FreeFloatingVel class
#include <iDynTree/FreeFloatingState.h>
Constructors, destructors, conversion operators
- FreeFloatingVel()
-
FreeFloatingVel(const iDynTree::
Model& model) - ~FreeFloatingVel() 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 baseVel() -> Twist&
- Get the base acceleration.
- auto jointVel() -> JointDOFsDoubleArray&
- Get the vector of joint accelerations.
- auto baseVel() const -> const Twist&
- Get the base acceleration (const version).
- auto jointVel() 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::
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. |