector<FT>& ftSensorList, const std::vector<Sensor>& accList, const std::vector<Sensor>& gyroList, const std::vector<std::string>& externalContacts) -> bool
createSubModels splits the model in SubModel objects cutting the model at the force/torque sensors specified by the parameterHandler.
auto createSubModels(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> parameterHandler) -> bool
createSubModels splits the model in SubModel objects cutting the model at the force/torque sensors specified by the parameterHandler.
void setModelAndSensors(const iDynTree::Model& model, const iDynTree::SensorsList& sensors)
Setter.
auto setKinDyn(std::shared_ptr<iDynTree::KinDynComputations> kinDyn) -> bool
set kinDyn
auto getNrOfSubModels() const -> std::size_t
Getter.
auto getSubModelList() const -> const std::vector<SubModel>&
get the std::vector<SubModel> list.
auto getSubModel(int index) const -> const SubModel&
get a SubModel instance of the list of SubModel.

Function documentation

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::SubModelCreator::createSubModels(const std::vector<FT>& ftSensorList, const std::vector<Sensor>& accList, const std::vector<Sensor>& gyroList, const std::vector<std::string>& externalContacts)

createSubModels splits the model in SubModel objects cutting the model at the force/torque sensors specified by the parameterHandler.

Parameters
ftSensorList list of FT structs.
accList list of Sensor structs.
gyroList list of Sensor structs.
externalContacts list of strings.
Returns a boolean value saying if the subModelList has been created correctly.

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::SubModelCreator::createSubModels(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler> parameterHandler)

createSubModels splits the model in SubModel objects cutting the model at the force/torque sensors specified by the parameterHandler.

Parameters
parameterHandler IParametersHandler object
Returns a boolean value saying if the subModelList has been created correctly.

void BipedalLocomotion::Estimators::RobotDynamicsEstimator::SubModelCreator::setModelAndSensors(const iDynTree::Model& model, const iDynTree::SensorsList& sensors)

Setter.

Parameters
model
sensors is an iDynTree SensorList object

Set model which is an instance of iDynTree::ModelLoader and the sensor list which is an instance of iDynTree::SensorList

bool BipedalLocomotion::Estimators::RobotDynamicsEstimator::SubModelCreator::setKinDyn(std::shared_ptr<iDynTree::KinDynComputations> kinDyn)

set kinDyn

Parameters
kinDyn is an iDynTree KinDynComputation object handling the kinematics and the dynamics of the model.
Returns a boolean value saying if the input pointer is valid

std::size_t BipedalLocomotion::Estimators::RobotDynamicsEstimator::SubModelCreator::getNrOfSubModels() const

Getter.

Returns the number of sub-models composing the model

access the length of the list std::vector<SubModel>.

const std::vector<SubModel>& BipedalLocomotion::Estimators::RobotDynamicsEstimator::SubModelCreator::getSubModelList() const

get the std::vector<SubModel> list.

Returns the list of SubModel objects.

const SubModel& BipedalLocomotion::Estimators::RobotDynamicsEstimator::SubModelCreator::getSubModel(int index) const

get a SubModel instance of the list of SubModel.

Returns the SubModel at the position index.