%iDynTree model data structures module

Functions to read and write iDynTree models and sensors in external formats (URDF at the moment).

Classes

class iDynTree::ModelCalibrationHelper: Helper class to load a model, modify its parameters based on calibration, and save it again to file.
struct iDynTree::ModelExporterOptions: Options for the iDynTree exporter.
class iDynTree::ModelExporter: Helper class to export a model to the supported textual formats.
struct iDynTree::ModelParserOptions: Options for the iDynTree parser.
class iDynTree::ModelLoader: Helper class to load a model from a generic format.

auto dofsListFromURDF(const std::string& urdf_filename, std::vector<std::string>& dofs) -> bool: Load a list of dofs names from a URDF file.
auto dofsListFromURDFString(const std::string& urdf_string, std::vector<std::string>& dofs) -> bool: Load a list of dofs object from a URDF string.
auto URDFFromModel(const iDynTree::Model& model, const std::string& urdf_filename, const ModelExporterOptions options = ModelExporterOptions()) -> bool: Export a iDynTree::Model object to a URDF file.
auto URDFStringFromModel(const iDynTree::Model& output, std::string& urdf_string, const ModelExporterOptions options = ModelExporterOptions()) -> bool: Export a iDynTree::Model object to a URDF string.

Load a list of dofs names from a URDF file.

Returns	true if all went ok, false otherwise.

Load a list of dofs object from a URDF string.

Returns	true if all went ok, false otherwise.

Export a iDynTree::Model object to a URDF file.

Parameters
model
urdf_filename in	Path to the URDF file that will be created. It can be either a relative filename with respect to the current working directory, or an absolute filename.
options in	the iDynTree::ModelExporterOptions struct of options passed to the parser.
Returns	true if all went ok, false otherwise.

Export a iDynTree::Model object to a URDF string.

Parameters
output
urdf_string
options in	the iDynTree::ModelExporterOptions struct of options passed to the parser.
Returns	true if all went ok, false otherwise.