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<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 SubModel instance of the list of SubModel.

Function documentation

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

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::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.