InertialParametersSolidShapesHelpers.h file
Namespaces
- namespace iDynTree
Functions
-
auto estimateInertialParametersFromLinkBoundingBoxesAndTotalMass(const double totalMass,
iDynTree::
Model& model, VectorDynSize& estimatedInertialParams) -> bool - Estimate the inertial parameters of a model using link bounding boxes and the total mass.
- auto computeBoundingBoxFromShape(const SolidShape& geom, Box& box) -> bool
- Compute bounding box from a solid shape object.
- auto computeBoxVertices(const Box box) -> std::vector<Position>
- Get the bounding box vertices in the link frame.
Function documentation
bool estimateInertialParametersFromLinkBoundingBoxesAndTotalMass(const double totalMass,
iDynTree::
Estimate the inertial parameters of a model using link bounding boxes and the total mass.
| Parameters | |
|---|---|
| totalMass in | The total mass of the model, in Kilograms. |
| model in | The model, used to extract the bounding box of the links. |
| estimatedInertialParams | |
| Returns | true if all went well, false otherwise . |
bool computeBoundingBoxFromShape(const SolidShape& geom, Box& box)
Compute bounding box from a solid shape object.
| Parameters | |
|---|---|
| geom in | The link collision as a iDynTree solid shape object |
| box out | The bounding box for the solid shape object |
| Returns | true if all went well, false otherwise . |
std::vector<Position> computeBoxVertices(const Box box)
Get the bounding box vertices in the link frame.
| Parameters | |
|---|---|
| box in | The link collision solid shape as a Box object. |
| Returns | vector of vertex positions in the link frame. |