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 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. |
|---|