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

Constructors, destructors, conversion operators

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

Public functions

void resize(const iDynTree::Model& model)
Resize the class to match the dimension of the joints contained in a Model.
auto baseWrench() -> Wrench&
Get the base wrench.
auto jointTorques() -> JointDOFsDoubleArray&
Get the joint torques vector.
auto baseWrench() const -> const Wrench&
Get the base wrench (const version).
auto jointTorques() const -> const JointDOFsDoubleArray&
Get the joint torques vector (const version).
auto getNrOfDOFs() const -> unsigned int

Function documentation

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

Resize the class to match the dimension of the joints contained in a Model.

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