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

Class representing the position of a Free Floating robot.

The position of a free floating robot is represented by the transform of a base frame with respect to an inertial frame, and a vector of joint positions.

Constructors, destructors, conversion operators

FreeFloatingPos()
FreeFloatingPos(const iDynTree::Model& model)
~FreeFloatingPos() 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 worldBasePos() -> Transform&: Get the base position.
auto jointPos() -> JointPosDoubleArray&: Get the vector of joint positions.
auto worldBasePos() const -> const Transform&: Get the base position (const version).
auto jointPos() const -> const JointPosDoubleArray&: Get the vector of joint positions (const version).
auto getNrOfPosCoords() const -> unsigned int: Get the dimension of the joint positions vector.

Function documentation

void iDynTree::FreeFloatingPos::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.