Functions and classes for simplifying integration of %iDynTree and YARP. module

Functions

auto toiDynTree(const yarp::sig::Vector& yarpVector, iDynTree::Wrench& iDynTreeWrench) -> bool
Convert a yarp::sig::Vector to a iDynTree::Wrench.
auto toYarp(const iDynTree::Wrench& iDynTreeWrench, yarp::sig::Vector& yarpVector) -> bool
Convert a iDynTree::Wrench to a yarp::sig::Vector.
auto toiDynTree(const yarp::sig::Vector& yarpVector, iDynTree::Position& iDynTreePosition) -> bool
Convert a yarp::sig::Vector to a iDynTree::Position.
auto toiDynTree(const yarp::sig::Vector& yarpVector, iDynTree::Vector3& iDynTreeVector3) -> bool
Convert a yarp::sig::Vector to a iDynTree::Vector3.
auto toYarp(const iDynTree::Position& iDynTreePosition, yarp::sig::Vector& yarpVector) -> bool
Convert a iDynTree::Position to a yarp::sig::Vector of 3 elements.
auto toiDynTree(const yarp::sig::Vector& yarpVector, iDynTree::Direction& iDynTreeDirection) -> bool
Convert a yarp::sig::Vector of 3 elements to a iDynTree::Direction.
auto toYarp(const iDynTree::Vector3& iDynTreeDirection, yarp::sig::Vector& yarpVector) -> bool
Convert a iDynTree::Direction to a yarp::sig::Vector of 3 elements.
auto toiDynTree(const yarp::sig::Matrix& yarpHomogeneousMatrix, iDynTree::Transform& iDynTreeTransform) -> bool
Convert a 4x4 yarp::sig::Matrix representing an homegeneous matrix to a iDynTree::Transform.
auto toYarp(const iDynTree::Transform& iDynTreeTransform, yarp::sig::Matrix& yarpHomogeneousMatrix) -> bool
Convert a iDynTree::Transform to a 4x4 yarp::sig::Matrix representing an homegeneous matrix.
auto toiDynTree(const yarp::sig::Vector& yarpVector, iDynTree::VectorDynSize& iDynTreeVector) -> bool
Convert a yarp::sig::Vector to a iDynTree::VectorDynSize.
template<typename VectorType>
void toYarp(const VectorType& iDynTreeVector, yarp::sig::Vector& yarpVector)
Convert a iDynTree::VectorFixSize to a yarp::sig::Vector.
template<typename MatrixType>
void toYarp(const MatrixType& iDynTreeMatrix, yarp::sig::Matrix& yarpMatrix)
Convert a iDynTree::MatrixFixSize to a yarp::sig::Matrix.
template<typename VectorType>
auto toiDynTree(const yarp::sig::Vector& yarpVector, VectorType& iDynTreeVector) -> bool
Convert a yarp::sig::Vector to a iDynTree::VectorFixSize.
template<typename MatrixType>
auto toiDynTree(const yarp::sig::Matrix& yarpMatrix, MatrixType& iDynTreeMatrix) -> bool
Convert a yarp::sig::Matrix to a iDynTree::MatrixFixSize.

Function documentation

bool toiDynTree(const yarp::sig::Vector& yarpVector, iDynTree::Wrench& iDynTreeWrench)
#include <iDynTree/YARPConversions.h>

Convert a yarp::sig::Vector to a iDynTree::Wrench.

Parameters
yarpVector yarp::sig::Vector input
iDynTreeWrench iDynTree::Wrench output
Returns true if conversion was successful, false otherwise

bool toYarp(const iDynTree::Wrench& iDynTreeWrench, yarp::sig::Vector& yarpVector)
#include <iDynTree/YARPConversions.h>

Convert a iDynTree::Wrench to a yarp::sig::Vector.

Parameters
iDynTreeWrench iDynTree::Wrench input
yarpVector yarp::sig::Vector output
Returns true if conversion was successful, false otherwise

bool toiDynTree(const yarp::sig::Vector& yarpVector, iDynTree::Position& iDynTreePosition)
#include <iDynTree/YARPConversions.h>

Convert a yarp::sig::Vector to a iDynTree::Position.

Parameters
yarpVector yarp::sig::Vector input
iDynTreePosition iDynTree::Position output
Returns true if conversion was successful, false otherwise (if the input yarpVector has size different from 3)

bool toiDynTree(const yarp::sig::Vector& yarpVector, iDynTree::Vector3& iDynTreeVector3)
#include <iDynTree/YARPConversions.h>

Convert a yarp::sig::Vector to a iDynTree::Vector3.

Parameters
yarpVector yarp::sig::Vector input
iDynTreeVector3
Returns true if conversion was successful, false otherwise (if the input yarpVector has size different from 3)

bool toYarp(const iDynTree::Position& iDynTreePosition, yarp::sig::Vector& yarpVector)
#include <iDynTree/YARPConversions.h>

Convert a iDynTree::Position to a yarp::sig::Vector of 3 elements.

Parameters
iDynTreePosition iDynTree::Position input
yarpVector yarp::sig::Vector output
Returns true if conversion was sucessful, false otherwise

bool toiDynTree(const yarp::sig::Vector& yarpVector, iDynTree::Direction& iDynTreeDirection)
#include <iDynTree/YARPConversions.h>

Convert a yarp::sig::Vector of 3 elements to a iDynTree::Direction.

Parameters
yarpVector yarp::sig::Vector input
iDynTreeDirection iDynTree::Direction output
Returns true if conversion was successful, false otherwise (if the input yarpVector has size different from 3)

bool toYarp(const iDynTree::Vector3& iDynTreeDirection, yarp::sig::Vector& yarpVector)
#include <iDynTree/YARPConversions.h>

Convert a iDynTree::Direction to a yarp::sig::Vector of 3 elements.

Parameters
iDynTreeDirection iDynTree::Position input
yarpVector yarp::sig::Vector output
Returns true if conversion was sucessful, false otherwise

bool toiDynTree(const yarp::sig::Matrix& yarpHomogeneousMatrix, iDynTree::Transform& iDynTreeTransform)
#include <iDynTree/YARPConversions.h>

Convert a 4x4 yarp::sig::Matrix representing an homegeneous matrix to a iDynTree::Transform.

Parameters
yarpHomogeneousMatrix yarp::sig::Matrix 4x4 homegeneous matrix input
iDynTreeTransform iDynTree::Transform output
Returns true if conversion was successful, false otherwise

bool toYarp(const iDynTree::Transform& iDynTreeTransform, yarp::sig::Matrix& yarpHomogeneousMatrix)
#include <iDynTree/YARPConversions.h>

Convert a iDynTree::Transform to a 4x4 yarp::sig::Matrix representing an homegeneous matrix.

Parameters
iDynTreeTransform iDynTree::Transform input
yarpHomogeneousMatrix yarp::sig::Matrix 4x4 homegeneous matrix output
Returns true if conversion was successful, false otherwise

bool toiDynTree(const yarp::sig::Vector& yarpVector, iDynTree::VectorDynSize& iDynTreeVector)
#include <iDynTree/YARPConversions.h>

Convert a yarp::sig::Vector to a iDynTree::VectorDynSize.

Parameters
yarpVector yarp::sig::Vector input
iDynTreeVector iDynTree::VectorDynSize output
Returns true if conversion was successful, false otherwise

#include <iDynTree/YARPConversions.h>
template<typename VectorType>
void toYarp(const VectorType& iDynTreeVector, yarp::sig::Vector& yarpVector)

Convert a iDynTree::VectorFixSize to a yarp::sig::Vector.

Parameters
iDynTreeVector iDynTree::VectorFixSize input
yarpVector yarp::sig::Vector output

#include <iDynTree/YARPConversions.h>
template<typename MatrixType>
void toYarp(const MatrixType& iDynTreeMatrix, yarp::sig::Matrix& yarpMatrix)

Convert a iDynTree::MatrixFixSize to a yarp::sig::Matrix.

Parameters
iDynTreeMatrix iDynTree::MatrixFixSize input
yarpMatrix yarp::sig::Matrix output

#include <iDynTree/YARPConversions.h>
template<typename VectorType>
bool toiDynTree(const yarp::sig::Vector& yarpVector, VectorType& iDynTreeVector)

Convert a yarp::sig::Vector to a iDynTree::VectorFixSize.

Parameters
yarpVector yarp::sig::Vector input
iDynTreeVector iDynTree::VectorFixSize output
Returns true if conversion was successful, false otherwise (if the input yarpMatrix has size different from the output VectorFixSize)

#include <iDynTree/YARPConversions.h>
template<typename MatrixType>
bool toiDynTree(const yarp::sig::Matrix& yarpMatrix, MatrixType& iDynTreeMatrix)

Convert a yarp::sig::Matrix to a iDynTree::MatrixFixSize.

Parameters
yarpMatrix yarp::sig::Matrix input
iDynTreeMatrix iDynTree::MatrixFixSize output
Returns true if conversion was successful, false otherwise (if the input yarpMatrix has size different from the MatrixFixSize)