iDynTree::FreeFloatingAcc class
#include <iDynTree/FreeFloatingState.h>

Class representing the accelerations of a Free Floating robot.

Constructors, destructors, conversion operators

FreeFloatingAcc()
FreeFloatingAcc(const iDynTree::Model& model)
~FreeFloatingAcc() virtual
Destructor.

Public functions

void resize(const iDynTree::Model& model)
Resize the class to match the number of internal DOFs contained in a Model.
auto baseAcc() -> SpatialAcc&
Get the base acceleration.
auto jointAcc() -> JointDOFsDoubleArray&
Get the vector of joint accelerations.
auto baseAcc() const -> const SpatialAcc&
Get the base acceleration (const version).
auto jointAcc() const -> const JointDOFsDoubleArray&
Get the vector of joint accelerations (const version).
auto getNrOfDOFs() const -> unsigned int
Get the dimension of the joint accelerations vector.

Function documentation

void iDynTree::FreeFloatingAcc::resize(const iDynTree::Model& model)

Resize the class to match the number of internal DOFs contained in a Model.

Parameters
model the model from which to get the number and dimension of the joints.