ModelTestUtils.h file
Namespaces
- namespace iDynTree
Functions
- auto getRandomLink() -> Link
- void addRandomLinkToModel(Model& model, std::string parentLink, std::string newLinkName, bool onlyRevoluteJoints = false)
- 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, bool onlyRevoluteJoints = false) -> Model
- auto getRandomChain(unsigned int nrOfJoints, size_t nrOfAdditionalFrames = 10, bool onlyRevoluteJoints = false) -> 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
- Get random robot positions, velocities and accelerations and external wrenches to be given as an input to InverseDynamics.
Function documentation
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.