README.md

iDynTree high-level-wrappers

A collection of Matlab/Octave functions that wraps the functionalities of (mainly) the iDyntree class KinDynComputations. For further information on the single wrapper, refer to the description included in each function.

Motivations

For a Matlab/Octave user, it may be sometimes counterintuitive to use C++ based formalism inside Matlab/Octave. Furthermore, there are common iDyntree functions that require several lines of code in order to be used correctly. E.g. see the getRobotState function:

    basePose_iDyntree   = iDynTree.Transform();
    jointPos_iDyntree   = iDynTree.VectorDynSize(KinDynModel.NDOF);
    baseVel_iDyntree    = iDynTree.Twist();
    jointVel_iDyntree   = iDynTree.VectorDynSize(KinDynModel.NDOF);
    gravityVec_iDyntree = iDynTree.Vector3();

    KinDynModel.kinDynComp.getRobotState(basePose_iDyntree,jointPos_iDyntree,baseVel_iDyntree,jointVel_iDyntree,gravityVec_iDyntree);

    baseRotation_iDyntree = basePose_iDyntree.getRotation;
    baseOrigin_iDyntree   = basePose_iDyntree.getPosition;

    baseRotation = baseRotation_iDyntree.toMatlab;
    baseOrigin   = baseOrigin_iDyntree.toMatlab;
    jointPos     = jointPos_iDyntree.toMatlab;
    baseVel      = baseVel_iDyntree.toMatlab;
    jointVel     = jointVel_iDyntree.toMatlab;
    basePose     = [baseRotation, baseOrigin;
                       0,  0,  0,  1];

The purpose of the wrapper is therefore to provide a simpler and easy-to-use interface for Matlab/Octave users who wants to use iDyntree inside Matlab/Octave, also helping in designing code which is less error-prone and easier to debug (e.g. in case the interface of an iDyntree function will change in the future).

KinDynComputations class

Load the reduced model

• loadReducedModel

Retrieve data from the model

• getJointPos
• getJointVel
• getCentroidalTotalMomentum
• getRobotState
• getWorldBaseTransform
• getBaseTwist
• getModelVel
• getFrameVelocityRepresentation
• getNrOfDegreesOfFreedom
• getFloatingBase
• getFrameIndex
• getFrameName
• getWorldTransform
• getWorldTransformsAsHomogeneous
• getRelativeTransform
• getRelativeJacobian
• getFreeFloatingMassMatrix
• getFrameBiasAcc
• getFrameFreeFloatingJacobian
• getCenterOfMassPosition
• generalizedBiasForces
• generalizedGravityForces
• getCenterOfMassJacobian
• getCenterOfMassVelocity

Set the model-related quantities

• setJointPos
• setWorldBaseTransform
• setFrameVelocityRepresentation
• setFloatingBase
• setRobotState

Visualizer class

Not proper wrappers, they wrap more than one method of the class each. Requirements: compile iDyntree with Irrlicht (IDYNTREE_USES_IRRLICHT = ON).

Warning: the visualizer class may be deprecated in a future release.

• initializeVisualizer
• visualizerSetup
• updateVisualizer

Matlab Native visualization

Not actual wrappers, they use the iDynTreeWrappers in combination with the MATLAB patch plotting functions to visualize the robot.

Disclaimers:

1. This visualization has not been tested with Octave.
2. At the moment, there is no support for .dae mesh file format.

• prepareVisualization
• updateVisualization
• getMeshes
• plotMeshInWorld
• modifyLinkVisual
• modifyLinksVisualization