SubModel.h file
Namespaces
- namespace iDynTree
Classes
- class iDynTree::SubModelDecomposition
- Class representing the decomposition in one model in several submodels.
Functions
- void computeTransformToTraversalBase(const Model& fullModel, const Traversal& traversal, const JointPosDoubleArray& jointPos, LinkPositions& traversalBase_H_link)
- Helper loop to compute the position of each link wrt to the frame of the subModel base.
- void computeTransformToSubModelBase(const Model& fullModel, const SubModelDecomposition& subModelDecomposition, const JointPosDoubleArray& jointPos, LinkPositions& subModelBase_H_link)
- Run the computeTransformToTraversalBase for all the traversal in the subModelDecomposition, and store the results in the linkPos array.
Function documentation
void computeTransformToTraversalBase(const Model& fullModel, const Traversal& traversal, const JointPosDoubleArray& jointPos, LinkPositions& traversalBase_H_link)
Helper loop to compute the position of each link wrt to the frame of the subModel base.
| Parameters | |
|---|---|
| fullModel in | full model |
| traversal in | traversal on which to run the loop |
| jointPos in | joint positions for the full model |
| traversalBase_H_link out | traversalBase_H_link[i] will store the traversalBase_H_i transform |
void computeTransformToSubModelBase(const Model& fullModel, const SubModelDecomposition& subModelDecomposition, const JointPosDoubleArray& jointPos, LinkPositions& subModelBase_H_link)
Run the computeTransformToTraversalBase for all the traversal in the subModelDecomposition, and store the results in the linkPos array.
| Parameters | |
|---|---|
| fullModel in | full model |
| subModelDecomposition in | model decomposition on which the loop will run |
| jointPos in | joint positions for the full model |
| subModelBase_H_link out | subModelBase_H_link[i] will store the subModelBase_H_i transform |