iDynTree/BerdyHelper.h file

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struct iDynTree::BerdyOptions: Options of the BerdyHelper class.
struct iDynTree::BerdySensor: Structure which describes the essential information about a sensor used in berdy A sensor is identified by the pair (type, id)
struct iDynTree::BerdyDynamicVariable
class iDynTree::BerdyHelper: Helper class for computing Berdy matrices.

enum BerdyVariants { ORIGINAL_BERDY_FIXED_BASE = 0, BERDY_FLOATING_BASE = 1, BERDY_FLOATING_BASE_NON_COLLOCATED_EXT_WRENCHES = 2 }: Enumeration of the Berdy variants implemented in this class.
enum BerdyDynamicVariablesTypes { LINK_BODY_PROPER_ACCELERATION, NET_INT_AND_EXT_WRENCHES_ON_LINK_WITHOUT_GRAV, JOINT_WRENCH, DOF_TORQUE, NET_EXT_WRENCH, DOF_ACCELERATION, LINK_BODY_PROPER_CLASSICAL_ACCELERATION }: Enumeration describing the dynamic variables types (link acceleration, net wrenches, joint wrenches, joint torques, joint acceleration) used in Berdy.
enum BerdySensorTypes { SIX_AXIS_FORCE_TORQUE_SENSOR = SIX_AXIS_FORCE_TORQUE, ACCELEROMETER_SENSOR = ACCELEROMETER, GYROSCOPE_SENSOR = GYROSCOPE, THREE_AXIS_ANGULAR_ACCELEROMETER_SENSOR = THREE_AXIS_ANGULAR_ACCELEROMETER, THREE_AXIS_FORCE_TORQUE_CONTACT_SENSOR = THREE_AXIS_FORCE_TORQUE_CONTACT, DOF_ACCELERATION_SENSOR = 1000, DOF_TORQUE_SENSOR = 1001, NET_EXT_WRENCH_SENSOR = 1002, JOINT_WRENCH_SENSOR = 1003, RCM_SENSOR = 1004 }: Enumeration describing the possible sensor types implemented in Berdy.

auto isLinkBerdyDynamicVariable(const BerdyDynamicVariablesTypes dynamicVariableType) -> bool
auto isJointBerdyDynamicVariable(const BerdyDynamicVariablesTypes dynamicVariableType) -> bool
auto isDOFBerdyDynamicVariable(const BerdyDynamicVariablesTypes dynamicVariableType) -> bool