iDynTree/ModelSensorsTransformers.h file

Collection of function to modify model and sensors in various ways.

Namespaces

auto createReducedModelAndSensors(const Model& fullModel, const SensorsList& fullSensors, const std::vector<std::string>& jointsInReducedModel, Model& reducedModel, SensorsList& reducedSensors) -> bool: Variant of createReducedModel function that also process the sensorList .

Variant of createReducedModel function that also process the sensorList .

Note: since iDynTree 10, this has been superseded by the regular createReducedModel that also operated on the SensorsList associated with the model.

To migrate to this version, just change from:

Model fullModel, reducedModel; std::vector<std::string> jointsInReducedModel; SensorsList fullSensors, reducedSensors;

bool ok = createReducedModelAndSensors(fullModel, fullSensors, jointsInReducedModel, reducedModel, reducedSensors);

// handle ok // access reducedModel and reducedSensors

Model fullModel, reducedModel; std::vector<std::string> jointsInReducedModel; SensorsList fullSensors; fullModel.sensors() = fullSensors;

bool ok = createReducedModel(fullModel, jointsInReducedModel, reducedModel);

// Handle ok // access reducedModel and reducedModel.sensors()