iDynTree::ModelCalibrationHelper class
#include <iDynTree/ModelCalibrationHelper.h>

Helper class to load a model, modify its parameters based on calibration, and save it again to file.

Constructor/Destructor

ModelCalibrationHelper()
Constructor.
~ModelCalibrationHelper()
auto loadModelFromString(const std::string& modelString, const std::string& filetype = "urdf") -> bool
Load the model of the robot from a string.
auto loadModelFromFile(const std::string& filename, const std::string& filetype = "urdf") -> bool
Load the model of the robot from an external file.
auto updateModelInertialParametersToString(std::string& modelString, const iDynTree::VectorDynSize& inertialParams, const std::string filetype = "urdf", const iDynTree::ModelExporterOptions options = iDynTree::ModelExporterOptions()) -> bool
Update the inertial parameters of the loaded model.
auto updateModelInertialParametersToFile(const std::string& filename, const iDynTree::VectorDynSize& inertialParams, const std::string filetype = "urdf", const iDynTree::ModelExporterOptions options = iDynTree::ModelExporterOptions()) -> bool
Update the inertial parameters of the loaded model.
auto model() -> const Model&
Get the loaded model.
auto sensors() -> const SensorsList&
Get the loaded sensors.
auto isValid() -> bool
Return true if the model have been correctly true.

Function documentation

bool iDynTree::ModelCalibrationHelper::loadModelFromString(const std::string& modelString, const std::string& filetype = "urdf")

Load the model of the robot from a string.

Parameters
modelString string containg the model of the robot.
filetype type of the file to load, currently supporting only urdf type.

bool iDynTree::ModelCalibrationHelper::loadModelFromFile(const std::string& filename, const std::string& filetype = "urdf")

Load the model of the robot from an external file.

Parameters
filename path to the file to load
filetype type of the file to load, currently supporting only urdf type.

bool iDynTree::ModelCalibrationHelper::updateModelInertialParametersToString(std::string& modelString, const iDynTree::VectorDynSize& inertialParams, const std::string filetype = "urdf", const iDynTree::ModelExporterOptions options = iDynTree::ModelExporterOptions())

Update the inertial parameters of the loaded model.

bool iDynTree::ModelCalibrationHelper::updateModelInertialParametersToFile(const std::string& filename, const iDynTree::VectorDynSize& inertialParams, const std::string filetype = "urdf", const iDynTree::ModelExporterOptions options = iDynTree::ModelExporterOptions())

Update the inertial parameters of the loaded model.

const Model& iDynTree::ModelCalibrationHelper::model()

Get the loaded model.

const SensorsList& iDynTree::ModelCalibrationHelper::sensors()

Get the loaded sensors.

bool iDynTree::ModelCalibrationHelper::isValid()

Return true if the model have been correctly true.

Returns True if the model was loaded correctly.