iDynTree::GravityCompensationHelper class
#include <iDynTree/GravityCompensationHelpers.h>

Class computing the gravity compensation torques using accelerometer measurements.

Constructors, destructors, conversion operators

auto loadModel(const iDynTree::Model& _model, const std::string dynamicBase) -> bool: Load model.
auto updateKinematicsFromProperAcceleration(const iDynTree::JointPosDoubleArray& jointPos, const iDynTree::FrameIndex& floatingFrame, const iDynTree::Vector3& properClassicalLinearAcceleration) -> bool: Set the kinematic information necessary for the gravity torques estimation using the proper acceleration coming from an accelerometer.
auto updateKinematicsFromGravity(const iDynTree::JointPosDoubleArray& jointPos, const iDynTree::FrameIndex& floatingFrame, const iDynTree::Vector3& gravity) -> bool: Set the kinematic information necessary for the gravity torques estimation using the assumed known gravity vector on frame.
auto getGravityCompensationTorques(iDynTree::JointDOFsDoubleArray& jointTrqs) -> bool: Get the gravity compensation torques.

Load model.

Returns	true if successful, false otherwise

Set the kinematic information necessary for the gravity torques estimation using the proper acceleration coming from an accelerometer.

Parameters
jointPos in	the position of the joints in the model
floatingFrame in	the frame index for which proper acceleration is provided
properClassicalLinearAcceleration in	proper (actual acceleration - gravity) classical acceleration of the origin of the specified frame, expresssed in the specified frame orientation
Returns	true if successful, false otherwise

Set the kinematic information necessary for the gravity torques estimation using the assumed known gravity vector on frame.

Parameters
jointPos in	the position of the joints in the model
floatingFrame in	the frame index for which gravity vector is provided
gravity
Returns	true if successful, false otherwise

Get the gravity compensation torques.

Returns	true if successful, false otherwise