SubModel class
SubModel is a concrete class describing the sub-model object, its model, the list of sensors and the mapping between its joints and the same joints in the full model.
Public functions
- auto isValid() const -> bool
- Determines the validity of the object.
- auto getModel() const -> const iDynTree::Model&
- Getters.
- auto getJointMapping() const -> const std::vector<int>&
- Access the
std::vectot<int>list. - auto getFTList() const -> const std::unordered_map<std::string, FTSensor>&
- Access the
std::vector<FTSensor>list. - auto getAccelerometerList() const -> const std::unordered_map<std::string, Sensor>&
- Access the
std::vector<Sensor>list of acceletometer sensors. - auto getGyroscopeList() const -> const std::unordered_map<std::string, Sensor>&
- Access the
std::vector<Sensor>list of gyroscope sensors. - auto getExternalContactList() const -> const std::unordered_map<std::string, Sensor>&
- Access the
std::vector<std::string>list of frame names. - auto getNrOfFTSensor() const -> std::size_t
- access the length of force/torque sensor list.
- auto getNrOfAccelerometer() const -> std::size_t
- access the length of accelerometer list.
- auto getNrOfGyroscope() const -> std::size_t
- access the length of gyroscope list.
- auto getNrOfExternalContact() const -> std::size_t
- access the length of the contact frame list.
- auto getFTSensor(const std::string& name) -> const FTSensor&
- Access an element of the force/torque sensor list.
- auto hasFTSensor(const std::string& name) const -> bool
- hasFTSensor check if the force/torque sensor is part of the sub-model
- auto getAccelerometer(const std::string& name) -> const Sensor&
- Access an element of the accelerometer list.
- auto hasAccelerometer(const std::string& name) const -> bool
- hasAccelerometer check if the accelerometer is part of the sub-model
- auto getGyroscope(const std::string& name) -> const Sensor&
- Access an element of the gyroscope list.
- auto hasGyroscope(const std::string& name) const -> bool
- hasAccelerometer check if the gyroscope is part of the sub-model
- auto getExternalContactIndex(const std::string& name) -> const Sensor&
- access an element of the contact frame list.
- auto getImuBaseFrameName() const -> const std::string
- getImuBaseFrameName get the name of the IMU frame rigidly attached to the sub-model base frame.
- auto getImuBaseFrameIndex() const -> int
- getImuBaseFrameIndex get the index of the IMU frame rigidly attached to the sub-model base frame.
Function documentation
bool BipedalLocomotion::
Determines the validity of the object.
| Returns | True if the object is valid, false otherwise. |
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const std::vector<int>& BipedalLocomotion::
Access the std::vectot<int> list.
| Returns | the mapping between the joint indeces in the sub-model and the joint indeces in the full-model. |
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const std::unordered_map<std::string, Sensor>& BipedalLocomotion::
Access the std::vector<Sensor> list of acceletometer sensors.
| Returns | a map of (string, Sensor) objects describing the accelerometers contained in the sub-model. |
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const std::unordered_map<std::string, Sensor>& BipedalLocomotion::
Access the std::vector<Sensor> list of gyroscope sensors.
| Returns | a map of (string, Sensor) objects describing the gyroscope contained in the sub-model. |
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const std::unordered_map<std::string, Sensor>& BipedalLocomotion::
Access the std::vector<std::string> list of frame names.
| Returns | a list of strings describing frame names of the external contacts for the sub-model. |
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std::size_t BipedalLocomotion::
access the length of force/torque sensor list.
| Returns | the number of force/torque sensors in the sub-model. |
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std::size_t BipedalLocomotion::
access the length of accelerometer list.
| Returns | the number of accelerometer sensors in the sub-model. |
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std::size_t BipedalLocomotion::
access the length of gyroscope list.
| Returns | the number of gyroscope sensors in the sub-model. |
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std::size_t BipedalLocomotion::
access the length of the contact frame list.
| Returns | the number of gyroscope sensors in the sub-model. |
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const FTSensor& BipedalLocomotion::
Access an element of the force/torque sensor list.
| Returns | FTSensor object associated with the specified name. |
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bool BipedalLocomotion::
hasFTSensor check if the force/torque sensor is part of the sub-model
| Parameters | |
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| name | is the name of the ft sensor |
| Returns | true if the sensor is found, false otherwise |
const Sensor& BipedalLocomotion::
Access an element of the accelerometer list.
| Returns | a Sensor object corresponding to the accelerometer associated with the specified name. |
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bool BipedalLocomotion::
hasAccelerometer check if the accelerometer is part of the sub-model
| Parameters | |
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| name | is the name of the accelerometer |
| Returns | true if the sensor is found, false otherwise |
const Sensor& BipedalLocomotion::
Access an element of the gyroscope list.
| Returns | a Sensor object corresponding to the gyroscope associated with the specified name. |
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bool BipedalLocomotion::
hasAccelerometer check if the gyroscope is part of the sub-model
| Parameters | |
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| name | is the name of the gyroscope |
| Returns | true if the sensor is found, false otherwise |
const Sensor& BipedalLocomotion::
access an element of the contact frame list.
| Returns | a Sensor object corresponding to the external contact frame associated with the specified index. |
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const std::string BipedalLocomotion::
getImuBaseFrameName get the name of the IMU frame rigidly attached to the sub-model base frame.
| Returns | a string containing the name of the IMU frame. |
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int BipedalLocomotion::
getImuBaseFrameIndex get the index of the IMU frame rigidly attached to the sub-model base frame.
| Returns | an integer containing the index of the IMU frame. |
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