ModelTestUtils.h file
Namespaces
- namespace iDynTree
Enums
- enum JointTypes: unsigned int { JOINT_FIXED = 1 << 0, JOINT_REVOLUTE = 1 << 1, JOINT_PRISMATIC = 1 << 2, JOINT_REVOLUTE_SO2 = 1 << 3, JOINT_SPHERICAL = 1 << 4 }
- Bitfield enum for selecting joint types in random model generation.
Functions
- auto getRandomLink() -> Link
- void addRandomLinkToModel(Model& model, std::string parentLink, std::string newLinkName, unsigned int allowedJointTypes = SIMPLE_JOINT_TYPES)
- Add a random link with random model.
- void addRandomAdditionalFrameToModel(Model& model, std::string parentLink, std::string newFrameName)
- Add a random additional frame to a model model.
- auto getRandomLinkIndexOfModel(const Model& model) -> LinkIndex
- auto getRandomLinkOfModel(const Model& model) -> std::string
- auto int2string(int i) -> std::string
- auto getRandomModel(unsigned int nrOfJoints, size_t nrOfAdditionalFrames = 10, unsigned int allowedJointTypes = SIMPLE_JOINT_TYPES) -> Model
- Generate a random model with the specified number of joints and additional frames.
- auto getRandomChain(unsigned int nrOfJoints, size_t nrOfAdditionalFrames = 10, unsigned int allowedJointTypes = SIMPLE_JOINT_TYPES) -> Model
- Generate a random chain (sequential links) with the specified number of joints and additional frames.
- auto getRandomModel(unsigned int nrOfJoints, size_t nrOfAdditionalFrames, bool onlyRevoluteJoints) -> Model
- auto getRandomChain(unsigned int nrOfJoints, size_t nrOfAdditionalFrames, bool onlyRevoluteJoints) -> Model
- void getRandomJointPositions(VectorDynSize& vec, const Model& model)
- Get random joint position consistently with the limits of the model.
- auto getRandomInverseDynamicsInputs(FreeFloatingPos& pos, FreeFloatingVel& vel, FreeFloatingAcc& acc, LinkNetExternalWrenches& extWrenches) -> bool deprecated
- Get random robot positions, velocities and accelerations and external wrenches to be given as an input to InverseDynamics.
- auto getRandomInverseDynamicsInputs(const Model& model, FreeFloatingPos& pos, FreeFloatingVel& vel, FreeFloatingAcc& acc, LinkNetExternalWrenches& extWrenches) -> bool
- Get random robot positions, velocities and accelerations and external wrenches to be given as an input to InverseDynamics.
Variables
- const unsigned int SIMPLE_JOINT_TYPES
- const unsigned int ALL_JOINT_TYPES
Function documentation
Model getRandomModel(unsigned int nrOfJoints, size_t nrOfAdditionalFrames = 10, unsigned int allowedJointTypes = SIMPLE_JOINT_TYPES)
Generate a random model with the specified number of joints and additional frames.
| Parameters | |
|---|---|
| nrOfJoints | Number of joints to add to the model |
| nrOfAdditionalFrames | Number of additional frames to add (default: 10) |
| allowedJointTypes | Bitfield specifying which joint types to include (default: Fixed, Revolute, Prismatic) |
Example usage:
- getRandomModel(5) // Uses default joint types (Fixed, Revolute, Prismatic)
- getRandomModel(5, 10, JOINT_REVOLUTE | JOINT_PRISMATIC) // Only revolute and prismatic joints
- getRandomModel(5, 10, JOINT_REVOLUTE) // Only revolute joints
- getRandomModel(5, 10, SIMPLE_JOINT_TYPES | JOINT_REVOLUTE_SO2) // All joint types including SO2
- getRandomModel(5, 10, ALL_JOINT_TYPES) // All available joint types including Spherical
Model getRandomChain(unsigned int nrOfJoints, size_t nrOfAdditionalFrames = 10, unsigned int allowedJointTypes = SIMPLE_JOINT_TYPES)
Generate a random chain (sequential links) with the specified number of joints and additional frames.
| Parameters | |
|---|---|
| nrOfJoints | Number of joints to add to the chain |
| nrOfAdditionalFrames | Number of additional frames to add (default: 10) |
| allowedJointTypes | Bitfield specifying which joint types to include (default: Fixed, Revolute, Prismatic) |
void getRandomJointPositions(VectorDynSize& vec, const Model& model)
Get random joint position consistently with the limits of the model.
If the input vector has the wrong size, it will be resized.
bool getRandomInverseDynamicsInputs(FreeFloatingPos& pos, FreeFloatingVel& vel, FreeFloatingAcc& acc, LinkNetExternalWrenches& extWrenches)
Get random robot positions, velocities and accelerations and external wrenches to be given as an input to InverseDynamics.