SubModelCreator class
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<FTSensor>& ftSensorList, const std::vector<Sensor>& accList, const std::vector<Sensor>& gyroList, const std::vector<Sensor>& contactList) -> 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
SubModelinstance of the list ofSubModel.
Function documentation
bool BipedalLocomotion::
createSubModels splits the model in SubModel objects cutting the model at the force/torque sensors specified by the parameterHandler.
| Parameters | |
|---|---|
| ftSensorList | list of FTSensor structs. |
| accList | list of Sensor structs. |
| gyroList | list of Sensor structs. |
| contactList | list of Sensor structs describing the external contact frames. |
| Returns | a boolean value saying if the subModelList has been created correctly. |
bool BipedalLocomotion::
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::
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::
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::
Getter.
| Returns | the number of sub-models composing the model |
|---|
access the length of the list std::vector<SubModel>.
const std::vector<SubModel>& BipedalLocomotion::
get the std::vector<SubModel> list.
| Returns | the list of SubModel objects. |
|---|
const SubModel& BipedalLocomotion::
get a SubModel instance of the list of SubModel.
| Returns | the SubModel at the position index. |
|---|