Merge branch 'master' into contact_detector

CHANGELOG.md

@@ -7,6 +7,7 @@ All notable changes to this project are documented in this file.
 
 ### Changed
 - Update the `IK tutorial` to use `QPInverseKinematics::build` (https://github.com/ami-iit/bipedal-locomotion-framework/pull/621)
+- Handle case where no FT sensors are specified to split the model (https://github.com/ami-iit/bipedal-locomotion-framework/pull/625)
 - General restructure of the `ContactDetector`and the derived classes (`SchmittTriggerDetector` and `FixedFootDetector`) (https://github.com/ami-iit/bipedal-locomotion-framework/pull/624)
  Thanks to this refactory the `FixedFootDetector` usage becomes similar to the others `advanceable`.
  Indeed now `FixedFootDetector::advace()` considers the input set by the user and provides the corresponding output.

src/Estimators/include/BipedalLocomotion/RobotDynamicsEstimator/SubModel.h

@@ -73,47 +73,102 @@ class SubModel
  std::vector<std::string> m_externalContactList; /**< List of the additional external contacts */
 
 public:
+ /**
+ * Determines the validity of the object.
+ * @return True if the object is valid, false otherwise.
+ */
+ bool isValid() const;
+
  /**
  * Getters
  */
 
  /**
- * @brief Access model.
+ * @brief Get the `iDynTree::Model` instance.
+ * @note The actual implementation of the Model is currently stored in an `iDynTree::Model`
  * @return The model of the SubModel.
  */
  const iDynTree::Model& getModel() const;
 
  /**
- * @brief Access jointListMapping.
+ * @brief Access the `std::vectot<int>` list.
  * @return the mapping between the joint indeces in the sub-model and the joint indeces in the
  * full-model.
  */
  const std::vector<int>& getJointMapping() const;
 
  /**
- * @brief Access ftList.
+ * @brief Access the `std::vector<FT>` list.
  * @return the list of FT objects which is the list of force/torque sensors.
  */
  const std::vector<FT>& getFTList() const;
 
  /**
- * @brief Access accelerometerList.
+ * @brief Access the `std::vector<Sensor>` list of acceletometer sensors.
  * @return a list of Sensor objects describing the accelerometers contained in the sub-model.
  */
  const std::vector<Sensor>& getAccelerometerList() const;
 
  /**
- * @brief Access gyroscopeList.
+ * @brief Access the `std::vector<Sensor>` list of gyroscope sensors.
  * @return a list of Sensor objects describing the gyroscope contained in the sub-model.
  */
  const std::vector<Sensor>& getGyroscopeList() const;
 
  /**
- * @brief Access externalContactList.
+ * @brief Access the `std::vector<std::string>` list of frame names.
  * @return a list of strings describing frame names of the external contacts for the sub-model.
  */
  const std::vector<std::string>& getExternalContactList() const;
 
+ /**
+ * @brief access the length of force/torque sensor list.
+ * @return the number of force/torque sensors in the sub-model.
+ */
+ std::size_t getNrOfFTSensor() const;
+
+ /**
+ * @brief access the length of accelerometer list.
+ * @return the number of accelerometer sensors in the sub-model.
+ */
+ std::size_t getNrOfAccelerometer() const;
+
+ /**
+ * @brief access the length of gyroscope list.
+ * @return the number of gyroscope sensors in the sub-model.
+ */
+ std::size_t getNrOfGyroscope() const;
+
+ /**
+ * @brief access the length of the contact frame list.
+ * @return the number of gyroscope sensors in the sub-model.
+ */
+ std::size_t getNrOfExternalContact() const;
+
+ /**
+ * @brief Access an element of the force/torque sensor list.
+ * @return FT object associated with the specified index.
+ */
+ const FT& getFTSensor(const int index) const;
+
+ /**
+ * @brief Access an element of the accelerometer list.
+ * @return a Sensor object corresponding to the accelerometer associated with the specified index.
+ */
+ const Sensor& getAccelerometer(const int index) const;
+
+ /**
+ * @brief Access an element of the gyroscope list.
+ * @return a Sensor object corresponding to the gyroscope associated with the specified index.
+ */
+ const Sensor& getGyroscope(const int index) const;
+
+ /**
+ * @brief access an element of the contact frame list.
+ * @return a string corresponding to the external contact frame associated with the specified index.
+ */
+ const std::string& getExternalContact(const int index) const;
+
  friend class SubModelCreator;
 };
 
@@ -229,24 +284,18 @@ class SubModelCreator
  */
  bool
  createSubModels(std::weak_ptr<const BipedalLocomotion::ParametersHandler::IParametersHandler>
-  parameterHandler);
+ parameterHandler);
 
  /**
  * Setter
  */
 
  /**
- * @brief Set model
- * @param model is an iDynTree Model object
- */
- void setModel(const iDynTree::Model& model);
-
- /**
- * @brief Set sensorList
- * @param sensorList is an iDynTree SensorsList object containing the list of Sensors
- * (gyroscopes, accelerometers, force/torque sensors) in the model
+ * @brief Set model which is an instance of `iDynTree::ModelLoader` and the sensor list which is an instance of `iDynTree::SensorList`
+ * @param modelLoader is an iDynTree ModelLoader object
+ * @param sensors is an iDynTree SensorList object
  */
- void setSensorList(const iDynTree::SensorsList& sensorList);
+ void setModelAndSensors(const iDynTree::Model& model, const iDynTree::SensorsList& sensors);
 
  /**
  * @brief set kinDyn
@@ -261,13 +310,19 @@ class SubModelCreator
  */
 
  /**
- * @brief get subModelList
+ * @brief access the length of the list std::vector<SubModel>.
+ * @return the number of sub-models composing the model
+ */
+ std::size_t getNrOfSubModels() const;
+
+ /**
+ * @brief get the `std::vector<SubModel>` list.
  * @return the list of SubModel objects.
  */
  const std::vector<SubModel>& getSubModelList() const;
 
  /**
- * @brief get subModel
+ * @brief get a `SubModel` instance of the list of `SubModel`.
  * @return the SubModel at the position index.
  */
  const SubModel& getSubModel(int index) const;