diff --git a/bindings/iDynTree.i b/bindings/iDynTree.i
index d4959308e95..c66f09f93d5 100644
--- a/bindings/iDynTree.i
+++ b/bindings/iDynTree.i
@@ -45,7 +45,6 @@
 #include "iDynTree/Core/RotationRaw.h"
 #include "iDynTree/Core/RotationSemantics.h"
 #include "iDynTree/Core/Rotation.h"
-#include "iDynTree/Core/TransformRaw.h"
 #include "iDynTree/Core/TransformSemantics.h"
 #include "iDynTree/Core/Transform.h"
 
@@ -89,7 +88,6 @@
 %include "iDynTree/Core/RotationRaw.h"
 %include "iDynTree/Core/RotationSemantics.h"
 %include "iDynTree/Core/Rotation.h"
-%include "iDynTree/Core/TransformRaw.h"
 %include "iDynTree/Core/TransformSemantics.h"
 %include "iDynTree/Core/Transform.h"
 
diff --git a/bindings/matlab/+iDynTree/DynamicsRegressorGenerator.m b/bindings/matlab/+iDynTree/DynamicsRegressorGenerator.m
index d210add14fa..eccbaf9d36e 100644
--- a/bindings/matlab/+iDynTree/DynamicsRegressorGenerator.m
+++ b/bindings/matlab/+iDynTree/DynamicsRegressorGenerator.m
@@ -3,9 +3,9 @@
     function self = DynamicsRegressorGenerator(varargin)
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(307,'new_DynamicsRegressorGenerator',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(286,'new_DynamicsRegressorGenerator',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(307,'new_DynamicsRegressorGenerator',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(286,'new_DynamicsRegressorGenerator',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -14,75 +14,75 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(308,'delete_DynamicsRegressorGenerator',self);
+        iDynTreeMATLAB_wrap(287,'delete_DynamicsRegressorGenerator',self);
         self.swigOwn=false;
       end
     end
     function varargout = loadRobotAndSensorsModelFromFile(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(309,'DynamicsRegressorGenerator_loadRobotAndSensorsModelFromFile',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(288,'DynamicsRegressorGenerator_loadRobotAndSensorsModelFromFile',self,varargin{:});
     end
     function varargout = loadRobotAndSensorsModelFromString(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(310,'DynamicsRegressorGenerator_loadRobotAndSensorsModelFromString',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(289,'DynamicsRegressorGenerator_loadRobotAndSensorsModelFromString',self,varargin{:});
     end
     function varargout = loadRegressorStructureFromFile(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(311,'DynamicsRegressorGenerator_loadRegressorStructureFromFile',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(290,'DynamicsRegressorGenerator_loadRegressorStructureFromFile',self,varargin{:});
     end
     function varargout = loadRegressorStructureFromString(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(312,'DynamicsRegressorGenerator_loadRegressorStructureFromString',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(291,'DynamicsRegressorGenerator_loadRegressorStructureFromString',self,varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(313,'DynamicsRegressorGenerator_isValid',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(292,'DynamicsRegressorGenerator_isValid',self,varargin{:});
     end
     function varargout = getNrOfParameters(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(314,'DynamicsRegressorGenerator_getNrOfParameters',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(293,'DynamicsRegressorGenerator_getNrOfParameters',self,varargin{:});
     end
     function varargout = getNrOfOutputs(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(315,'DynamicsRegressorGenerator_getNrOfOutputs',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(294,'DynamicsRegressorGenerator_getNrOfOutputs',self,varargin{:});
     end
     function varargout = getNrOfDegreesOfFreedom(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(316,'DynamicsRegressorGenerator_getNrOfDegreesOfFreedom',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(295,'DynamicsRegressorGenerator_getNrOfDegreesOfFreedom',self,varargin{:});
     end
     function varargout = getDescriptionOfParameter(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(317,'DynamicsRegressorGenerator_getDescriptionOfParameter',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(296,'DynamicsRegressorGenerator_getDescriptionOfParameter',self,varargin{:});
     end
     function varargout = getDescriptionOfParameters(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(318,'DynamicsRegressorGenerator_getDescriptionOfParameters',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(297,'DynamicsRegressorGenerator_getDescriptionOfParameters',self,varargin{:});
     end
     function varargout = getDescriptionOfOutput(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(319,'DynamicsRegressorGenerator_getDescriptionOfOutput',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(298,'DynamicsRegressorGenerator_getDescriptionOfOutput',self,varargin{:});
     end
     function varargout = getDescriptionOfOutputs(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(320,'DynamicsRegressorGenerator_getDescriptionOfOutputs',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(299,'DynamicsRegressorGenerator_getDescriptionOfOutputs',self,varargin{:});
     end
     function varargout = getDescriptionOfDegreeOfFreedom(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(321,'DynamicsRegressorGenerator_getDescriptionOfDegreeOfFreedom',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(300,'DynamicsRegressorGenerator_getDescriptionOfDegreeOfFreedom',self,varargin{:});
     end
     function varargout = getDescriptionOfDegreesOfFreedom(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(322,'DynamicsRegressorGenerator_getDescriptionOfDegreesOfFreedom',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(301,'DynamicsRegressorGenerator_getDescriptionOfDegreesOfFreedom',self,varargin{:});
     end
     function varargout = getBaseLinkName(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(323,'DynamicsRegressorGenerator_getBaseLinkName',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(302,'DynamicsRegressorGenerator_getBaseLinkName',self,varargin{:});
     end
     function varargout = getSensorsModel(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(324,'DynamicsRegressorGenerator_getSensorsModel',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(303,'DynamicsRegressorGenerator_getSensorsModel',self,varargin{:});
     end
     function varargout = setRobotState(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(325,'DynamicsRegressorGenerator_setRobotState',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(304,'DynamicsRegressorGenerator_setRobotState',self,varargin{:});
     end
     function varargout = getSensorsMeasurements(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(326,'DynamicsRegressorGenerator_getSensorsMeasurements',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(305,'DynamicsRegressorGenerator_getSensorsMeasurements',self,varargin{:});
     end
     function varargout = computeRegressor(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(327,'DynamicsRegressorGenerator_computeRegressor',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(306,'DynamicsRegressorGenerator_computeRegressor',self,varargin{:});
     end
     function varargout = getModelParameters(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(328,'DynamicsRegressorGenerator_getModelParameters',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(307,'DynamicsRegressorGenerator_getModelParameters',self,varargin{:});
     end
     function varargout = computeFloatingBaseIdentifiableSubspace(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(329,'DynamicsRegressorGenerator_computeFloatingBaseIdentifiableSubspace',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(308,'DynamicsRegressorGenerator_computeFloatingBaseIdentifiableSubspace',self,varargin{:});
     end
     function varargout = computeFixedBaseIdentifiableSubspace(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(330,'DynamicsRegressorGenerator_computeFixedBaseIdentifiableSubspace',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(309,'DynamicsRegressorGenerator_computeFixedBaseIdentifiableSubspace',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
diff --git a/bindings/matlab/+iDynTree/DynamicsRegressorParameter.m b/bindings/matlab/+iDynTree/DynamicsRegressorParameter.m
index 518e937712d..7c791ab7bbd 100644
--- a/bindings/matlab/+iDynTree/DynamicsRegressorParameter.m
+++ b/bindings/matlab/+iDynTree/DynamicsRegressorParameter.m
@@ -1,20 +1,20 @@
 classdef DynamicsRegressorParameter < SwigRef
   methods
     function varargout = lt(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(293,'DynamicsRegressorParameter_lt',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(272,'DynamicsRegressorParameter_lt',self,varargin{:});
     end
     function varargout = isequal(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(294,'DynamicsRegressorParameter_isequal',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(273,'DynamicsRegressorParameter_isequal',self,varargin{:});
     end
     function varargout = ne(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(295,'DynamicsRegressorParameter_ne',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(274,'DynamicsRegressorParameter_ne',self,varargin{:});
     end
     function self = DynamicsRegressorParameter(varargin)
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(296,'new_DynamicsRegressorParameter',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(275,'new_DynamicsRegressorParameter',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(296,'new_DynamicsRegressorParameter',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(275,'new_DynamicsRegressorParameter',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -23,7 +23,7 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(297,'delete_DynamicsRegressorParameter',self);
+        iDynTreeMATLAB_wrap(276,'delete_DynamicsRegressorParameter',self);
         self.swigOwn=false;
       end
     end
@@ -32,15 +32,15 @@ function delete(self)
       ok = false;
       switch i
         case 'category'
-          v = iDynTreeMATLAB_wrap(287,'DynamicsRegressorParameter_category_get',self);
+          v = iDynTreeMATLAB_wrap(266,'DynamicsRegressorParameter_category_get',self);
           ok = true;
           return
         case 'elemIndex'
-          v = iDynTreeMATLAB_wrap(289,'DynamicsRegressorParameter_elemIndex_get',self);
+          v = iDynTreeMATLAB_wrap(268,'DynamicsRegressorParameter_elemIndex_get',self);
           ok = true;
           return
         case 'type'
-          v = iDynTreeMATLAB_wrap(291,'DynamicsRegressorParameter_type_get',self);
+          v = iDynTreeMATLAB_wrap(270,'DynamicsRegressorParameter_type_get',self);
           ok = true;
           return
       end
@@ -48,15 +48,15 @@ function delete(self)
     function [self,ok] = swig_fieldasgn(self,i,v)
       switch i
         case 'category'
-          iDynTreeMATLAB_wrap(288,'DynamicsRegressorParameter_category_set',self,v);
+          iDynTreeMATLAB_wrap(267,'DynamicsRegressorParameter_category_set',self,v);
           ok = true;
           return
         case 'elemIndex'
-          iDynTreeMATLAB_wrap(290,'DynamicsRegressorParameter_elemIndex_set',self,v);
+          iDynTreeMATLAB_wrap(269,'DynamicsRegressorParameter_elemIndex_set',self,v);
           ok = true;
           return
         case 'type'
-          iDynTreeMATLAB_wrap(292,'DynamicsRegressorParameter_type_set',self,v);
+          iDynTreeMATLAB_wrap(271,'DynamicsRegressorParameter_type_set',self,v);
           ok = true;
           return
       end
diff --git a/bindings/matlab/+iDynTree/DynamicsRegressorParametersList.m b/bindings/matlab/+iDynTree/DynamicsRegressorParametersList.m
index 22351e3b5d5..82fae0dd414 100644
--- a/bindings/matlab/+iDynTree/DynamicsRegressorParametersList.m
+++ b/bindings/matlab/+iDynTree/DynamicsRegressorParametersList.m
@@ -1,26 +1,26 @@
 classdef DynamicsRegressorParametersList < SwigRef
   methods
     function varargout = getDescriptionOfParameter(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(300,'DynamicsRegressorParametersList_getDescriptionOfParameter',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(279,'DynamicsRegressorParametersList_getDescriptionOfParameter',self,varargin{:});
     end
     function varargout = addParam(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(301,'DynamicsRegressorParametersList_addParam',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(280,'DynamicsRegressorParametersList_addParam',self,varargin{:});
     end
     function varargout = addList(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(302,'DynamicsRegressorParametersList_addList',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(281,'DynamicsRegressorParametersList_addList',self,varargin{:});
     end
     function varargout = findParam(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(303,'DynamicsRegressorParametersList_findParam',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(282,'DynamicsRegressorParametersList_findParam',self,varargin{:});
     end
     function varargout = getNrOfParameters(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(304,'DynamicsRegressorParametersList_getNrOfParameters',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(283,'DynamicsRegressorParametersList_getNrOfParameters',self,varargin{:});
     end
     function self = DynamicsRegressorParametersList(varargin)
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(305,'new_DynamicsRegressorParametersList',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(284,'new_DynamicsRegressorParametersList',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(305,'new_DynamicsRegressorParametersList',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(284,'new_DynamicsRegressorParametersList',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -29,7 +29,7 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(306,'delete_DynamicsRegressorParametersList',self);
+        iDynTreeMATLAB_wrap(285,'delete_DynamicsRegressorParametersList',self);
         self.swigOwn=false;
       end
     end
@@ -38,7 +38,7 @@ function delete(self)
       ok = false;
       switch i
         case 'parameters'
-          v = iDynTreeMATLAB_wrap(298,'DynamicsRegressorParametersList_parameters_get',self);
+          v = iDynTreeMATLAB_wrap(277,'DynamicsRegressorParametersList_parameters_get',self);
           ok = true;
           return
       end
@@ -46,7 +46,7 @@ function delete(self)
     function [self,ok] = swig_fieldasgn(self,i,v)
       switch i
         case 'parameters'
-          iDynTreeMATLAB_wrap(299,'DynamicsRegressorParametersList_parameters_set',self,v);
+          iDynTreeMATLAB_wrap(278,'DynamicsRegressorParametersList_parameters_set',self,v);
           ok = true;
           return
       end
diff --git a/bindings/matlab/+iDynTree/NR_OF_SENSOR_TYPES.m b/bindings/matlab/+iDynTree/NR_OF_SENSOR_TYPES.m
index c89f07a4fba..f9c3b255d76 100644
--- a/bindings/matlab/+iDynTree/NR_OF_SENSOR_TYPES.m
+++ b/bindings/matlab/+iDynTree/NR_OF_SENSOR_TYPES.m
@@ -1,3 +1,3 @@
 function v = NR_OF_SENSOR_TYPES()
-  v = iDynTreeMATLAB_wrap(247,'NR_OF_SENSOR_TYPES_get');
+  v = iDynTreeMATLAB_wrap(226,'NR_OF_SENSOR_TYPES_get');
 end
diff --git a/bindings/matlab/+iDynTree/Position.m b/bindings/matlab/+iDynTree/Position.m
index 5bcd7b1dd53..7f67ed0b091 100644
--- a/bindings/matlab/+iDynTree/Position.m
+++ b/bindings/matlab/+iDynTree/Position.m
@@ -4,9 +4,9 @@
       self@iDynTree.PositionRaw('_swigCreate');
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(80,'new_Position',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(79,'new_Position',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(80,'new_Position',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(79,'new_Position',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -15,21 +15,24 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(81,'delete_Position',self);
+        iDynTreeMATLAB_wrap(80,'delete_Position',self);
         self.swigOwn=false;
       end
     end
     function varargout = getSemantics(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(82,'Position_getSemantics',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(81,'Position_getSemantics',self,varargin{:});
     end
     function varargout = changePoint(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(83,'Position_changePoint',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(82,'Position_changePoint',self,varargin{:});
     end
     function varargout = changeRefPoint(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(84,'Position_changeRefPoint',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(83,'Position_changeRefPoint',self,varargin{:});
     end
     function varargout = changeCoordinateFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(85,'Position_changeCoordinateFrame',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(84,'Position_changeCoordinateFrame',self,varargin{:});
+    end
+    function varargout = changePointOf(self,varargin)
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(87,'Position_changePointOf',self,varargin{:});
     end
     function varargout = plus(self,varargin)
       [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(88,'Position_plus',self,varargin{:});
@@ -40,11 +43,14 @@ function delete(self)
     function varargout = uminus(self,varargin)
       [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(90,'Position_uminus',self,varargin{:});
     end
+    function varargout = mtimes(self,varargin)
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(91,'Position_mtimes',self,varargin{:});
+    end
     function varargout = toString(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(91,'Position_toString',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(92,'Position_toString',self,varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(92,'Position_display',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(93,'Position_display',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
@@ -67,10 +73,10 @@ function delete(self)
   end
   methods(Static)
     function varargout = compose(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(86,'Position_compose',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(85,'Position_compose',varargin{:});
     end
     function varargout = inverse(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(87,'Position_inverse',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(86,'Position_inverse',varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/+iDynTree/PositionRaw.m b/bindings/matlab/+iDynTree/PositionRaw.m
index ea5477ed5d2..16855f87386 100644
--- a/bindings/matlab/+iDynTree/PositionRaw.m
+++ b/bindings/matlab/+iDynTree/PositionRaw.m
@@ -43,8 +43,8 @@ function delete(self)
     function varargout = changeRefPoint(self,varargin)
       [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(59,'PositionRaw_changeRefPoint',self,varargin{:});
     end
-    function varargout = changeCoordinateFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(60,'PositionRaw_changeCoordinateFrame',self,varargin{:});
+    function varargout = changePointOf(self,varargin)
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(62,'PositionRaw_changePointOf',self,varargin{:});
     end
     function varargout = toString(self,varargin)
       [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(63,'PositionRaw_toString',self,varargin{:});
@@ -73,10 +73,10 @@ function delete(self)
   end
   methods(Static)
     function varargout = compose(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(61,'PositionRaw_compose',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(60,'PositionRaw_compose',varargin{:});
     end
     function varargout = inverse(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(62,'PositionRaw_inverse',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(61,'PositionRaw_inverse',varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/+iDynTree/PositionSemantics.m b/bindings/matlab/+iDynTree/PositionSemantics.m
index c34c5f503b8..d93486b74d3 100644
--- a/bindings/matlab/+iDynTree/PositionSemantics.m
+++ b/bindings/matlab/+iDynTree/PositionSemantics.m
@@ -42,14 +42,11 @@ function delete(self)
     function varargout = changeRefPoint(self,varargin)
       [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(74,'PositionSemantics_changeRefPoint',self,varargin{:});
     end
-    function varargout = changeCoordinateFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(75,'PositionSemantics_changeCoordinateFrame',self,varargin{:});
-    end
     function varargout = toString(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(78,'PositionSemantics_toString',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(77,'PositionSemantics_toString',self,varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(79,'PositionSemantics_display',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(78,'PositionSemantics_display',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
@@ -64,10 +61,10 @@ function delete(self)
   end
   methods(Static)
     function varargout = compose(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(76,'PositionSemantics_compose',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(75,'PositionSemantics_compose',varargin{:});
     end
     function varargout = inverse(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(77,'PositionSemantics_inverse',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(76,'PositionSemantics_inverse',varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/+iDynTree/Rotation.m b/bindings/matlab/+iDynTree/Rotation.m
index c9f17ef433b..e4f013e72c7 100644
--- a/bindings/matlab/+iDynTree/Rotation.m
+++ b/bindings/matlab/+iDynTree/Rotation.m
@@ -4,9 +4,9 @@
       self@iDynTree.RotationRaw('_swigCreate');
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(188,'new_Rotation',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(187,'new_Rotation',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(188,'new_Rotation',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(187,'new_Rotation',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -15,33 +15,33 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(189,'delete_Rotation',self);
+        iDynTreeMATLAB_wrap(188,'delete_Rotation',self);
         self.swigOwn=false;
       end
     end
     function varargout = getSemantics(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(190,'Rotation_getSemantics',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(189,'Rotation_getSemantics',self,varargin{:});
     end
     function varargout = changeOrientFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(191,'Rotation_changeOrientFrame',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(190,'Rotation_changeOrientFrame',self,varargin{:});
     end
     function varargout = changeRefOrientFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(192,'Rotation_changeRefOrientFrame',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(191,'Rotation_changeRefOrientFrame',self,varargin{:});
     end
-    function varargout = convertToNewCoordFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(195,'Rotation_convertToNewCoordFrame',self,varargin{:});
+    function varargout = changeCoordFrameOf(self,varargin)
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(194,'Rotation_changeCoordFrameOf',self,varargin{:});
     end
     function varargout = inverse(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(196,'Rotation_inverse',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(195,'Rotation_inverse',self,varargin{:});
     end
     function varargout = mtimes(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(197,'Rotation_mtimes',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(196,'Rotation_mtimes',self,varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(198,'Rotation_toString',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(202,'Rotation_toString',self,varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(199,'Rotation_display',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(203,'Rotation_display',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
@@ -64,10 +64,25 @@ function delete(self)
   end
   methods(Static)
     function varargout = compose(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(193,'Rotation_compose',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(192,'Rotation_compose',varargin{:});
     end
     function varargout = inverse2(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(194,'Rotation_inverse2',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(193,'Rotation_inverse2',varargin{:});
+    end
+    function varargout = RotX(varargin)
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(197,'Rotation_RotX',varargin{:});
+    end
+    function varargout = RotY(varargin)
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(198,'Rotation_RotY',varargin{:});
+    end
+    function varargout = RotZ(varargin)
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(199,'Rotation_RotZ',varargin{:});
+    end
+    function varargout = RPY(varargin)
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(200,'Rotation_RPY',varargin{:});
+    end
+    function varargout = Identity(varargin)
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(201,'Rotation_Identity',varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/+iDynTree/RotationRaw.m b/bindings/matlab/+iDynTree/RotationRaw.m
index 38be11a3928..34fa339adb4 100644
--- a/bindings/matlab/+iDynTree/RotationRaw.m
+++ b/bindings/matlab/+iDynTree/RotationRaw.m
@@ -4,9 +4,9 @@
       self@iDynTree.IMatrix('_swigCreate');
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(151,'new_RotationRaw',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(152,'new_RotationRaw',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(151,'new_RotationRaw',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(152,'new_RotationRaw',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -15,48 +15,42 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(152,'delete_RotationRaw',self);
+        iDynTreeMATLAB_wrap(153,'delete_RotationRaw',self);
         self.swigOwn=false;
       end
     end
     function varargout = TODOparen(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(153,'RotationRaw_TODOparen',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(154,'RotationRaw_TODOparen',self,varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(154,'RotationRaw_getVal',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(155,'RotationRaw_getVal',self,varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(155,'RotationRaw_setVal',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(156,'RotationRaw_setVal',self,varargin{:});
     end
     function varargout = rows(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(156,'RotationRaw_rows',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(157,'RotationRaw_rows',self,varargin{:});
     end
     function varargout = cols(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(157,'RotationRaw_cols',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(158,'RotationRaw_cols',self,varargin{:});
     end
     function varargout = data(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(158,'RotationRaw_data',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(159,'RotationRaw_data',self,varargin{:});
     end
     function varargout = changeOrientFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(159,'RotationRaw_changeOrientFrame',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(160,'RotationRaw_changeOrientFrame',self,varargin{:});
     end
     function varargout = changeRefOrientFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(160,'RotationRaw_changeRefOrientFrame',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(161,'RotationRaw_changeRefOrientFrame',self,varargin{:});
     end
-    function varargout = convertToNewCoordFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(163,'RotationRaw_convertToNewCoordFrame',self,varargin{:});
-    end
-    function varargout = inverse(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(164,'RotationRaw_inverse',self,varargin{:});
-    end
-    function varargout = mtimes(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(165,'RotationRaw_mtimes',self,varargin{:});
+    function varargout = changeCoordFrameOf(self,varargin)
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(164,'RotationRaw_changeCoordFrameOf',self,varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(166,'RotationRaw_toString',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(170,'RotationRaw_toString',self,varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(167,'RotationRaw_display',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(171,'RotationRaw_display',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
@@ -79,25 +73,25 @@ function delete(self)
   end
   methods(Static)
     function varargout = compose(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(161,'RotationRaw_compose',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(162,'RotationRaw_compose',varargin{:});
     end
     function varargout = inverse2(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(162,'RotationRaw_inverse2',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(163,'RotationRaw_inverse2',varargin{:});
     end
     function varargout = RotX(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(168,'RotationRaw_RotX',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(165,'RotationRaw_RotX',varargin{:});
     end
     function varargout = RotY(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(169,'RotationRaw_RotY',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(166,'RotationRaw_RotY',varargin{:});
     end
     function varargout = RotZ(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(170,'RotationRaw_RotZ',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(167,'RotationRaw_RotZ',varargin{:});
     end
     function varargout = RPY(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(171,'RotationRaw_RPY',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(168,'RotationRaw_RPY',varargin{:});
     end
     function varargout = Identity(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(172,'RotationRaw_Identity',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(169,'RotationRaw_Identity',varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/+iDynTree/RotationSemantics.m b/bindings/matlab/+iDynTree/RotationSemantics.m
index f01be61f454..5f8177b4725 100644
--- a/bindings/matlab/+iDynTree/RotationSemantics.m
+++ b/bindings/matlab/+iDynTree/RotationSemantics.m
@@ -3,9 +3,9 @@
     function self = RotationSemantics(varargin)
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(173,'new_RotationSemantics',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(172,'new_RotationSemantics',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(173,'new_RotationSemantics',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(172,'new_RotationSemantics',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -14,42 +14,42 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(174,'delete_RotationSemantics',self);
+        iDynTreeMATLAB_wrap(173,'delete_RotationSemantics',self);
         self.swigOwn=false;
       end
     end
     function varargout = getOrientationFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(175,'RotationSemantics_getOrientationFrame',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(174,'RotationSemantics_getOrientationFrame',self,varargin{:});
     end
     function varargout = getReferenceOrientationFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(176,'RotationSemantics_getReferenceOrientationFrame',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(175,'RotationSemantics_getReferenceOrientationFrame',self,varargin{:});
     end
     function varargout = getCoordinateFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(177,'RotationSemantics_getCoordinateFrame',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(176,'RotationSemantics_getCoordinateFrame',self,varargin{:});
     end
     function varargout = setOrientationFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(178,'RotationSemantics_setOrientationFrame',self,varargin{:});
+      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(177,'RotationSemantics_setOrientationFrame',self,varargin{:});
     end
     function varargout = setReferenceOrientationFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(179,'RotationSemantics_setReferenceOrientationFrame',self,varargin{:});
+      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(178,'RotationSemantics_setReferenceOrientationFrame',self,varargin{:});
     end
     function varargout = setCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(180,'RotationSemantics_setCoordinateFrame',self,varargin{:});
+      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(179,'RotationSemantics_setCoordinateFrame',self,varargin{:});
     end
     function varargout = changeOrientFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(181,'RotationSemantics_changeOrientFrame',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(180,'RotationSemantics_changeOrientFrame',self,varargin{:});
     end
     function varargout = changeRefOrientFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(182,'RotationSemantics_changeRefOrientFrame',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(181,'RotationSemantics_changeRefOrientFrame',self,varargin{:});
     end
-    function varargout = convertToNewCoordFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(183,'RotationSemantics_convertToNewCoordFrame',self,varargin{:});
+    function varargout = changeCoordFrameOf(self,varargin)
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(182,'RotationSemantics_changeCoordFrameOf',self,varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(186,'RotationSemantics_toString',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(185,'RotationSemantics_toString',self,varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(187,'RotationSemantics_display',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(186,'RotationSemantics_display',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
@@ -64,10 +64,10 @@ function delete(self)
   end
   methods(Static)
     function varargout = compose(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(184,'RotationSemantics_compose',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(183,'RotationSemantics_compose',varargin{:});
     end
     function varargout = inverse2(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(185,'RotationSemantics_inverse2',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(184,'RotationSemantics_inverse2',varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/+iDynTree/RotationalInertiaRaw.m b/bindings/matlab/+iDynTree/RotationalInertiaRaw.m
index 61eb3e2d191..535d6ca10ca 100644
--- a/bindings/matlab/+iDynTree/RotationalInertiaRaw.m
+++ b/bindings/matlab/+iDynTree/RotationalInertiaRaw.m
@@ -3,9 +3,9 @@
     function self = RotationalInertiaRaw(varargin)
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(131,'new_RotationalInertiaRaw',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(132,'new_RotationalInertiaRaw',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(131,'new_RotationalInertiaRaw',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(132,'new_RotationalInertiaRaw',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -14,30 +14,30 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(132,'delete_RotationalInertiaRaw',self);
+        iDynTreeMATLAB_wrap(133,'delete_RotationalInertiaRaw',self);
         self.swigOwn=false;
       end
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(133,'RotationalInertiaRaw_zero',self,varargin{:});
+      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(134,'RotationalInertiaRaw_zero',self,varargin{:});
     end
     function varargout = TODOparen(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(134,'RotationalInertiaRaw_TODOparen',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(135,'RotationalInertiaRaw_TODOparen',self,varargin{:});
     end
     function varargout = getVal(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(135,'RotationalInertiaRaw_getVal',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(136,'RotationalInertiaRaw_getVal',self,varargin{:});
     end
     function varargout = setVal(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(136,'RotationalInertiaRaw_setVal',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(137,'RotationalInertiaRaw_setVal',self,varargin{:});
     end
     function varargout = rows(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(137,'RotationalInertiaRaw_rows',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(138,'RotationalInertiaRaw_rows',self,varargin{:});
     end
     function varargout = cols(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(138,'RotationalInertiaRaw_cols',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(139,'RotationalInertiaRaw_cols',self,varargin{:});
     end
     function varargout = data(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(139,'RotationalInertiaRaw_data',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(140,'RotationalInertiaRaw_data',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
diff --git a/bindings/matlab/+iDynTree/Sensor.m b/bindings/matlab/+iDynTree/Sensor.m
index 47eb71b8f66..67e82265358 100644
--- a/bindings/matlab/+iDynTree/Sensor.m
+++ b/bindings/matlab/+iDynTree/Sensor.m
@@ -2,27 +2,27 @@
   methods
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(248,'delete_Sensor',self);
+        iDynTreeMATLAB_wrap(227,'delete_Sensor',self);
         self.swigOwn=false;
       end
     end
     function varargout = getName(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(249,'Sensor_getName',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(228,'Sensor_getName',self,varargin{:});
     end
     function varargout = getSensorType(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(250,'Sensor_getSensorType',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(229,'Sensor_getSensorType',self,varargin{:});
     end
     function varargout = getParent(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(251,'Sensor_getParent',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(230,'Sensor_getParent',self,varargin{:});
     end
     function varargout = getParentIndex(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(252,'Sensor_getParentIndex',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(231,'Sensor_getParentIndex',self,varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(253,'Sensor_isValid',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(232,'Sensor_isValid',self,varargin{:});
     end
     function varargout = clone(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(254,'Sensor_clone',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(233,'Sensor_clone',self,varargin{:});
     end
     function self = Sensor(varargin)
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
diff --git a/bindings/matlab/+iDynTree/SensorsList.m b/bindings/matlab/+iDynTree/SensorsList.m
index 364f9482baa..6a8df0c209c 100644
--- a/bindings/matlab/+iDynTree/SensorsList.m
+++ b/bindings/matlab/+iDynTree/SensorsList.m
@@ -3,9 +3,9 @@
     function self = SensorsList(varargin)
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(255,'new_SensorsList',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(234,'new_SensorsList',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(255,'new_SensorsList',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(234,'new_SensorsList',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -14,21 +14,21 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(256,'delete_SensorsList',self);
+        iDynTreeMATLAB_wrap(235,'delete_SensorsList',self);
         self.swigOwn=false;
       end
     end
     function varargout = addSensor(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(257,'SensorsList_addSensor',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(236,'SensorsList_addSensor',self,varargin{:});
     end
     function varargout = getNrOfSensors(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(258,'SensorsList_getNrOfSensors',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(237,'SensorsList_getNrOfSensors',self,varargin{:});
     end
     function varargout = getSensorIndex(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(259,'SensorsList_getSensorIndex',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(238,'SensorsList_getSensorIndex',self,varargin{:});
     end
     function varargout = getSensor(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(260,'SensorsList_getSensor',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(239,'SensorsList_getSensor',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
diff --git a/bindings/matlab/+iDynTree/SensorsMeasurements.m b/bindings/matlab/+iDynTree/SensorsMeasurements.m
index de265c3b413..a9199f6864c 100644
--- a/bindings/matlab/+iDynTree/SensorsMeasurements.m
+++ b/bindings/matlab/+iDynTree/SensorsMeasurements.m
@@ -3,9 +3,9 @@
     function self = SensorsMeasurements(varargin)
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(261,'new_SensorsMeasurements',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(240,'new_SensorsMeasurements',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(261,'new_SensorsMeasurements',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(240,'new_SensorsMeasurements',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -14,21 +14,21 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(262,'delete_SensorsMeasurements',self);
+        iDynTreeMATLAB_wrap(241,'delete_SensorsMeasurements',self);
         self.swigOwn=false;
       end
     end
     function varargout = setNrOfSensors(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(263,'SensorsMeasurements_setNrOfSensors',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(242,'SensorsMeasurements_setNrOfSensors',self,varargin{:});
     end
     function varargout = getNrOfSensors(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(264,'SensorsMeasurements_getNrOfSensors',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(243,'SensorsMeasurements_getNrOfSensors',self,varargin{:});
     end
     function varargout = setMeasurement(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(265,'SensorsMeasurements_setMeasurement',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(244,'SensorsMeasurements_setMeasurement',self,varargin{:});
     end
     function varargout = getMeasurement(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(266,'SensorsMeasurements_getMeasurement',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(245,'SensorsMeasurements_getMeasurement',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
diff --git a/bindings/matlab/+iDynTree/SixAxisForceTorqueSensor.m b/bindings/matlab/+iDynTree/SixAxisForceTorqueSensor.m
index 30bcbb2f981..2ab091adb83 100644
--- a/bindings/matlab/+iDynTree/SixAxisForceTorqueSensor.m
+++ b/bindings/matlab/+iDynTree/SixAxisForceTorqueSensor.m
@@ -4,9 +4,9 @@
       self@iDynTree.Sensor('_swigCreate');
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(267,'new_SixAxisForceTorqueSensor',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(246,'new_SixAxisForceTorqueSensor',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(267,'new_SixAxisForceTorqueSensor',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(246,'new_SixAxisForceTorqueSensor',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -15,63 +15,63 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(268,'delete_SixAxisForceTorqueSensor',self);
+        iDynTreeMATLAB_wrap(247,'delete_SixAxisForceTorqueSensor',self);
         self.swigOwn=false;
       end
     end
     function varargout = setName(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(269,'SixAxisForceTorqueSensor_setName',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(248,'SixAxisForceTorqueSensor_setName',self,varargin{:});
     end
     function varargout = setFirstLinkSensorTransform(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(270,'SixAxisForceTorqueSensor_setFirstLinkSensorTransform',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(249,'SixAxisForceTorqueSensor_setFirstLinkSensorTransform',self,varargin{:});
     end
     function varargout = setSecondLinkSensorTransform(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(271,'SixAxisForceTorqueSensor_setSecondLinkSensorTransform',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(250,'SixAxisForceTorqueSensor_setSecondLinkSensorTransform',self,varargin{:});
     end
     function varargout = getFirstLinkIndex(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(272,'SixAxisForceTorqueSensor_getFirstLinkIndex',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(251,'SixAxisForceTorqueSensor_getFirstLinkIndex',self,varargin{:});
     end
     function varargout = getSecondLinkIndex(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(273,'SixAxisForceTorqueSensor_getSecondLinkIndex',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(252,'SixAxisForceTorqueSensor_getSecondLinkIndex',self,varargin{:});
     end
     function varargout = setParent(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(274,'SixAxisForceTorqueSensor_setParent',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(253,'SixAxisForceTorqueSensor_setParent',self,varargin{:});
     end
     function varargout = setParentIndex(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(275,'SixAxisForceTorqueSensor_setParentIndex',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(254,'SixAxisForceTorqueSensor_setParentIndex',self,varargin{:});
     end
     function varargout = setAppliedWrenchLink(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(276,'SixAxisForceTorqueSensor_setAppliedWrenchLink',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(255,'SixAxisForceTorqueSensor_setAppliedWrenchLink',self,varargin{:});
     end
     function varargout = getName(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(277,'SixAxisForceTorqueSensor_getName',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(256,'SixAxisForceTorqueSensor_getName',self,varargin{:});
     end
     function varargout = getSensorType(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(278,'SixAxisForceTorqueSensor_getSensorType',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(257,'SixAxisForceTorqueSensor_getSensorType',self,varargin{:});
     end
     function varargout = getParent(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(279,'SixAxisForceTorqueSensor_getParent',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(258,'SixAxisForceTorqueSensor_getParent',self,varargin{:});
     end
     function varargout = getParentIndex(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(280,'SixAxisForceTorqueSensor_getParentIndex',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(259,'SixAxisForceTorqueSensor_getParentIndex',self,varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(281,'SixAxisForceTorqueSensor_isValid',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(260,'SixAxisForceTorqueSensor_isValid',self,varargin{:});
     end
     function varargout = clone(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(282,'SixAxisForceTorqueSensor_clone',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(261,'SixAxisForceTorqueSensor_clone',self,varargin{:});
     end
     function varargout = getAppliedWrenchLink(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(283,'SixAxisForceTorqueSensor_getAppliedWrenchLink',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(262,'SixAxisForceTorqueSensor_getAppliedWrenchLink',self,varargin{:});
     end
     function varargout = isLinkAttachedToSensor(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(284,'SixAxisForceTorqueSensor_isLinkAttachedToSensor',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(263,'SixAxisForceTorqueSensor_isLinkAttachedToSensor',self,varargin{:});
     end
     function varargout = getLinkSensorTransform(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(285,'SixAxisForceTorqueSensor_getLinkSensorTransform',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(264,'SixAxisForceTorqueSensor_getLinkSensorTransform',self,varargin{:});
     end
     function varargout = getWrenchAppliedOnLink(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(286,'SixAxisForceTorqueSensor_getWrenchAppliedOnLink',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(265,'SixAxisForceTorqueSensor_getWrenchAppliedOnLink',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
diff --git a/bindings/matlab/+iDynTree/SpatialAcc.m b/bindings/matlab/+iDynTree/SpatialAcc.m
index 7c74f70108f..0a3f78f0a74 100644
--- a/bindings/matlab/+iDynTree/SpatialAcc.m
+++ b/bindings/matlab/+iDynTree/SpatialAcc.m
@@ -4,9 +4,9 @@
       self@iDynTree.SpatialMotionVectorRaw('_swigCreate');
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(126,'new_SpatialAcc',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(127,'new_SpatialAcc',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(126,'new_SpatialAcc',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(127,'new_SpatialAcc',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -15,18 +15,18 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(127,'delete_SpatialAcc',self);
+        iDynTreeMATLAB_wrap(128,'delete_SpatialAcc',self);
         self.swigOwn=false;
       end
     end
     function varargout = plus(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(128,'SpatialAcc_plus',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(129,'SpatialAcc_plus',self,varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(129,'SpatialAcc_minus',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(130,'SpatialAcc_minus',self,varargin{:});
     end
     function varargout = uminus(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(130,'SpatialAcc_uminus',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(131,'SpatialAcc_uminus',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
diff --git a/bindings/matlab/+iDynTree/SpatialForceVectorRaw.m b/bindings/matlab/+iDynTree/SpatialForceVectorRaw.m
index d86816823b2..e9a7240529d 100644
--- a/bindings/matlab/+iDynTree/SpatialForceVectorRaw.m
+++ b/bindings/matlab/+iDynTree/SpatialForceVectorRaw.m
@@ -4,9 +4,9 @@
       self@iDynTree.Vector6('_swigCreate');
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(93,'new_SpatialForceVectorRaw',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(94,'new_SpatialForceVectorRaw',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(93,'new_SpatialForceVectorRaw',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(94,'new_SpatialForceVectorRaw',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -15,18 +15,18 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(94,'delete_SpatialForceVectorRaw',self);
+        iDynTreeMATLAB_wrap(95,'delete_SpatialForceVectorRaw',self);
         self.swigOwn=false;
       end
     end
     function varargout = changePoint(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(95,'SpatialForceVectorRaw_changePoint',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(96,'SpatialForceVectorRaw_changePoint',self,varargin{:});
     end
     function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(96,'SpatialForceVectorRaw_changeCoordFrame',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(97,'SpatialForceVectorRaw_changeCoordFrame',self,varargin{:});
     end
     function varargout = dot(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(99,'SpatialForceVectorRaw_dot',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(100,'SpatialForceVectorRaw_dot',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
@@ -49,13 +49,13 @@ function delete(self)
   end
   methods(Static)
     function varargout = compose(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(97,'SpatialForceVectorRaw_compose',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(98,'SpatialForceVectorRaw_compose',varargin{:});
     end
     function varargout = inverse(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(98,'SpatialForceVectorRaw_inverse',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(99,'SpatialForceVectorRaw_inverse',varargin{:});
     end
     function varargout = Zero(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(100,'SpatialForceVectorRaw_Zero',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(101,'SpatialForceVectorRaw_Zero',varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/+iDynTree/SpatialInertia.m b/bindings/matlab/+iDynTree/SpatialInertia.m
index e14162909ca..cb2b62b7562 100644
--- a/bindings/matlab/+iDynTree/SpatialInertia.m
+++ b/bindings/matlab/+iDynTree/SpatialInertia.m
@@ -4,9 +4,9 @@
       self@iDynTree.SpatialInertiaRaw('_swigCreate');
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(148,'new_SpatialInertia',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(149,'new_SpatialInertia',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(148,'new_SpatialInertia',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(149,'new_SpatialInertia',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -15,12 +15,12 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(149,'delete_SpatialInertia',self);
+        iDynTreeMATLAB_wrap(150,'delete_SpatialInertia',self);
         self.swigOwn=false;
       end
     end
     function varargout = mtimes(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(150,'SpatialInertia_mtimes',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(151,'SpatialInertia_mtimes',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
diff --git a/bindings/matlab/+iDynTree/SpatialInertiaRaw.m b/bindings/matlab/+iDynTree/SpatialInertiaRaw.m
index bfe19a57c56..37a9f638790 100644
--- a/bindings/matlab/+iDynTree/SpatialInertiaRaw.m
+++ b/bindings/matlab/+iDynTree/SpatialInertiaRaw.m
@@ -3,9 +3,9 @@
     function self = SpatialInertiaRaw(varargin)
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(140,'new_SpatialInertiaRaw',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(141,'new_SpatialInertiaRaw',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(140,'new_SpatialInertiaRaw',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(141,'new_SpatialInertiaRaw',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -14,27 +14,27 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(141,'delete_SpatialInertiaRaw',self);
+        iDynTreeMATLAB_wrap(142,'delete_SpatialInertiaRaw',self);
         self.swigOwn=false;
       end
     end
     function varargout = getMass(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(142,'SpatialInertiaRaw_getMass',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(143,'SpatialInertiaRaw_getMass',self,varargin{:});
     end
     function varargout = getCenterOfMass(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(143,'SpatialInertiaRaw_getCenterOfMass',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(144,'SpatialInertiaRaw_getCenterOfMass',self,varargin{:});
     end
     function varargout = getRotationalInertiaWrtFrameOrigin(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(144,'SpatialInertiaRaw_getRotationalInertiaWrtFrameOrigin',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(145,'SpatialInertiaRaw_getRotationalInertiaWrtFrameOrigin',self,varargin{:});
     end
     function varargout = getRotationalInertiaWrtCenterOfMass(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(145,'SpatialInertiaRaw_getRotationalInertiaWrtCenterOfMass',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(146,'SpatialInertiaRaw_getRotationalInertiaWrtCenterOfMass',self,varargin{:});
     end
     function varargout = multiply(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(146,'SpatialInertiaRaw_multiply',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(147,'SpatialInertiaRaw_multiply',self,varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(147,'SpatialInertiaRaw_zero',self,varargin{:});
+      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(148,'SpatialInertiaRaw_zero',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
diff --git a/bindings/matlab/+iDynTree/SpatialMomentum.m b/bindings/matlab/+iDynTree/SpatialMomentum.m
index cec98f98f25..11ccf265905 100644
--- a/bindings/matlab/+iDynTree/SpatialMomentum.m
+++ b/bindings/matlab/+iDynTree/SpatialMomentum.m
@@ -4,9 +4,9 @@
       self@iDynTree.SpatialForceVectorRaw('_swigCreate');
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(121,'new_SpatialMomentum',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(122,'new_SpatialMomentum',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(121,'new_SpatialMomentum',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(122,'new_SpatialMomentum',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -15,18 +15,18 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(122,'delete_SpatialMomentum',self);
+        iDynTreeMATLAB_wrap(123,'delete_SpatialMomentum',self);
         self.swigOwn=false;
       end
     end
     function varargout = plus(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(123,'SpatialMomentum_plus',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(124,'SpatialMomentum_plus',self,varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(124,'SpatialMomentum_minus',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(125,'SpatialMomentum_minus',self,varargin{:});
     end
     function varargout = uminus(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(125,'SpatialMomentum_uminus',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(126,'SpatialMomentum_uminus',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
diff --git a/bindings/matlab/+iDynTree/SpatialMotionVectorRaw.m b/bindings/matlab/+iDynTree/SpatialMotionVectorRaw.m
index 22815a32b96..269efa1d276 100644
--- a/bindings/matlab/+iDynTree/SpatialMotionVectorRaw.m
+++ b/bindings/matlab/+iDynTree/SpatialMotionVectorRaw.m
@@ -4,9 +4,9 @@
       self@iDynTree.Vector6('_swigCreate');
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(101,'new_SpatialMotionVectorRaw',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(102,'new_SpatialMotionVectorRaw',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(101,'new_SpatialMotionVectorRaw',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(102,'new_SpatialMotionVectorRaw',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -15,21 +15,21 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(102,'delete_SpatialMotionVectorRaw',self);
+        iDynTreeMATLAB_wrap(103,'delete_SpatialMotionVectorRaw',self);
         self.swigOwn=false;
       end
     end
     function varargout = changePoint(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(103,'SpatialMotionVectorRaw_changePoint',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(104,'SpatialMotionVectorRaw_changePoint',self,varargin{:});
     end
     function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(104,'SpatialMotionVectorRaw_changeCoordFrame',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(105,'SpatialMotionVectorRaw_changeCoordFrame',self,varargin{:});
     end
     function varargout = dot(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(107,'SpatialMotionVectorRaw_dot',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(108,'SpatialMotionVectorRaw_dot',self,varargin{:});
     end
     function varargout = cross(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(108,'SpatialMotionVectorRaw_cross',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(109,'SpatialMotionVectorRaw_cross',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
@@ -52,13 +52,13 @@ function delete(self)
   end
   methods(Static)
     function varargout = compose(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(105,'SpatialMotionVectorRaw_compose',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(106,'SpatialMotionVectorRaw_compose',varargin{:});
     end
     function varargout = inverse(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(106,'SpatialMotionVectorRaw_inverse',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(107,'SpatialMotionVectorRaw_inverse',varargin{:});
     end
     function varargout = Zero(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(109,'SpatialMotionVectorRaw_Zero',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(110,'SpatialMotionVectorRaw_Zero',varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/+iDynTree/Transform.m b/bindings/matlab/+iDynTree/Transform.m
index d1251b050b9..d29e6b429c0 100644
--- a/bindings/matlab/+iDynTree/Transform.m
+++ b/bindings/matlab/+iDynTree/Transform.m
@@ -1,12 +1,11 @@
-classdef Transform < iDynTree.TransformRaw
+classdef Transform < SwigRef
   methods
     function self = Transform(varargin)
-      self@iDynTree.TransformRaw('_swigCreate');
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(233,'new_Transform',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(212,'new_Transform',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(233,'new_Transform',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(212,'new_Transform',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -15,65 +14,57 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(234,'delete_Transform',self);
+        iDynTreeMATLAB_wrap(213,'delete_Transform',self);
         self.swigOwn=false;
       end
     end
     function varargout = getSemantics(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(235,'Transform_getSemantics',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(214,'Transform_getSemantics',self,varargin{:});
     end
     function varargout = getRotation(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(236,'Transform_getRotation',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(215,'Transform_getRotation',self,varargin{:});
     end
     function varargout = getPosition(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(237,'Transform_getPosition',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(216,'Transform_getPosition',self,varargin{:});
     end
     function varargout = setRotation(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(238,'Transform_setRotation',self,varargin{:});
+      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(217,'Transform_setRotation',self,varargin{:});
     end
     function varargout = setPosition(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(239,'Transform_setPosition',self,varargin{:});
+      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(218,'Transform_setPosition',self,varargin{:});
     end
     function varargout = inverse(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(243,'Transform_inverse',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(221,'Transform_inverse',self,varargin{:});
     end
     function varargout = mtimes(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(244,'Transform_mtimes',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(222,'Transform_mtimes',self,varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(245,'Transform_toString',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(224,'Transform_toString',self,varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(246,'Transform_display',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(225,'Transform_display',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
       ok = false;
       switch i
       end
-      [v,ok] = swig_fieldsref@iDynTree.TransformRaw(self,i);
-      if ok
-        return
-      end
     end
     function [self,ok] = swig_fieldasgn(self,i,v)
       switch i
       end
-      [self,ok] = swig_fieldasgn@iDynTree.TransformRaw(self,i,v);
-      if ok
-        return
-      end
     end
   end
   methods(Static)
     function varargout = compose(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(240,'Transform_compose',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(219,'Transform_compose',varargin{:});
     end
     function varargout = inverse2(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(241,'Transform_inverse2',varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(220,'Transform_inverse2',varargin{:});
     end
-    function varargout = transform(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(242,'Transform_transform',varargin{:});
+    function varargout = Identity(varargin)
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(223,'Transform_Identity',varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/+iDynTree/TransformRaw.m b/bindings/matlab/+iDynTree/TransformRaw.m
deleted file mode 100644
index 11439d76f88..00000000000
--- a/bindings/matlab/+iDynTree/TransformRaw.m
+++ /dev/null
@@ -1,52 +0,0 @@
-classdef TransformRaw < SwigRef
-  methods
-    function self = TransformRaw(varargin)
-      if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
-        % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(200,'new_TransformRaw',varargin{:});
-        %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(200,'new_TransformRaw',varargin{:}); % FIXME
-        self.swigCPtr = tmp.swigCPtr;
-        self.swigOwn = tmp.swigOwn;
-        self.swigType = tmp.swigType;
-        tmp.swigOwn = false;
-      end
-    end
-    function delete(self)
-      if self.swigOwn
-        iDynTreeMATLAB_wrap(201,'delete_TransformRaw',self);
-        self.swigOwn=false;
-      end
-    end
-    function varargout = toString(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(206,'TransformRaw_toString',self,varargin{:});
-    end
-    function varargout = display(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(207,'TransformRaw_display',self,varargin{:});
-    end
-    function [v,ok] = swig_fieldsref(self,i)
-      v = [];
-      ok = false;
-      switch i
-      end
-    end
-    function [self,ok] = swig_fieldasgn(self,i,v)
-      switch i
-      end
-    end
-  end
-  methods(Static)
-    function varargout = compose(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(202,'TransformRaw_compose',varargin{:});
-    end
-    function varargout = inverse2(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(203,'TransformRaw_inverse2',varargin{:});
-    end
-    function varargout = transform(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(204,'TransformRaw_transform',varargin{:});
-    end
-    function varargout = Identity(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(205,'TransformRaw_Identity',varargin{:});
-    end
-  end
-end
diff --git a/bindings/matlab/+iDynTree/TransformSemantics.m b/bindings/matlab/+iDynTree/TransformSemantics.m
index 2b01333bf43..7b47420ce13 100644
--- a/bindings/matlab/+iDynTree/TransformSemantics.m
+++ b/bindings/matlab/+iDynTree/TransformSemantics.m
@@ -3,9 +3,9 @@
     function self = TransformSemantics(varargin)
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(208,'new_TransformSemantics',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(204,'new_TransformSemantics',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(208,'new_TransformSemantics',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(204,'new_TransformSemantics',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -14,60 +14,27 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(209,'delete_TransformSemantics',self);
+        iDynTreeMATLAB_wrap(205,'delete_TransformSemantics',self);
         self.swigOwn=false;
       end
     end
     function varargout = getRotationSemantics(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(210,'TransformSemantics_getRotationSemantics',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(206,'TransformSemantics_getRotationSemantics',self,varargin{:});
     end
     function varargout = getPositionSemantics(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(211,'TransformSemantics_getPositionSemantics',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(207,'TransformSemantics_getPositionSemantics',self,varargin{:});
     end
     function varargout = setRotationSemantics(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(212,'TransformSemantics_setRotationSemantics',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(208,'TransformSemantics_setRotationSemantics',self,varargin{:});
     end
     function varargout = setPositionSemantics(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(213,'TransformSemantics_setPositionSemantics',self,varargin{:});
-    end
-    function varargout = getPoint(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(214,'TransformSemantics_getPoint',self,varargin{:});
-    end
-    function varargout = getOrientationFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(215,'TransformSemantics_getOrientationFrame',self,varargin{:});
-    end
-    function varargout = getReferencePoint(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(216,'TransformSemantics_getReferencePoint',self,varargin{:});
-    end
-    function varargout = getReferenceOrientationFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(217,'TransformSemantics_getReferenceOrientationFrame',self,varargin{:});
-    end
-    function varargout = getCoordinateFrame(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(218,'TransformSemantics_getCoordinateFrame',self,varargin{:});
-    end
-    function varargout = setPoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(219,'TransformSemantics_setPoint',self,varargin{:});
-    end
-    function varargout = setOrientationFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(220,'TransformSemantics_setOrientationFrame',self,varargin{:});
-    end
-    function varargout = setReferencePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(221,'TransformSemantics_setReferencePoint',self,varargin{:});
-    end
-    function varargout = setReferenceOrientationFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(222,'TransformSemantics_setReferenceOrientationFrame',self,varargin{:});
-    end
-    function varargout = inverse(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(229,'TransformSemantics_inverse',self,varargin{:});
-    end
-    function varargout = mtimes(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(230,'TransformSemantics_mtimes',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(209,'TransformSemantics_setPositionSemantics',self,varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(231,'TransformSemantics_toString',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(210,'TransformSemantics_toString',self,varargin{:});
     end
     function varargout = display(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(232,'TransformSemantics_display',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(211,'TransformSemantics_display',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
@@ -81,23 +48,5 @@ function delete(self)
     end
   end
   methods(Static)
-    function varargout = check_compose(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(223,'TransformSemantics_check_compose',varargin{:});
-    end
-    function varargout = check_inverse2(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(224,'TransformSemantics_check_inverse2',varargin{:});
-    end
-    function varargout = check_transform(varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(225,'TransformSemantics_check_transform',varargin{:});
-    end
-    function varargout = compose(varargin)
-      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(226,'TransformSemantics_compose',varargin{:});
-    end
-    function varargout = inverse2(varargin)
-      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(227,'TransformSemantics_inverse2',varargin{:});
-    end
-    function varargout = transform(varargin)
-      [varargout{1:nargout}] = iDynTreeMATLAB_wrap(228,'TransformSemantics_transform',varargin{:});
-    end
   end
 end
diff --git a/bindings/matlab/+iDynTree/Twist.m b/bindings/matlab/+iDynTree/Twist.m
index 87b58ff184d..472e957c1bc 100644
--- a/bindings/matlab/+iDynTree/Twist.m
+++ b/bindings/matlab/+iDynTree/Twist.m
@@ -4,9 +4,9 @@
       self@iDynTree.SpatialMotionVectorRaw('_swigCreate');
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(110,'new_Twist',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(111,'new_Twist',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(110,'new_Twist',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(111,'new_Twist',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -15,21 +15,21 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(111,'delete_Twist',self);
+        iDynTreeMATLAB_wrap(112,'delete_Twist',self);
         self.swigOwn=false;
       end
     end
     function varargout = plus(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(112,'Twist_plus',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(113,'Twist_plus',self,varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(113,'Twist_minus',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(114,'Twist_minus',self,varargin{:});
     end
     function varargout = uminus(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(114,'Twist_uminus',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(115,'Twist_uminus',self,varargin{:});
     end
     function varargout = mtimes(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(115,'Twist_mtimes',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(116,'Twist_mtimes',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
diff --git a/bindings/matlab/+iDynTree/Wrench.m b/bindings/matlab/+iDynTree/Wrench.m
index f1370a6b65a..c5d162807db 100644
--- a/bindings/matlab/+iDynTree/Wrench.m
+++ b/bindings/matlab/+iDynTree/Wrench.m
@@ -4,9 +4,9 @@
       self@iDynTree.SpatialForceVectorRaw('_swigCreate');
       if nargin~=1 || ~ischar(varargin{1}) || ~strcmp(varargin{1},'_swigCreate')
         % How to get working on C side? Commented out, replaed by hack below
-        %self.swigCPtr = iDynTreeMATLAB_wrap(116,'new_Wrench',varargin{:});
+        %self.swigCPtr = iDynTreeMATLAB_wrap(117,'new_Wrench',varargin{:});
         %self.swigOwn = true;
-        tmp = iDynTreeMATLAB_wrap(116,'new_Wrench',varargin{:}); % FIXME
+        tmp = iDynTreeMATLAB_wrap(117,'new_Wrench',varargin{:}); % FIXME
         self.swigCPtr = tmp.swigCPtr;
         self.swigOwn = tmp.swigOwn;
         self.swigType = tmp.swigType;
@@ -15,18 +15,18 @@
     end
     function delete(self)
       if self.swigOwn
-        iDynTreeMATLAB_wrap(117,'delete_Wrench',self);
+        iDynTreeMATLAB_wrap(118,'delete_Wrench',self);
         self.swigOwn=false;
       end
     end
     function varargout = plus(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(118,'Wrench_plus',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(119,'Wrench_plus',self,varargin{:});
     end
     function varargout = minus(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(119,'Wrench_minus',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(120,'Wrench_minus',self,varargin{:});
     end
     function varargout = uminus(self,varargin)
-      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(120,'Wrench_uminus',self,varargin{:});
+      [varargout{1:max(1,nargout)}] = iDynTreeMATLAB_wrap(121,'Wrench_uminus',self,varargin{:});
     end
     function [v,ok] = swig_fieldsref(self,i)
       v = [];
diff --git a/bindings/matlab/iDynTreeMATLAB_wrap.cxx b/bindings/matlab/iDynTreeMATLAB_wrap.cxx
index 51011b3f42e..895fe5f42a3 100644
--- a/bindings/matlab/iDynTreeMATLAB_wrap.cxx
+++ b/bindings/matlab/iDynTreeMATLAB_wrap.cxx
@@ -1022,16 +1022,15 @@ namespace swig {
 #define SWIGTYPE_p_iDynTree__SpatialMomentum swig_types[23]
 #define SWIGTYPE_p_iDynTree__SpatialMotionVectorRaw swig_types[24]
 #define SWIGTYPE_p_iDynTree__Transform swig_types[25]
-#define SWIGTYPE_p_iDynTree__TransformRaw swig_types[26]
-#define SWIGTYPE_p_iDynTree__TransformSemantics swig_types[27]
-#define SWIGTYPE_p_iDynTree__Twist swig_types[28]
-#define SWIGTYPE_p_iDynTree__Vector6 swig_types[29]
-#define SWIGTYPE_p_iDynTree__VectorDynSize swig_types[30]
-#define SWIGTYPE_p_iDynTree__Wrench swig_types[31]
-#define SWIGTYPE_p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_t swig_types[32]
-#define SWIGTYPE_p_unsigned_int swig_types[33]
-static swig_type_info *swig_types[35];
-static swig_module_info swig_module = {swig_types, 34, 0, 0, 0, 0};
+#define SWIGTYPE_p_iDynTree__TransformSemantics swig_types[26]
+#define SWIGTYPE_p_iDynTree__Twist swig_types[27]
+#define SWIGTYPE_p_iDynTree__Vector6 swig_types[28]
+#define SWIGTYPE_p_iDynTree__VectorDynSize swig_types[29]
+#define SWIGTYPE_p_iDynTree__Wrench swig_types[30]
+#define SWIGTYPE_p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_t swig_types[31]
+#define SWIGTYPE_p_unsigned_int swig_types[32]
+static swig_type_info *swig_types[34];
+static swig_module_info swig_module = {swig_types, 33, 0, 0, 0, 0};
 #define SWIG_TypeQuery(name) SWIG_TypeQueryModule(&swig_module, &swig_module, name)
 #define SWIG_MangledTypeQuery(name) SWIG_MangledTypeQueryModule(&swig_module, &swig_module, name)
 
@@ -1081,7 +1080,6 @@ static swig_module_info swig_module = {swig_types, 34, 0, 0, 0, 0};
 #include "iDynTree/Core/RotationRaw.h"
 #include "iDynTree/Core/RotationSemantics.h"
 #include "iDynTree/Core/Rotation.h"
-#include "iDynTree/Core/TransformRaw.h"
 #include "iDynTree/Core/TransformSemantics.h"
 #include "iDynTree/Core/Transform.h"
 
@@ -4062,41 +4060,6 @@ int _wrap_PositionRaw_changeRefPoint (int resc, mxArray *resv[], int argc, mxArr
 }
 
 
-int _wrap_PositionRaw_changeCoordinateFrame (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::PositionRaw *arg1 = (iDynTree::PositionRaw *) 0 ;
-  iDynTree::RotationRaw *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  iDynTree::PositionRaw *result = 0 ;
-  
-  if (!SWIG_check_num_args("PositionRaw_changeCoordinateFrame",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__PositionRaw, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "PositionRaw_changeCoordinateFrame" "', argument " "1"" of type '" "iDynTree::PositionRaw *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::PositionRaw * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__RotationRaw,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "PositionRaw_changeCoordinateFrame" "', argument " "2"" of type '" "iDynTree::RotationRaw const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "PositionRaw_changeCoordinateFrame" "', argument " "2"" of type '" "iDynTree::RotationRaw const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::RotationRaw * >(argp2);
-  result = (iDynTree::PositionRaw *) &(arg1)->changeCoordinateFrame((iDynTree::RotationRaw const &)*arg2);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__PositionRaw, 0 |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
 int _wrap_PositionRaw_compose (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::PositionRaw *arg1 = 0 ;
   iDynTree::PositionRaw *arg2 = 0 ;
@@ -4162,6 +4125,111 @@ int _wrap_PositionRaw_inverse (int resc, mxArray *resv[], int argc, mxArray *arg
 }
 
 
+int _wrap_PositionRaw_changePointOf__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::PositionRaw *arg1 = (iDynTree::PositionRaw *) 0 ;
+  iDynTree::SpatialMotionVectorRaw *arg2 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  iDynTree::SpatialMotionVectorRaw result;
+  
+  if (!SWIG_check_num_args("PositionRaw_changePointOf",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__PositionRaw, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "PositionRaw_changePointOf" "', argument " "1"" of type '" "iDynTree::PositionRaw const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::PositionRaw * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpatialMotionVectorRaw,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "PositionRaw_changePointOf" "', argument " "2"" of type '" "iDynTree::SpatialMotionVectorRaw const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "PositionRaw_changePointOf" "', argument " "2"" of type '" "iDynTree::SpatialMotionVectorRaw const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::SpatialMotionVectorRaw * >(argp2);
+  result = ((iDynTree::PositionRaw const *)arg1)->changePointOf((iDynTree::SpatialMotionVectorRaw const &)*arg2);
+  _out = SWIG_NewPointerObj((new iDynTree::SpatialMotionVectorRaw(static_cast< const iDynTree::SpatialMotionVectorRaw& >(result))), SWIGTYPE_p_iDynTree__SpatialMotionVectorRaw, SWIG_POINTER_OWN |  0 );
+  if (_out && --resc>=0) *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_PositionRaw_changePointOf__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::PositionRaw *arg1 = (iDynTree::PositionRaw *) 0 ;
+  iDynTree::SpatialForceVectorRaw *arg2 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  iDynTree::SpatialForceVectorRaw result;
+  
+  if (!SWIG_check_num_args("PositionRaw_changePointOf",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__PositionRaw, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "PositionRaw_changePointOf" "', argument " "1"" of type '" "iDynTree::PositionRaw const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::PositionRaw * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpatialForceVectorRaw,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "PositionRaw_changePointOf" "', argument " "2"" of type '" "iDynTree::SpatialForceVectorRaw const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "PositionRaw_changePointOf" "', argument " "2"" of type '" "iDynTree::SpatialForceVectorRaw const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::SpatialForceVectorRaw * >(argp2);
+  result = ((iDynTree::PositionRaw const *)arg1)->changePointOf((iDynTree::SpatialForceVectorRaw const &)*arg2);
+  _out = SWIG_NewPointerObj((new iDynTree::SpatialForceVectorRaw(static_cast< const iDynTree::SpatialForceVectorRaw& >(result))), SWIGTYPE_p_iDynTree__SpatialForceVectorRaw, SWIG_POINTER_OWN |  0 );
+  if (_out && --resc>=0) *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_PositionRaw_changePointOf (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__PositionRaw, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpatialMotionVectorRaw, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_PositionRaw_changePointOf__SWIG_0(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__PositionRaw, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpatialForceVectorRaw, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_PositionRaw_changePointOf__SWIG_1(resc,resv,argc,argv);
+      }
+    }
+  }
+  
+  mexWarnMsgIdAndTxt("SWIG:RuntimeError","No matching function for overload");
+  return 1;
+}
+
+
 int _wrap_PositionRaw_toString (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::PositionRaw *arg1 = (iDynTree::PositionRaw *) 0 ;
   void *argp1 = 0 ;
@@ -4592,41 +4660,6 @@ int _wrap_PositionSemantics_changeRefPoint (int resc, mxArray *resv[], int argc,
 }
 
 
-int _wrap_PositionSemantics_changeCoordinateFrame (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::PositionSemantics *arg1 = (iDynTree::PositionSemantics *) 0 ;
-  iDynTree::RotationSemantics *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("PositionSemantics_changeCoordinateFrame",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__PositionSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "PositionSemantics_changeCoordinateFrame" "', argument " "1"" of type '" "iDynTree::PositionSemantics *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::PositionSemantics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__RotationSemantics,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "PositionSemantics_changeCoordinateFrame" "', argument " "2"" of type '" "iDynTree::RotationSemantics const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "PositionSemantics_changeCoordinateFrame" "', argument " "2"" of type '" "iDynTree::RotationSemantics const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::RotationSemantics * >(argp2);
-  result = (bool)(arg1)->changeCoordinateFrame((iDynTree::RotationSemantics const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
 int _wrap_PositionSemantics_compose (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::PositionSemantics *arg1 = 0 ;
   iDynTree::PositionSemantics *arg2 = 0 ;
@@ -5188,6 +5221,111 @@ int _wrap_Position_inverse (int resc, mxArray *resv[], int argc, mxArray *argv[]
 }
 
 
+int _wrap_Position_changePointOf__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Position *arg1 = (iDynTree::Position *) 0 ;
+  iDynTree::Twist *arg2 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  iDynTree::Twist result;
+  
+  if (!SWIG_check_num_args("Position_changePointOf",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Position, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Position_changePointOf" "', argument " "1"" of type '" "iDynTree::Position const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Position * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Twist,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Position_changePointOf" "', argument " "2"" of type '" "iDynTree::Twist const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Position_changePointOf" "', argument " "2"" of type '" "iDynTree::Twist const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Twist * >(argp2);
+  result = ((iDynTree::Position const *)arg1)->changePointOf((iDynTree::Twist const &)*arg2);
+  _out = SWIG_NewPointerObj((new iDynTree::Twist(static_cast< const iDynTree::Twist& >(result))), SWIGTYPE_p_iDynTree__Twist, SWIG_POINTER_OWN |  0 );
+  if (_out && --resc>=0) *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Position_changePointOf__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Position *arg1 = (iDynTree::Position *) 0 ;
+  iDynTree::Wrench *arg2 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  iDynTree::Wrench result;
+  
+  if (!SWIG_check_num_args("Position_changePointOf",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Position, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Position_changePointOf" "', argument " "1"" of type '" "iDynTree::Position const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Position * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Wrench,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Position_changePointOf" "', argument " "2"" of type '" "iDynTree::Wrench const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Position_changePointOf" "', argument " "2"" of type '" "iDynTree::Wrench const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Wrench * >(argp2);
+  result = ((iDynTree::Position const *)arg1)->changePointOf((iDynTree::Wrench const &)*arg2);
+  _out = SWIG_NewPointerObj((new iDynTree::Wrench(static_cast< const iDynTree::Wrench& >(result))), SWIGTYPE_p_iDynTree__Wrench, SWIG_POINTER_OWN |  0 );
+  if (_out && --resc>=0) *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Position_changePointOf (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Twist, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_Position_changePointOf__SWIG_0(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Wrench, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_Position_changePointOf__SWIG_1(resc,resv,argc,argv);
+      }
+    }
+  }
+  
+  mexWarnMsgIdAndTxt("SWIG:RuntimeError","No matching function for overload");
+  return 1;
+}
+
+
 int _wrap_Position_plus (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Position *arg1 = (iDynTree::Position *) 0 ;
   iDynTree::Position *arg2 = 0 ;
@@ -5282,23 +5420,34 @@ int _wrap_Position_uminus (int resc, mxArray *resv[], int argc, mxArray *argv[])
 }
 
 
-int _wrap_Position_toString (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Position_mtimes__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Position *arg1 = (iDynTree::Position *) 0 ;
+  iDynTree::Twist *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  std::string result;
+  iDynTree::Twist result;
   
-  if (!SWIG_check_num_args("Position_toString",argc,1,1,0)) {
+  if (!SWIG_check_num_args("Position_mtimes",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Position, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Position_toString" "', argument " "1"" of type '" "iDynTree::Position const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Position_mtimes" "', argument " "1"" of type '" "iDynTree::Position const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Position * >(argp1);
-  result = ((iDynTree::Position const *)arg1)->toString();
-  _out = SWIG_From_std_string(static_cast< std::string >(result));
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Twist,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Position_mtimes" "', argument " "2"" of type '" "iDynTree::Twist const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Position_mtimes" "', argument " "2"" of type '" "iDynTree::Twist const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Twist * >(argp2);
+  result = ((iDynTree::Position const *)arg1)->operator *((iDynTree::Twist const &)*arg2);
+  _out = SWIG_NewPointerObj((new iDynTree::Twist(static_cast< const iDynTree::Twist& >(result))), SWIGTYPE_p_iDynTree__Twist, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -5306,7 +5455,101 @@ int _wrap_Position_toString (int resc, mxArray *resv[], int argc, mxArray *argv[
 }
 
 
-int _wrap_Position_display (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Position_mtimes__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Position *arg1 = (iDynTree::Position *) 0 ;
+  iDynTree::Wrench *arg2 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  iDynTree::Wrench result;
+  
+  if (!SWIG_check_num_args("Position_mtimes",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Position, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Position_mtimes" "', argument " "1"" of type '" "iDynTree::Position const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Position * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Wrench,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Position_mtimes" "', argument " "2"" of type '" "iDynTree::Wrench const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Position_mtimes" "', argument " "2"" of type '" "iDynTree::Wrench const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Wrench * >(argp2);
+  result = ((iDynTree::Position const *)arg1)->operator *((iDynTree::Wrench const &)*arg2);
+  _out = SWIG_NewPointerObj((new iDynTree::Wrench(static_cast< const iDynTree::Wrench& >(result))), SWIGTYPE_p_iDynTree__Wrench, SWIG_POINTER_OWN |  0 );
+  if (_out && --resc>=0) *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Position_mtimes (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Twist, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_Position_mtimes__SWIG_0(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Wrench, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_Position_mtimes__SWIG_1(resc,resv,argc,argv);
+      }
+    }
+  }
+  
+  mexWarnMsgIdAndTxt("SWIG:RuntimeError","No matching function for overload");
+  return 1;
+}
+
+
+int _wrap_Position_toString (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Position *arg1 = (iDynTree::Position *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::string result;
+  
+  if (!SWIG_check_num_args("Position_toString",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Position, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Position_toString" "', argument " "1"" of type '" "iDynTree::Position const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Position * >(argp1);
+  result = ((iDynTree::Position const *)arg1)->toString();
+  _out = SWIG_From_std_string(static_cast< std::string >(result));
+  if (_out && --resc>=0) *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Position_display (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Position *arg1 = (iDynTree::Position *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
@@ -9032,7 +9275,7 @@ int _wrap_RotationRaw_inverse2 (int resc, mxArray *resv[], int argc, mxArray *ar
 }
 
 
-int _wrap_RotationRaw_convertToNewCoordFrame__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_RotationRaw_changeCoordFrameOf__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::RotationRaw *arg1 = (iDynTree::RotationRaw *) 0 ;
   iDynTree::PositionRaw *arg2 = 0 ;
   void *argp1 = 0 ;
@@ -9042,23 +9285,23 @@ int _wrap_RotationRaw_convertToNewCoordFrame__SWIG_0 (int resc, mxArray *resv[],
   mxArray * _out;
   iDynTree::PositionRaw result;
   
-  if (!SWIG_check_num_args("RotationRaw_convertToNewCoordFrame",argc,2,2,0)) {
+  if (!SWIG_check_num_args("RotationRaw_changeCoordFrameOf",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__RotationRaw, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationRaw_convertToNewCoordFrame" "', argument " "1"" of type '" "iDynTree::RotationRaw const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationRaw_changeCoordFrameOf" "', argument " "1"" of type '" "iDynTree::RotationRaw const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::RotationRaw * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__PositionRaw,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "RotationRaw_convertToNewCoordFrame" "', argument " "2"" of type '" "iDynTree::PositionRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "RotationRaw_changeCoordFrameOf" "', argument " "2"" of type '" "iDynTree::PositionRaw const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "RotationRaw_convertToNewCoordFrame" "', argument " "2"" of type '" "iDynTree::PositionRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "RotationRaw_changeCoordFrameOf" "', argument " "2"" of type '" "iDynTree::PositionRaw const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::PositionRaw * >(argp2);
-  result = ((iDynTree::RotationRaw const *)arg1)->convertToNewCoordFrame((iDynTree::PositionRaw const &)*arg2);
+  result = ((iDynTree::RotationRaw const *)arg1)->changeCoordFrameOf((iDynTree::PositionRaw const &)*arg2);
   _out = SWIG_NewPointerObj((new iDynTree::PositionRaw(static_cast< const iDynTree::PositionRaw& >(result))), SWIGTYPE_p_iDynTree__PositionRaw, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
@@ -9067,7 +9310,7 @@ int _wrap_RotationRaw_convertToNewCoordFrame__SWIG_0 (int resc, mxArray *resv[],
 }
 
 
-int _wrap_RotationRaw_convertToNewCoordFrame__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_RotationRaw_changeCoordFrameOf__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::RotationRaw *arg1 = (iDynTree::RotationRaw *) 0 ;
   iDynTree::SpatialMotionVectorRaw *arg2 = 0 ;
   void *argp1 = 0 ;
@@ -9077,23 +9320,23 @@ int _wrap_RotationRaw_convertToNewCoordFrame__SWIG_1 (int resc, mxArray *resv[],
   mxArray * _out;
   iDynTree::SpatialMotionVectorRaw result;
   
-  if (!SWIG_check_num_args("RotationRaw_convertToNewCoordFrame",argc,2,2,0)) {
+  if (!SWIG_check_num_args("RotationRaw_changeCoordFrameOf",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__RotationRaw, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationRaw_convertToNewCoordFrame" "', argument " "1"" of type '" "iDynTree::RotationRaw const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationRaw_changeCoordFrameOf" "', argument " "1"" of type '" "iDynTree::RotationRaw const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::RotationRaw * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpatialMotionVectorRaw,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "RotationRaw_convertToNewCoordFrame" "', argument " "2"" of type '" "iDynTree::SpatialMotionVectorRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "RotationRaw_changeCoordFrameOf" "', argument " "2"" of type '" "iDynTree::SpatialMotionVectorRaw const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "RotationRaw_convertToNewCoordFrame" "', argument " "2"" of type '" "iDynTree::SpatialMotionVectorRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "RotationRaw_changeCoordFrameOf" "', argument " "2"" of type '" "iDynTree::SpatialMotionVectorRaw const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::SpatialMotionVectorRaw * >(argp2);
-  result = ((iDynTree::RotationRaw const *)arg1)->convertToNewCoordFrame((iDynTree::SpatialMotionVectorRaw const &)*arg2);
+  result = ((iDynTree::RotationRaw const *)arg1)->changeCoordFrameOf((iDynTree::SpatialMotionVectorRaw const &)*arg2);
   _out = SWIG_NewPointerObj((new iDynTree::SpatialMotionVectorRaw(static_cast< const iDynTree::SpatialMotionVectorRaw& >(result))), SWIGTYPE_p_iDynTree__SpatialMotionVectorRaw, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
@@ -9102,7 +9345,7 @@ int _wrap_RotationRaw_convertToNewCoordFrame__SWIG_1 (int resc, mxArray *resv[],
 }
 
 
-int _wrap_RotationRaw_convertToNewCoordFrame__SWIG_2 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_RotationRaw_changeCoordFrameOf__SWIG_2 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::RotationRaw *arg1 = (iDynTree::RotationRaw *) 0 ;
   iDynTree::SpatialForceVectorRaw *arg2 = 0 ;
   void *argp1 = 0 ;
@@ -9112,23 +9355,23 @@ int _wrap_RotationRaw_convertToNewCoordFrame__SWIG_2 (int resc, mxArray *resv[],
   mxArray * _out;
   iDynTree::SpatialForceVectorRaw result;
   
-  if (!SWIG_check_num_args("RotationRaw_convertToNewCoordFrame",argc,2,2,0)) {
+  if (!SWIG_check_num_args("RotationRaw_changeCoordFrameOf",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__RotationRaw, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationRaw_convertToNewCoordFrame" "', argument " "1"" of type '" "iDynTree::RotationRaw const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationRaw_changeCoordFrameOf" "', argument " "1"" of type '" "iDynTree::RotationRaw const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::RotationRaw * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpatialForceVectorRaw,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "RotationRaw_convertToNewCoordFrame" "', argument " "2"" of type '" "iDynTree::SpatialForceVectorRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "RotationRaw_changeCoordFrameOf" "', argument " "2"" of type '" "iDynTree::SpatialForceVectorRaw const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "RotationRaw_convertToNewCoordFrame" "', argument " "2"" of type '" "iDynTree::SpatialForceVectorRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "RotationRaw_changeCoordFrameOf" "', argument " "2"" of type '" "iDynTree::SpatialForceVectorRaw const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::SpatialForceVectorRaw * >(argp2);
-  result = ((iDynTree::RotationRaw const *)arg1)->convertToNewCoordFrame((iDynTree::SpatialForceVectorRaw const &)*arg2);
+  result = ((iDynTree::RotationRaw const *)arg1)->changeCoordFrameOf((iDynTree::SpatialForceVectorRaw const &)*arg2);
   _out = SWIG_NewPointerObj((new iDynTree::SpatialForceVectorRaw(static_cast< const iDynTree::SpatialForceVectorRaw& >(result))), SWIGTYPE_p_iDynTree__SpatialForceVectorRaw, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
@@ -9137,7 +9380,7 @@ int _wrap_RotationRaw_convertToNewCoordFrame__SWIG_2 (int resc, mxArray *resv[],
 }
 
 
-int _wrap_RotationRaw_convertToNewCoordFrame (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_RotationRaw_changeCoordFrameOf (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 2) {
     int _v;
     void *vptr = 0;
@@ -9148,7 +9391,7 @@ int _wrap_RotationRaw_convertToNewCoordFrame (int resc, mxArray *resv[], int arg
       int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__PositionRaw, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_RotationRaw_convertToNewCoordFrame__SWIG_0(resc,resv,argc,argv);
+        return _wrap_RotationRaw_changeCoordFrameOf__SWIG_0(resc,resv,argc,argv);
       }
     }
   }
@@ -9162,7 +9405,7 @@ int _wrap_RotationRaw_convertToNewCoordFrame (int resc, mxArray *resv[], int arg
       int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpatialMotionVectorRaw, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_RotationRaw_convertToNewCoordFrame__SWIG_1(resc,resv,argc,argv);
+        return _wrap_RotationRaw_changeCoordFrameOf__SWIG_1(resc,resv,argc,argv);
       }
     }
   }
@@ -9176,7 +9419,7 @@ int _wrap_RotationRaw_convertToNewCoordFrame (int resc, mxArray *resv[], int arg
       int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpatialForceVectorRaw, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_RotationRaw_convertToNewCoordFrame__SWIG_2(resc,resv,argc,argv);
+        return _wrap_RotationRaw_changeCoordFrameOf__SWIG_2(resc,resv,argc,argv);
       }
     }
   }
@@ -9186,33 +9429,22 @@ int _wrap_RotationRaw_convertToNewCoordFrame (int resc, mxArray *resv[], int arg
 }
 
 
-int _wrap_RotationRaw_mtimes__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::RotationRaw *arg1 = (iDynTree::RotationRaw *) 0 ;
-  iDynTree::RotationRaw *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+int _wrap_RotationRaw_RotX (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  double arg1 ;
+  double val1 ;
+  int ecode1 = 0 ;
   mxArray * _out;
   iDynTree::RotationRaw result;
   
-  if (!SWIG_check_num_args("RotationRaw_mtimes",argc,2,2,0)) {
+  if (!SWIG_check_num_args("RotationRaw_RotX",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__RotationRaw, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationRaw_mtimes" "', argument " "1"" of type '" "iDynTree::RotationRaw const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::RotationRaw * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__RotationRaw,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "RotationRaw_mtimes" "', argument " "2"" of type '" "iDynTree::RotationRaw const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "RotationRaw_mtimes" "', argument " "2"" of type '" "iDynTree::RotationRaw const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::RotationRaw * >(argp2);
-  result = ((iDynTree::RotationRaw const *)arg1)->operator *((iDynTree::RotationRaw const &)*arg2);
+  ecode1 = SWIG_AsVal_double(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "RotationRaw_RotX" "', argument " "1"" of type '" "double""'");
+  } 
+  arg1 = static_cast< double >(val1);
+  result = iDynTree::RotationRaw::RotX(arg1);
   _out = SWIG_NewPointerObj((new iDynTree::RotationRaw(static_cast< const iDynTree::RotationRaw& >(result))), SWIGTYPE_p_iDynTree__RotationRaw, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
@@ -9221,22 +9453,22 @@ int _wrap_RotationRaw_mtimes__SWIG_0 (int resc, mxArray *resv[], int argc, mxArr
 }
 
 
-int _wrap_RotationRaw_inverse (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::RotationRaw *arg1 = (iDynTree::RotationRaw *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
+int _wrap_RotationRaw_RotY (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  double arg1 ;
+  double val1 ;
+  int ecode1 = 0 ;
   mxArray * _out;
   iDynTree::RotationRaw result;
   
-  if (!SWIG_check_num_args("RotationRaw_inverse",argc,1,1,0)) {
+  if (!SWIG_check_num_args("RotationRaw_RotY",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__RotationRaw, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationRaw_inverse" "', argument " "1"" of type '" "iDynTree::RotationRaw const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::RotationRaw * >(argp1);
-  result = ((iDynTree::RotationRaw const *)arg1)->inverse();
+  ecode1 = SWIG_AsVal_double(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "RotationRaw_RotY" "', argument " "1"" of type '" "double""'");
+  } 
+  arg1 = static_cast< double >(val1);
+  result = iDynTree::RotationRaw::RotY(arg1);
   _out = SWIG_NewPointerObj((new iDynTree::RotationRaw(static_cast< const iDynTree::RotationRaw& >(result))), SWIGTYPE_p_iDynTree__RotationRaw, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
@@ -9245,34 +9477,79 @@ int _wrap_RotationRaw_inverse (int resc, mxArray *resv[], int argc, mxArray *arg
 }
 
 
-int _wrap_RotationRaw_mtimes__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::RotationRaw *arg1 = (iDynTree::RotationRaw *) 0 ;
-  iDynTree::PositionRaw *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+int _wrap_RotationRaw_RotZ (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  double arg1 ;
+  double val1 ;
+  int ecode1 = 0 ;
   mxArray * _out;
-  iDynTree::PositionRaw result;
+  iDynTree::RotationRaw result;
   
-  if (!SWIG_check_num_args("RotationRaw_mtimes",argc,2,2,0)) {
+  if (!SWIG_check_num_args("RotationRaw_RotZ",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__RotationRaw, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationRaw_mtimes" "', argument " "1"" of type '" "iDynTree::RotationRaw const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::RotationRaw * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__PositionRaw,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "RotationRaw_mtimes" "', argument " "2"" of type '" "iDynTree::PositionRaw const &""'"); 
+  ecode1 = SWIG_AsVal_double(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "RotationRaw_RotZ" "', argument " "1"" of type '" "double""'");
+  } 
+  arg1 = static_cast< double >(val1);
+  result = iDynTree::RotationRaw::RotZ(arg1);
+  _out = SWIG_NewPointerObj((new iDynTree::RotationRaw(static_cast< const iDynTree::RotationRaw& >(result))), SWIGTYPE_p_iDynTree__RotationRaw, SWIG_POINTER_OWN |  0 );
+  if (_out && --resc>=0) *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_RotationRaw_RPY (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  double arg1 ;
+  double arg2 ;
+  double arg3 ;
+  double val1 ;
+  int ecode1 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
+  double val3 ;
+  int ecode3 = 0 ;
+  mxArray * _out;
+  iDynTree::RotationRaw result;
+  
+  if (!SWIG_check_num_args("RotationRaw_RPY",argc,3,3,0)) {
+    SWIG_fail;
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "RotationRaw_mtimes" "', argument " "2"" of type '" "iDynTree::PositionRaw const &""'"); 
+  ecode1 = SWIG_AsVal_double(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "RotationRaw_RPY" "', argument " "1"" of type '" "double""'");
+  } 
+  arg1 = static_cast< double >(val1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "RotationRaw_RPY" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  ecode3 = SWIG_AsVal_double(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "RotationRaw_RPY" "', argument " "3"" of type '" "double""'");
+  } 
+  arg3 = static_cast< double >(val3);
+  result = iDynTree::RotationRaw::RPY(arg1,arg2,arg3);
+  _out = SWIG_NewPointerObj((new iDynTree::RotationRaw(static_cast< const iDynTree::RotationRaw& >(result))), SWIGTYPE_p_iDynTree__RotationRaw, SWIG_POINTER_OWN |  0 );
+  if (_out && --resc>=0) *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_RotationRaw_Identity (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  mxArray * _out;
+  iDynTree::RotationRaw result;
+  
+  if (!SWIG_check_num_args("RotationRaw_Identity",argc,0,0,0)) {
+    SWIG_fail;
   }
-  arg2 = reinterpret_cast< iDynTree::PositionRaw * >(argp2);
-  result = ((iDynTree::RotationRaw const *)arg1)->operator *((iDynTree::PositionRaw const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::PositionRaw(static_cast< const iDynTree::PositionRaw& >(result))), SWIGTYPE_p_iDynTree__PositionRaw, SWIG_POINTER_OWN |  0 );
+  result = iDynTree::RotationRaw::Identity();
+  _out = SWIG_NewPointerObj((new iDynTree::RotationRaw(static_cast< const iDynTree::RotationRaw& >(result))), SWIGTYPE_p_iDynTree__RotationRaw, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -9280,34 +9557,23 @@ int _wrap_RotationRaw_mtimes__SWIG_1 (int resc, mxArray *resv[], int argc, mxArr
 }
 
 
-int _wrap_RotationRaw_mtimes__SWIG_2 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_RotationRaw_toString (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::RotationRaw *arg1 = (iDynTree::RotationRaw *) 0 ;
-  iDynTree::SpatialMotionVectorRaw *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::SpatialMotionVectorRaw result;
+  std::string result;
   
-  if (!SWIG_check_num_args("RotationRaw_mtimes",argc,2,2,0)) {
+  if (!SWIG_check_num_args("RotationRaw_toString",argc,1,1,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__RotationRaw, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationRaw_mtimes" "', argument " "1"" of type '" "iDynTree::RotationRaw const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationRaw_toString" "', argument " "1"" of type '" "iDynTree::RotationRaw const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::RotationRaw * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpatialMotionVectorRaw,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "RotationRaw_mtimes" "', argument " "2"" of type '" "iDynTree::SpatialMotionVectorRaw const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "RotationRaw_mtimes" "', argument " "2"" of type '" "iDynTree::SpatialMotionVectorRaw const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::SpatialMotionVectorRaw * >(argp2);
-  result = ((iDynTree::RotationRaw const *)arg1)->operator *((iDynTree::SpatialMotionVectorRaw const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::SpatialMotionVectorRaw(static_cast< const iDynTree::SpatialMotionVectorRaw& >(result))), SWIGTYPE_p_iDynTree__SpatialMotionVectorRaw, SWIG_POINTER_OWN |  0 );
+  result = ((iDynTree::RotationRaw const *)arg1)->toString();
+  _out = SWIG_From_std_string(static_cast< std::string >(result));
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -9315,273 +9581,23 @@ int _wrap_RotationRaw_mtimes__SWIG_2 (int resc, mxArray *resv[], int argc, mxArr
 }
 
 
-int _wrap_RotationRaw_mtimes__SWIG_3 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_RotationRaw_display (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::RotationRaw *arg1 = (iDynTree::RotationRaw *) 0 ;
-  iDynTree::SpatialForceVectorRaw *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::SpatialForceVectorRaw result;
+  std::string result;
   
-  if (!SWIG_check_num_args("RotationRaw_mtimes",argc,2,2,0)) {
+  if (!SWIG_check_num_args("RotationRaw_display",argc,1,1,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__RotationRaw, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationRaw_mtimes" "', argument " "1"" of type '" "iDynTree::RotationRaw const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationRaw_display" "', argument " "1"" of type '" "iDynTree::RotationRaw const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::RotationRaw * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpatialForceVectorRaw,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "RotationRaw_mtimes" "', argument " "2"" of type '" "iDynTree::SpatialForceVectorRaw const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "RotationRaw_mtimes" "', argument " "2"" of type '" "iDynTree::SpatialForceVectorRaw const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::SpatialForceVectorRaw * >(argp2);
-  result = ((iDynTree::RotationRaw const *)arg1)->operator *((iDynTree::SpatialForceVectorRaw const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::SpatialForceVectorRaw(static_cast< const iDynTree::SpatialForceVectorRaw& >(result))), SWIGTYPE_p_iDynTree__SpatialForceVectorRaw, SWIG_POINTER_OWN |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_RotationRaw_mtimes (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__RotationRaw, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__RotationRaw, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_RotationRaw_mtimes__SWIG_0(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__RotationRaw, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__PositionRaw, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_RotationRaw_mtimes__SWIG_1(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__RotationRaw, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpatialMotionVectorRaw, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_RotationRaw_mtimes__SWIG_2(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__RotationRaw, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpatialForceVectorRaw, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_RotationRaw_mtimes__SWIG_3(resc,resv,argc,argv);
-      }
-    }
-  }
-  
-  mexWarnMsgIdAndTxt("SWIG:RuntimeError","No matching function for overload");
-  return 1;
-}
-
-
-int _wrap_RotationRaw_toString (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::RotationRaw *arg1 = (iDynTree::RotationRaw *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  std::string result;
-  
-  if (!SWIG_check_num_args("RotationRaw_toString",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__RotationRaw, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationRaw_toString" "', argument " "1"" of type '" "iDynTree::RotationRaw const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::RotationRaw * >(argp1);
-  result = ((iDynTree::RotationRaw const *)arg1)->toString();
-  _out = SWIG_From_std_string(static_cast< std::string >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_RotationRaw_display (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::RotationRaw *arg1 = (iDynTree::RotationRaw *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  std::string result;
-  
-  if (!SWIG_check_num_args("RotationRaw_display",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__RotationRaw, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationRaw_display" "', argument " "1"" of type '" "iDynTree::RotationRaw const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::RotationRaw * >(argp1);
-  result = ((iDynTree::RotationRaw const *)arg1)->reservedToString();
-  _out = SWIG_From_std_string(static_cast< std::string >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_RotationRaw_RotX (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  double arg1 ;
-  double val1 ;
-  int ecode1 = 0 ;
-  mxArray * _out;
-  iDynTree::RotationRaw result;
-  
-  if (!SWIG_check_num_args("RotationRaw_RotX",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  ecode1 = SWIG_AsVal_double(argv[0], &val1);
-  if (!SWIG_IsOK(ecode1)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "RotationRaw_RotX" "', argument " "1"" of type '" "double""'");
-  } 
-  arg1 = static_cast< double >(val1);
-  result = iDynTree::RotationRaw::RotX(arg1);
-  _out = SWIG_NewPointerObj((new iDynTree::RotationRaw(static_cast< const iDynTree::RotationRaw& >(result))), SWIGTYPE_p_iDynTree__RotationRaw, SWIG_POINTER_OWN |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_RotationRaw_RotY (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  double arg1 ;
-  double val1 ;
-  int ecode1 = 0 ;
-  mxArray * _out;
-  iDynTree::RotationRaw result;
-  
-  if (!SWIG_check_num_args("RotationRaw_RotY",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  ecode1 = SWIG_AsVal_double(argv[0], &val1);
-  if (!SWIG_IsOK(ecode1)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "RotationRaw_RotY" "', argument " "1"" of type '" "double""'");
-  } 
-  arg1 = static_cast< double >(val1);
-  result = iDynTree::RotationRaw::RotY(arg1);
-  _out = SWIG_NewPointerObj((new iDynTree::RotationRaw(static_cast< const iDynTree::RotationRaw& >(result))), SWIGTYPE_p_iDynTree__RotationRaw, SWIG_POINTER_OWN |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_RotationRaw_RotZ (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  double arg1 ;
-  double val1 ;
-  int ecode1 = 0 ;
-  mxArray * _out;
-  iDynTree::RotationRaw result;
-  
-  if (!SWIG_check_num_args("RotationRaw_RotZ",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  ecode1 = SWIG_AsVal_double(argv[0], &val1);
-  if (!SWIG_IsOK(ecode1)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "RotationRaw_RotZ" "', argument " "1"" of type '" "double""'");
-  } 
-  arg1 = static_cast< double >(val1);
-  result = iDynTree::RotationRaw::RotZ(arg1);
-  _out = SWIG_NewPointerObj((new iDynTree::RotationRaw(static_cast< const iDynTree::RotationRaw& >(result))), SWIGTYPE_p_iDynTree__RotationRaw, SWIG_POINTER_OWN |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_RotationRaw_RPY (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  double arg1 ;
-  double arg2 ;
-  double arg3 ;
-  double val1 ;
-  int ecode1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
-  double val3 ;
-  int ecode3 = 0 ;
-  mxArray * _out;
-  iDynTree::RotationRaw result;
-  
-  if (!SWIG_check_num_args("RotationRaw_RPY",argc,3,3,0)) {
-    SWIG_fail;
-  }
-  ecode1 = SWIG_AsVal_double(argv[0], &val1);
-  if (!SWIG_IsOK(ecode1)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "RotationRaw_RPY" "', argument " "1"" of type '" "double""'");
-  } 
-  arg1 = static_cast< double >(val1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "RotationRaw_RPY" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  ecode3 = SWIG_AsVal_double(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "RotationRaw_RPY" "', argument " "3"" of type '" "double""'");
-  } 
-  arg3 = static_cast< double >(val3);
-  result = iDynTree::RotationRaw::RPY(arg1,arg2,arg3);
-  _out = SWIG_NewPointerObj((new iDynTree::RotationRaw(static_cast< const iDynTree::RotationRaw& >(result))), SWIGTYPE_p_iDynTree__RotationRaw, SWIG_POINTER_OWN |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_RotationRaw_Identity (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  mxArray * _out;
-  iDynTree::RotationRaw result;
-  
-  if (!SWIG_check_num_args("RotationRaw_Identity",argc,0,0,0)) {
-    SWIG_fail;
-  }
-  result = iDynTree::RotationRaw::Identity();
-  _out = SWIG_NewPointerObj((new iDynTree::RotationRaw(static_cast< const iDynTree::RotationRaw& >(result))), SWIGTYPE_p_iDynTree__RotationRaw, SWIG_POINTER_OWN |  0 );
+  result = ((iDynTree::RotationRaw const *)arg1)->reservedToString();
+  _out = SWIG_From_std_string(static_cast< std::string >(result));
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -9957,7 +9973,7 @@ int _wrap_RotationSemantics_changeRefOrientFrame (int resc, mxArray *resv[], int
 }
 
 
-int _wrap_RotationSemantics_convertToNewCoordFrame (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_RotationSemantics_changeCoordFrameOf (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::RotationSemantics *arg1 = (iDynTree::RotationSemantics *) 0 ;
   iDynTree::PositionSemantics *arg2 = 0 ;
   iDynTree::PositionSemantics *arg3 = 0 ;
@@ -9970,31 +9986,31 @@ int _wrap_RotationSemantics_convertToNewCoordFrame (int resc, mxArray *resv[], i
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("RotationSemantics_convertToNewCoordFrame",argc,3,3,0)) {
+  if (!SWIG_check_num_args("RotationSemantics_changeCoordFrameOf",argc,3,3,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__RotationSemantics, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationSemantics_convertToNewCoordFrame" "', argument " "1"" of type '" "iDynTree::RotationSemantics const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "RotationSemantics_changeCoordFrameOf" "', argument " "1"" of type '" "iDynTree::RotationSemantics const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::RotationSemantics * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__PositionSemantics,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "RotationSemantics_convertToNewCoordFrame" "', argument " "2"" of type '" "iDynTree::PositionSemantics const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "RotationSemantics_changeCoordFrameOf" "', argument " "2"" of type '" "iDynTree::PositionSemantics const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "RotationSemantics_convertToNewCoordFrame" "', argument " "2"" of type '" "iDynTree::PositionSemantics const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "RotationSemantics_changeCoordFrameOf" "', argument " "2"" of type '" "iDynTree::PositionSemantics const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::PositionSemantics * >(argp2);
   res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__PositionSemantics,  0 );
   if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "RotationSemantics_convertToNewCoordFrame" "', argument " "3"" of type '" "iDynTree::PositionSemantics &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "RotationSemantics_changeCoordFrameOf" "', argument " "3"" of type '" "iDynTree::PositionSemantics &""'"); 
   }
   if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "RotationSemantics_convertToNewCoordFrame" "', argument " "3"" of type '" "iDynTree::PositionSemantics &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "RotationSemantics_changeCoordFrameOf" "', argument " "3"" of type '" "iDynTree::PositionSemantics &""'"); 
   }
   arg3 = reinterpret_cast< iDynTree::PositionSemantics * >(argp3);
-  result = (bool)((iDynTree::RotationSemantics const *)arg1)->convertToNewCoordFrame((iDynTree::PositionSemantics const &)*arg2,*arg3);
+  result = (bool)((iDynTree::RotationSemantics const *)arg1)->changeCoordFrameOf((iDynTree::PositionSemantics const &)*arg2,*arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
@@ -10613,7 +10629,7 @@ int _wrap_Rotation_inverse2 (int resc, mxArray *resv[], int argc, mxArray *argv[
 }
 
 
-int _wrap_Rotation_convertToNewCoordFrame__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Rotation_changeCoordFrameOf__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Rotation *arg1 = (iDynTree::Rotation *) 0 ;
   iDynTree::Position *arg2 = 0 ;
   void *argp1 = 0 ;
@@ -10623,23 +10639,23 @@ int _wrap_Rotation_convertToNewCoordFrame__SWIG_0 (int resc, mxArray *resv[], in
   mxArray * _out;
   iDynTree::Position result;
   
-  if (!SWIG_check_num_args("Rotation_convertToNewCoordFrame",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Rotation_changeCoordFrameOf",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Rotation, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Rotation_convertToNewCoordFrame" "', argument " "1"" of type '" "iDynTree::Rotation const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Rotation_changeCoordFrameOf" "', argument " "1"" of type '" "iDynTree::Rotation const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Rotation * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Position,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Rotation_convertToNewCoordFrame" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Rotation_changeCoordFrameOf" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Rotation_convertToNewCoordFrame" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Rotation_changeCoordFrameOf" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::Position * >(argp2);
-  result = ((iDynTree::Rotation const *)arg1)->convertToNewCoordFrame((iDynTree::Position const &)*arg2);
+  result = ((iDynTree::Rotation const *)arg1)->changeCoordFrameOf((iDynTree::Position const &)*arg2);
   _out = SWIG_NewPointerObj((new iDynTree::Position(static_cast< const iDynTree::Position& >(result))), SWIGTYPE_p_iDynTree__Position, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
@@ -10648,7 +10664,7 @@ int _wrap_Rotation_convertToNewCoordFrame__SWIG_0 (int resc, mxArray *resv[], in
 }
 
 
-int _wrap_Rotation_convertToNewCoordFrame__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Rotation_changeCoordFrameOf__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Rotation *arg1 = (iDynTree::Rotation *) 0 ;
   iDynTree::Twist *arg2 = 0 ;
   void *argp1 = 0 ;
@@ -10658,23 +10674,23 @@ int _wrap_Rotation_convertToNewCoordFrame__SWIG_1 (int resc, mxArray *resv[], in
   mxArray * _out;
   iDynTree::Twist result;
   
-  if (!SWIG_check_num_args("Rotation_convertToNewCoordFrame",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Rotation_changeCoordFrameOf",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Rotation, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Rotation_convertToNewCoordFrame" "', argument " "1"" of type '" "iDynTree::Rotation const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Rotation_changeCoordFrameOf" "', argument " "1"" of type '" "iDynTree::Rotation const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Rotation * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Twist,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Rotation_convertToNewCoordFrame" "', argument " "2"" of type '" "iDynTree::Twist const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Rotation_changeCoordFrameOf" "', argument " "2"" of type '" "iDynTree::Twist const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Rotation_convertToNewCoordFrame" "', argument " "2"" of type '" "iDynTree::Twist const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Rotation_changeCoordFrameOf" "', argument " "2"" of type '" "iDynTree::Twist const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::Twist * >(argp2);
-  result = ((iDynTree::Rotation const *)arg1)->convertToNewCoordFrame((iDynTree::Twist const &)*arg2);
+  result = ((iDynTree::Rotation const *)arg1)->changeCoordFrameOf((iDynTree::Twist const &)*arg2);
   _out = SWIG_NewPointerObj((new iDynTree::Twist(static_cast< const iDynTree::Twist& >(result))), SWIGTYPE_p_iDynTree__Twist, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
@@ -10683,7 +10699,7 @@ int _wrap_Rotation_convertToNewCoordFrame__SWIG_1 (int resc, mxArray *resv[], in
 }
 
 
-int _wrap_Rotation_convertToNewCoordFrame__SWIG_2 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Rotation_changeCoordFrameOf__SWIG_2 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Rotation *arg1 = (iDynTree::Rotation *) 0 ;
   iDynTree::Wrench *arg2 = 0 ;
   void *argp1 = 0 ;
@@ -10693,23 +10709,23 @@ int _wrap_Rotation_convertToNewCoordFrame__SWIG_2 (int resc, mxArray *resv[], in
   mxArray * _out;
   iDynTree::Wrench result;
   
-  if (!SWIG_check_num_args("Rotation_convertToNewCoordFrame",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Rotation_changeCoordFrameOf",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Rotation, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Rotation_convertToNewCoordFrame" "', argument " "1"" of type '" "iDynTree::Rotation const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Rotation_changeCoordFrameOf" "', argument " "1"" of type '" "iDynTree::Rotation const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Rotation * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Wrench,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Rotation_convertToNewCoordFrame" "', argument " "2"" of type '" "iDynTree::Wrench const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Rotation_changeCoordFrameOf" "', argument " "2"" of type '" "iDynTree::Wrench const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Rotation_convertToNewCoordFrame" "', argument " "2"" of type '" "iDynTree::Wrench const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Rotation_changeCoordFrameOf" "', argument " "2"" of type '" "iDynTree::Wrench const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::Wrench * >(argp2);
-  result = ((iDynTree::Rotation const *)arg1)->convertToNewCoordFrame((iDynTree::Wrench const &)*arg2);
+  result = ((iDynTree::Rotation const *)arg1)->changeCoordFrameOf((iDynTree::Wrench const &)*arg2);
   _out = SWIG_NewPointerObj((new iDynTree::Wrench(static_cast< const iDynTree::Wrench& >(result))), SWIGTYPE_p_iDynTree__Wrench, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
@@ -10718,7 +10734,7 @@ int _wrap_Rotation_convertToNewCoordFrame__SWIG_2 (int resc, mxArray *resv[], in
 }
 
 
-int _wrap_Rotation_convertToNewCoordFrame (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Rotation_changeCoordFrameOf (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 2) {
     int _v;
     void *vptr = 0;
@@ -10729,7 +10745,7 @@ int _wrap_Rotation_convertToNewCoordFrame (int resc, mxArray *resv[], int argc,
       int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_Rotation_convertToNewCoordFrame__SWIG_0(resc,resv,argc,argv);
+        return _wrap_Rotation_changeCoordFrameOf__SWIG_0(resc,resv,argc,argv);
       }
     }
   }
@@ -10743,7 +10759,7 @@ int _wrap_Rotation_convertToNewCoordFrame (int resc, mxArray *resv[], int argc,
       int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Twist, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_Rotation_convertToNewCoordFrame__SWIG_1(resc,resv,argc,argv);
+        return _wrap_Rotation_changeCoordFrameOf__SWIG_1(resc,resv,argc,argv);
       }
     }
   }
@@ -10757,7 +10773,7 @@ int _wrap_Rotation_convertToNewCoordFrame (int resc, mxArray *resv[], int argc,
       int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Wrench, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_Rotation_convertToNewCoordFrame__SWIG_2(resc,resv,argc,argv);
+        return _wrap_Rotation_changeCoordFrameOf__SWIG_2(resc,resv,argc,argv);
       }
     }
   }
@@ -10994,23 +11010,23 @@ int _wrap_Rotation_mtimes (int resc, mxArray *resv[], int argc, mxArray *argv[])
 }
 
 
-int _wrap_Rotation_toString (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Rotation *arg1 = (iDynTree::Rotation *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
+int _wrap_Rotation_RotX (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  double arg1 ;
+  double val1 ;
+  int ecode1 = 0 ;
   mxArray * _out;
-  std::string result;
+  iDynTree::Rotation result;
   
-  if (!SWIG_check_num_args("Rotation_toString",argc,1,1,0)) {
+  if (!SWIG_check_num_args("Rotation_RotX",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Rotation, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Rotation_toString" "', argument " "1"" of type '" "iDynTree::Rotation const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Rotation * >(argp1);
-  result = ((iDynTree::Rotation const *)arg1)->toString();
-  _out = SWIG_From_std_string(static_cast< std::string >(result));
+  ecode1 = SWIG_AsVal_double(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "Rotation_RotX" "', argument " "1"" of type '" "double""'");
+  } 
+  arg1 = static_cast< double >(val1);
+  result = iDynTree::Rotation::RotX(arg1);
+  _out = SWIG_NewPointerObj((new iDynTree::Rotation(static_cast< const iDynTree::Rotation& >(result))), SWIGTYPE_p_iDynTree__Rotation, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -11018,23 +11034,23 @@ int _wrap_Rotation_toString (int resc, mxArray *resv[], int argc, mxArray *argv[
 }
 
 
-int _wrap_Rotation_display (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Rotation *arg1 = (iDynTree::Rotation *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
+int _wrap_Rotation_RotY (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  double arg1 ;
+  double val1 ;
+  int ecode1 = 0 ;
   mxArray * _out;
-  std::string result;
+  iDynTree::Rotation result;
   
-  if (!SWIG_check_num_args("Rotation_display",argc,1,1,0)) {
+  if (!SWIG_check_num_args("Rotation_RotY",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Rotation, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Rotation_display" "', argument " "1"" of type '" "iDynTree::Rotation const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Rotation * >(argp1);
-  result = ((iDynTree::Rotation const *)arg1)->reservedToString();
-  _out = SWIG_From_std_string(static_cast< std::string >(result));
+  ecode1 = SWIG_AsVal_double(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "Rotation_RotY" "', argument " "1"" of type '" "double""'");
+  } 
+  arg1 = static_cast< double >(val1);
+  result = iDynTree::Rotation::RotY(arg1);
+  _out = SWIG_NewPointerObj((new iDynTree::Rotation(static_cast< const iDynTree::Rotation& >(result))), SWIGTYPE_p_iDynTree__Rotation, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -11042,15 +11058,23 @@ int _wrap_Rotation_display (int resc, mxArray *resv[], int argc, mxArray *argv[]
 }
 
 
-int _wrap_new_TransformRaw__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Rotation_RotZ (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  double arg1 ;
+  double val1 ;
+  int ecode1 = 0 ;
   mxArray * _out;
-  iDynTree::TransformRaw *result = 0 ;
+  iDynTree::Rotation result;
   
-  if (!SWIG_check_num_args("new_TransformRaw",argc,0,0,0)) {
+  if (!SWIG_check_num_args("Rotation_RotZ",argc,1,1,0)) {
     SWIG_fail;
   }
-  result = (iDynTree::TransformRaw *)new iDynTree::TransformRaw();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__TransformRaw, 1 |  0 );
+  ecode1 = SWIG_AsVal_double(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "Rotation_RotZ" "', argument " "1"" of type '" "double""'");
+  } 
+  arg1 = static_cast< double >(val1);
+  result = iDynTree::Rotation::RotZ(arg1);
+  _out = SWIG_NewPointerObj((new iDynTree::Rotation(static_cast< const iDynTree::Rotation& >(result))), SWIGTYPE_p_iDynTree__Rotation, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -11058,37 +11082,39 @@ int _wrap_new_TransformRaw__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_new_TransformRaw__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::RotationRaw *arg1 = 0 ;
-  iDynTree::PositionRaw *arg2 = 0 ;
-  void *argp1 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+int _wrap_Rotation_RPY (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  double arg1 ;
+  double arg2 ;
+  double arg3 ;
+  double val1 ;
+  int ecode1 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
+  double val3 ;
+  int ecode3 = 0 ;
   mxArray * _out;
-  iDynTree::TransformRaw *result = 0 ;
+  iDynTree::Rotation result;
   
-  if (!SWIG_check_num_args("new_TransformRaw",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Rotation_RPY",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__RotationRaw,  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_TransformRaw" "', argument " "1"" of type '" "iDynTree::RotationRaw const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_TransformRaw" "', argument " "1"" of type '" "iDynTree::RotationRaw const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::RotationRaw * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__PositionRaw,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "new_TransformRaw" "', argument " "2"" of type '" "iDynTree::PositionRaw const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_TransformRaw" "', argument " "2"" of type '" "iDynTree::PositionRaw const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::PositionRaw * >(argp2);
-  result = (iDynTree::TransformRaw *)new iDynTree::TransformRaw((iDynTree::RotationRaw const &)*arg1,(iDynTree::PositionRaw const &)*arg2);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__TransformRaw, 1 |  0 );
+  ecode1 = SWIG_AsVal_double(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "Rotation_RPY" "', argument " "1"" of type '" "double""'");
+  } 
+  arg1 = static_cast< double >(val1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "Rotation_RPY" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  ecode3 = SWIG_AsVal_double(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "Rotation_RPY" "', argument " "3"" of type '" "double""'");
+  } 
+  arg3 = static_cast< double >(val3);
+  result = iDynTree::Rotation::RPY(arg1,arg2,arg3);
+  _out = SWIG_NewPointerObj((new iDynTree::Rotation(static_cast< const iDynTree::Rotation& >(result))), SWIGTYPE_p_iDynTree__Rotation, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -11096,26 +11122,15 @@ int _wrap_new_TransformRaw__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_new_TransformRaw__SWIG_2 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformRaw *arg1 = 0 ;
-  void *argp1 ;
-  int res1 = 0 ;
+int _wrap_Rotation_Identity (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
-  iDynTree::TransformRaw *result = 0 ;
+  iDynTree::Rotation result;
   
-  if (!SWIG_check_num_args("new_TransformRaw",argc,1,1,0)) {
+  if (!SWIG_check_num_args("Rotation_Identity",argc,0,0,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformRaw,  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_TransformRaw" "', argument " "1"" of type '" "iDynTree::TransformRaw const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_TransformRaw" "', argument " "1"" of type '" "iDynTree::TransformRaw const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformRaw * >(argp1);
-  result = (iDynTree::TransformRaw *)new iDynTree::TransformRaw((iDynTree::TransformRaw const &)*arg1);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__TransformRaw, 1 |  0 );
+  result = iDynTree::Rotation::Identity();
+  _out = SWIG_NewPointerObj((new iDynTree::Rotation(static_cast< const iDynTree::Rotation& >(result))), SWIGTYPE_p_iDynTree__Rotation, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -11123,55 +11138,47 @@ int _wrap_new_TransformRaw__SWIG_2 (int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_new_TransformRaw (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 0) {
-    return _wrap_new_TransformRaw__SWIG_0(resc,resv,argc,argv);
-  }
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__TransformRaw, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_new_TransformRaw__SWIG_2(resc,resv,argc,argv);
-    }
+int _wrap_Rotation_toString (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Rotation *arg1 = (iDynTree::Rotation *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::string result;
+  
+  if (!SWIG_check_num_args("Rotation_toString",argc,1,1,0)) {
+    SWIG_fail;
   }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__RotationRaw, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__PositionRaw, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_new_TransformRaw__SWIG_1(resc,resv,argc,argv);
-      }
-    }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Rotation, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Rotation_toString" "', argument " "1"" of type '" "iDynTree::Rotation const *""'"); 
   }
-  
-  mexWarnMsgIdAndTxt("SWIG:RuntimeError","No matching function for overload");
+  arg1 = reinterpret_cast< iDynTree::Rotation * >(argp1);
+  result = ((iDynTree::Rotation const *)arg1)->toString();
+  _out = SWIG_From_std_string(static_cast< std::string >(result));
+  if (_out && --resc>=0) *resv++ = _out;
+  return 0;
+fail:
   return 1;
 }
 
 
-int _wrap_delete_TransformRaw (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformRaw *arg1 = (iDynTree::TransformRaw *) 0 ;
+int _wrap_Rotation_display (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Rotation *arg1 = (iDynTree::Rotation *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
+  std::string result;
   
-  if (!SWIG_check_num_args("delete_TransformRaw",argc,1,1,0)) {
+  if (!SWIG_check_num_args("Rotation_display",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformRaw, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Rotation, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_TransformRaw" "', argument " "1"" of type '" "iDynTree::TransformRaw *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Rotation_display" "', argument " "1"" of type '" "iDynTree::Rotation const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::TransformRaw * >(argp1);
-  delete arg1;
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::Rotation * >(argp1);
+  result = ((iDynTree::Rotation const *)arg1)->reservedToString();
+  _out = SWIG_From_std_string(static_cast< std::string >(result));
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -11179,37 +11186,37 @@ int _wrap_delete_TransformRaw (int resc, mxArray *resv[], int argc, mxArray *arg
 }
 
 
-int _wrap_TransformRaw_compose (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformRaw *arg1 = 0 ;
-  iDynTree::TransformRaw *arg2 = 0 ;
-  void *argp1 ;
+int _wrap_new_TransformSemantics (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::PositionSemantics *arg1 = 0 ;
+  iDynTree::RotationSemantics *arg2 = 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
+  void *argp2 = 0 ;
   int res2 = 0 ;
   mxArray * _out;
-  iDynTree::TransformRaw result;
+  iDynTree::TransformSemantics *result = 0 ;
   
-  if (!SWIG_check_num_args("TransformRaw_compose",argc,2,2,0)) {
+  if (!SWIG_check_num_args("new_TransformSemantics",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformRaw,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__PositionSemantics,  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformRaw_compose" "', argument " "1"" of type '" "iDynTree::TransformRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_TransformSemantics" "', argument " "1"" of type '" "iDynTree::PositionSemantics &""'"); 
   }
   if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformRaw_compose" "', argument " "1"" of type '" "iDynTree::TransformRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_TransformSemantics" "', argument " "1"" of type '" "iDynTree::PositionSemantics &""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::TransformRaw * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__TransformRaw,  0 );
+  arg1 = reinterpret_cast< iDynTree::PositionSemantics * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__RotationSemantics,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformRaw_compose" "', argument " "2"" of type '" "iDynTree::TransformRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "new_TransformSemantics" "', argument " "2"" of type '" "iDynTree::RotationSemantics &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformRaw_compose" "', argument " "2"" of type '" "iDynTree::TransformRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_TransformSemantics" "', argument " "2"" of type '" "iDynTree::RotationSemantics &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::TransformRaw * >(argp2);
-  result = iDynTree::TransformRaw::compose((iDynTree::TransformRaw const &)*arg1,(iDynTree::TransformRaw const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::TransformRaw(static_cast< const iDynTree::TransformRaw& >(result))), SWIGTYPE_p_iDynTree__TransformRaw, SWIG_POINTER_OWN |  0 );
+  arg2 = reinterpret_cast< iDynTree::RotationSemantics * >(argp2);
+  result = (iDynTree::TransformSemantics *)new iDynTree::TransformSemantics(*arg1,*arg2);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__TransformSemantics, 1 |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -11217,26 +11224,22 @@ int _wrap_TransformRaw_compose (int resc, mxArray *resv[], int argc, mxArray *ar
 }
 
 
-int _wrap_TransformRaw_inverse2 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformRaw *arg1 = 0 ;
-  void *argp1 ;
+int _wrap_delete_TransformSemantics (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::TransformRaw result;
   
-  if (!SWIG_check_num_args("TransformRaw_inverse2",argc,1,1,0)) {
+  if (!SWIG_check_num_args("delete_TransformSemantics",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformRaw,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformRaw_inverse2" "', argument " "1"" of type '" "iDynTree::TransformRaw const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformRaw_inverse2" "', argument " "1"" of type '" "iDynTree::TransformRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_TransformSemantics" "', argument " "1"" of type '" "iDynTree::TransformSemantics *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::TransformRaw * >(argp1);
-  result = iDynTree::TransformRaw::inverse2((iDynTree::TransformRaw const &)*arg1);
-  _out = SWIG_NewPointerObj((new iDynTree::TransformRaw(static_cast< const iDynTree::TransformRaw& >(result))), SWIGTYPE_p_iDynTree__TransformRaw, SWIG_POINTER_OWN |  0 );
+  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
+  delete arg1;
+  _out = (mxArray*)0;
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -11244,37 +11247,47 @@ int _wrap_TransformRaw_inverse2 (int resc, mxArray *resv[], int argc, mxArray *a
 }
 
 
-int _wrap_TransformRaw_transform__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformRaw *arg1 = 0 ;
-  iDynTree::PositionRaw *arg2 = 0 ;
-  void *argp1 ;
+int _wrap_TransformSemantics_getRotationSemantics (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::PositionRaw result;
+  iDynTree::RotationSemantics *result = 0 ;
   
-  if (!SWIG_check_num_args("TransformRaw_transform",argc,2,2,0)) {
+  if (!SWIG_check_num_args("TransformSemantics_getRotationSemantics",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformRaw,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformRaw_transform" "', argument " "1"" of type '" "iDynTree::TransformRaw const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformRaw_transform" "', argument " "1"" of type '" "iDynTree::TransformRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_getRotationSemantics" "', argument " "1"" of type '" "iDynTree::TransformSemantics const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::TransformRaw * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__PositionRaw,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformRaw_transform" "', argument " "2"" of type '" "iDynTree::PositionRaw const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
+  result = (iDynTree::RotationSemantics *) &((iDynTree::TransformSemantics const *)arg1)->getRotationSemantics();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__RotationSemantics, 0 |  0 );
+  if (_out && --resc>=0) *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_TransformSemantics_getPositionSemantics (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::PositionSemantics *result = 0 ;
+  
+  if (!SWIG_check_num_args("TransformSemantics_getPositionSemantics",argc,1,1,0)) {
+    SWIG_fail;
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformRaw_transform" "', argument " "2"" of type '" "iDynTree::PositionRaw const &""'"); 
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_getPositionSemantics" "', argument " "1"" of type '" "iDynTree::TransformSemantics const *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::PositionRaw * >(argp2);
-  result = iDynTree::TransformRaw::transform((iDynTree::TransformRaw const &)*arg1,(iDynTree::PositionRaw const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::PositionRaw(static_cast< const iDynTree::PositionRaw& >(result))), SWIGTYPE_p_iDynTree__PositionRaw, SWIG_POINTER_OWN |  0 );
+  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
+  result = (iDynTree::PositionSemantics *) &((iDynTree::TransformSemantics const *)arg1)->getPositionSemantics();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__PositionSemantics, 0 |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -11282,37 +11295,34 @@ int _wrap_TransformRaw_transform__SWIG_0 (int resc, mxArray *resv[], int argc, m
 }
 
 
-int _wrap_TransformRaw_transform__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformRaw *arg1 = 0 ;
-  iDynTree::SpatialMotionVectorRaw *arg2 = 0 ;
-  void *argp1 ;
+int _wrap_TransformSemantics_setRotationSemantics (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
+  iDynTree::RotationSemantics *arg2 = 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
-  iDynTree::SpatialMotionVectorRaw result;
+  bool result;
   
-  if (!SWIG_check_num_args("TransformRaw_transform",argc,2,2,0)) {
+  if (!SWIG_check_num_args("TransformSemantics_setRotationSemantics",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformRaw,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformRaw_transform" "', argument " "1"" of type '" "iDynTree::TransformRaw const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformRaw_transform" "', argument " "1"" of type '" "iDynTree::TransformRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_setRotationSemantics" "', argument " "1"" of type '" "iDynTree::TransformSemantics *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::TransformRaw * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpatialMotionVectorRaw,  0 );
+  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__RotationSemantics,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformRaw_transform" "', argument " "2"" of type '" "iDynTree::SpatialMotionVectorRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformSemantics_setRotationSemantics" "', argument " "2"" of type '" "iDynTree::RotationSemantics const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformRaw_transform" "', argument " "2"" of type '" "iDynTree::SpatialMotionVectorRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_setRotationSemantics" "', argument " "2"" of type '" "iDynTree::RotationSemantics const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::SpatialMotionVectorRaw * >(argp2);
-  result = iDynTree::TransformRaw::transform((iDynTree::TransformRaw const &)*arg1,(iDynTree::SpatialMotionVectorRaw const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::SpatialMotionVectorRaw(static_cast< const iDynTree::SpatialMotionVectorRaw& >(result))), SWIGTYPE_p_iDynTree__SpatialMotionVectorRaw, SWIG_POINTER_OWN |  0 );
+  arg2 = reinterpret_cast< iDynTree::RotationSemantics * >(argp2);
+  result = (bool)(arg1)->setRotationSemantics((iDynTree::RotationSemantics const &)*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -11320,37 +11330,34 @@ int _wrap_TransformRaw_transform__SWIG_1 (int resc, mxArray *resv[], int argc, m
 }
 
 
-int _wrap_TransformRaw_transform__SWIG_2 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformRaw *arg1 = 0 ;
-  iDynTree::SpatialForceVectorRaw *arg2 = 0 ;
-  void *argp1 ;
+int _wrap_TransformSemantics_setPositionSemantics (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
+  iDynTree::PositionSemantics *arg2 = 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
-  iDynTree::SpatialForceVectorRaw result;
+  bool result;
   
-  if (!SWIG_check_num_args("TransformRaw_transform",argc,2,2,0)) {
+  if (!SWIG_check_num_args("TransformSemantics_setPositionSemantics",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformRaw,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformRaw_transform" "', argument " "1"" of type '" "iDynTree::TransformRaw const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformRaw_transform" "', argument " "1"" of type '" "iDynTree::TransformRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_setPositionSemantics" "', argument " "1"" of type '" "iDynTree::TransformSemantics *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::TransformRaw * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpatialForceVectorRaw,  0 );
+  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__PositionSemantics,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformRaw_transform" "', argument " "2"" of type '" "iDynTree::SpatialForceVectorRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformSemantics_setPositionSemantics" "', argument " "2"" of type '" "iDynTree::PositionSemantics const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformRaw_transform" "', argument " "2"" of type '" "iDynTree::SpatialForceVectorRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_setPositionSemantics" "', argument " "2"" of type '" "iDynTree::PositionSemantics const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::SpatialForceVectorRaw * >(argp2);
-  result = iDynTree::TransformRaw::transform((iDynTree::TransformRaw const &)*arg1,(iDynTree::SpatialForceVectorRaw const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::SpatialForceVectorRaw(static_cast< const iDynTree::SpatialForceVectorRaw& >(result))), SWIGTYPE_p_iDynTree__SpatialForceVectorRaw, SWIG_POINTER_OWN |  0 );
+  arg2 = reinterpret_cast< iDynTree::PositionSemantics * >(argp2);
+  result = (bool)(arg1)->setPositionSemantics((iDynTree::PositionSemantics const &)*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -11358,37 +11365,23 @@ int _wrap_TransformRaw_transform__SWIG_2 (int resc, mxArray *resv[], int argc, m
 }
 
 
-int _wrap_TransformRaw_transform__SWIG_3 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformRaw *arg1 = 0 ;
-  iDynTree::SpatialInertiaRaw *arg2 = 0 ;
-  void *argp1 ;
+int _wrap_TransformSemantics_toString (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::SpatialInertiaRaw result;
+  std::string result;
   
-  if (!SWIG_check_num_args("TransformRaw_transform",argc,2,2,0)) {
+  if (!SWIG_check_num_args("TransformSemantics_toString",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformRaw,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformRaw_transform" "', argument " "1"" of type '" "iDynTree::TransformRaw const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformRaw_transform" "', argument " "1"" of type '" "iDynTree::TransformRaw const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformRaw * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpatialInertiaRaw,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformRaw_transform" "', argument " "2"" of type '" "iDynTree::SpatialInertiaRaw const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformRaw_transform" "', argument " "2"" of type '" "iDynTree::SpatialInertiaRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_toString" "', argument " "1"" of type '" "iDynTree::TransformSemantics const *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::SpatialInertiaRaw * >(argp2);
-  result = iDynTree::TransformRaw::transform((iDynTree::TransformRaw const &)*arg1,(iDynTree::SpatialInertiaRaw const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::SpatialInertiaRaw(static_cast< const iDynTree::SpatialInertiaRaw& >(result))), SWIGTYPE_p_iDynTree__SpatialInertiaRaw, SWIG_POINTER_OWN |  0 );
+  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
+  result = ((iDynTree::TransformSemantics const *)arg1)->toString();
+  _out = SWIG_From_std_string(static_cast< std::string >(result));
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -11396,1541 +11389,23 @@ int _wrap_TransformRaw_transform__SWIG_3 (int resc, mxArray *resv[], int argc, m
 }
 
 
-int _wrap_TransformRaw_transform (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__TransformRaw, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__PositionRaw, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_TransformRaw_transform__SWIG_0(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__TransformRaw, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpatialMotionVectorRaw, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_TransformRaw_transform__SWIG_1(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__TransformRaw, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpatialForceVectorRaw, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_TransformRaw_transform__SWIG_2(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__TransformRaw, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpatialInertiaRaw, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_TransformRaw_transform__SWIG_3(resc,resv,argc,argv);
-      }
-    }
-  }
-  
-  mexWarnMsgIdAndTxt("SWIG:RuntimeError","No matching function for overload");
-  return 1;
-}
-
-
-int _wrap_TransformRaw_Identity (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  mxArray * _out;
-  iDynTree::TransformRaw result;
-  
-  if (!SWIG_check_num_args("TransformRaw_Identity",argc,0,0,0)) {
-    SWIG_fail;
-  }
-  result = iDynTree::TransformRaw::Identity();
-  _out = SWIG_NewPointerObj((new iDynTree::TransformRaw(static_cast< const iDynTree::TransformRaw& >(result))), SWIGTYPE_p_iDynTree__TransformRaw, SWIG_POINTER_OWN |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformRaw_toString (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformRaw *arg1 = (iDynTree::TransformRaw *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  std::string result;
-  
-  if (!SWIG_check_num_args("TransformRaw_toString",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformRaw, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformRaw_toString" "', argument " "1"" of type '" "iDynTree::TransformRaw const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformRaw * >(argp1);
-  result = ((iDynTree::TransformRaw const *)arg1)->toString();
-  _out = SWIG_From_std_string(static_cast< std::string >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformRaw_display (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformRaw *arg1 = (iDynTree::TransformRaw *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  std::string result;
-  
-  if (!SWIG_check_num_args("TransformRaw_display",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformRaw, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformRaw_display" "', argument " "1"" of type '" "iDynTree::TransformRaw const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformRaw * >(argp1);
-  result = ((iDynTree::TransformRaw const *)arg1)->reservedToString();
-  _out = SWIG_From_std_string(static_cast< std::string >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_new_TransformSemantics__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  mxArray * _out;
-  iDynTree::TransformSemantics *result = 0 ;
-  
-  if (!SWIG_check_num_args("new_TransformSemantics",argc,0,0,0)) {
-    SWIG_fail;
-  }
-  result = (iDynTree::TransformSemantics *)new iDynTree::TransformSemantics();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__TransformSemantics, 1 |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_new_TransformSemantics__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  int arg1 ;
-  int arg2 ;
-  int val1 ;
-  int ecode1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  mxArray * _out;
-  iDynTree::TransformSemantics *result = 0 ;
-  
-  if (!SWIG_check_num_args("new_TransformSemantics",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  ecode1 = SWIG_AsVal_int(argv[0], &val1);
-  if (!SWIG_IsOK(ecode1)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_TransformSemantics" "', argument " "1"" of type '" "int""'");
-  } 
-  arg1 = static_cast< int >(val1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "new_TransformSemantics" "', argument " "2"" of type '" "int""'");
-  } 
-  arg2 = static_cast< int >(val2);
-  result = (iDynTree::TransformSemantics *)new iDynTree::TransformSemantics(arg1,arg2);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__TransformSemantics, 1 |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_new_TransformSemantics__SWIG_2 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = 0 ;
-  void *argp1 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::TransformSemantics *result = 0 ;
-  
-  if (!SWIG_check_num_args("new_TransformSemantics",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformSemantics,  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_TransformSemantics" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_TransformSemantics" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  result = (iDynTree::TransformSemantics *)new iDynTree::TransformSemantics((iDynTree::TransformSemantics const &)*arg1);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__TransformSemantics, 1 |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_new_TransformSemantics (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 0) {
-    return _wrap_new_TransformSemantics__SWIG_0(resc,resv,argc,argv);
-  }
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__TransformSemantics, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_new_TransformSemantics__SWIG_2(resc,resv,argc,argv);
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    {
-      int res = SWIG_AsVal_int(argv[0], NULL);
-      _v = SWIG_CheckState(res);
-    }
-    if (_v) {
-      {
-        int res = SWIG_AsVal_int(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
-      if (_v) {
-        return _wrap_new_TransformSemantics__SWIG_1(resc,resv,argc,argv);
-      }
-    }
-  }
-  
-  mexWarnMsgIdAndTxt("SWIG:RuntimeError","No matching function for overload");
-  return 1;
-}
-
-
-int _wrap_delete_TransformSemantics (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("delete_TransformSemantics",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, SWIG_POINTER_DISOWN |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_TransformSemantics" "', argument " "1"" of type '" "iDynTree::TransformSemantics *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  delete arg1;
-  _out = (mxArray*)0;
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_getRotationSemantics (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::RotationSemantics result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_getRotationSemantics",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_getRotationSemantics" "', argument " "1"" of type '" "iDynTree::TransformSemantics const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  result = ((iDynTree::TransformSemantics const *)arg1)->getRotationSemantics();
-  _out = SWIG_NewPointerObj((new iDynTree::RotationSemantics(static_cast< const iDynTree::RotationSemantics& >(result))), SWIGTYPE_p_iDynTree__RotationSemantics, SWIG_POINTER_OWN |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_getPositionSemantics (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::PositionSemantics result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_getPositionSemantics",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_getPositionSemantics" "', argument " "1"" of type '" "iDynTree::TransformSemantics const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  result = ((iDynTree::TransformSemantics const *)arg1)->getPositionSemantics();
-  _out = SWIG_NewPointerObj((new iDynTree::PositionSemantics(static_cast< const iDynTree::PositionSemantics& >(result))), SWIGTYPE_p_iDynTree__PositionSemantics, SWIG_POINTER_OWN |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_setRotationSemantics (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  iDynTree::RotationSemantics *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_setRotationSemantics",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_setRotationSemantics" "', argument " "1"" of type '" "iDynTree::TransformSemantics *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__RotationSemantics,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformSemantics_setRotationSemantics" "', argument " "2"" of type '" "iDynTree::RotationSemantics const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_setRotationSemantics" "', argument " "2"" of type '" "iDynTree::RotationSemantics const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::RotationSemantics * >(argp2);
-  result = (bool)(arg1)->setRotationSemantics((iDynTree::RotationSemantics const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_setPositionSemantics (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  iDynTree::PositionSemantics *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_setPositionSemantics",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_setPositionSemantics" "', argument " "1"" of type '" "iDynTree::TransformSemantics *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__PositionSemantics,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformSemantics_setPositionSemantics" "', argument " "2"" of type '" "iDynTree::PositionSemantics const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_setPositionSemantics" "', argument " "2"" of type '" "iDynTree::PositionSemantics const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::PositionSemantics * >(argp2);
-  result = (bool)(arg1)->setPositionSemantics((iDynTree::PositionSemantics const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_getPoint (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  int result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_getPoint",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_getPoint" "', argument " "1"" of type '" "iDynTree::TransformSemantics const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  result = (int)((iDynTree::TransformSemantics const *)arg1)->getPoint();
-  _out = SWIG_From_int(static_cast< int >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_getOrientationFrame (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  int result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_getOrientationFrame",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_getOrientationFrame" "', argument " "1"" of type '" "iDynTree::TransformSemantics const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  result = (int)((iDynTree::TransformSemantics const *)arg1)->getOrientationFrame();
-  _out = SWIG_From_int(static_cast< int >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_getReferencePoint (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  int result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_getReferencePoint",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_getReferencePoint" "', argument " "1"" of type '" "iDynTree::TransformSemantics const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  result = (int)((iDynTree::TransformSemantics const *)arg1)->getReferencePoint();
-  _out = SWIG_From_int(static_cast< int >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_getReferenceOrientationFrame (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  int result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_getReferenceOrientationFrame",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_getReferenceOrientationFrame" "', argument " "1"" of type '" "iDynTree::TransformSemantics const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  result = (int)((iDynTree::TransformSemantics const *)arg1)->getReferenceOrientationFrame();
-  _out = SWIG_From_int(static_cast< int >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_getCoordinateFrame (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  int result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_getCoordinateFrame",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_getCoordinateFrame" "', argument " "1"" of type '" "iDynTree::TransformSemantics const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  result = (int)((iDynTree::TransformSemantics const *)arg1)->getCoordinateFrame();
-  _out = SWIG_From_int(static_cast< int >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_setPoint (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  int arg2 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("TransformSemantics_setPoint",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_setPoint" "', argument " "1"" of type '" "iDynTree::TransformSemantics *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "TransformSemantics_setPoint" "', argument " "2"" of type '" "int""'");
-  } 
-  arg2 = static_cast< int >(val2);
-  (arg1)->setPoint(arg2);
-  _out = (mxArray*)0;
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_setOrientationFrame (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  int arg2 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("TransformSemantics_setOrientationFrame",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_setOrientationFrame" "', argument " "1"" of type '" "iDynTree::TransformSemantics *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "TransformSemantics_setOrientationFrame" "', argument " "2"" of type '" "int""'");
-  } 
-  arg2 = static_cast< int >(val2);
-  (arg1)->setOrientationFrame(arg2);
-  _out = (mxArray*)0;
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_setReferencePoint (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  int arg2 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("TransformSemantics_setReferencePoint",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_setReferencePoint" "', argument " "1"" of type '" "iDynTree::TransformSemantics *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "TransformSemantics_setReferencePoint" "', argument " "2"" of type '" "int""'");
-  } 
-  arg2 = static_cast< int >(val2);
-  (arg1)->setReferencePoint(arg2);
-  _out = (mxArray*)0;
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_setReferenceOrientationFrame (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  int arg2 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("TransformSemantics_setReferenceOrientationFrame",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_setReferenceOrientationFrame" "', argument " "1"" of type '" "iDynTree::TransformSemantics *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "TransformSemantics_setReferenceOrientationFrame" "', argument " "2"" of type '" "int""'");
-  } 
-  arg2 = static_cast< int >(val2);
-  (arg1)->setReferenceOrientationFrame(arg2);
-  _out = (mxArray*)0;
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_check_compose (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = 0 ;
-  iDynTree::TransformSemantics *arg2 = 0 ;
-  void *argp1 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_check_compose",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformSemantics,  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_check_compose" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_check_compose" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__TransformSemantics,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformSemantics_check_compose" "', argument " "2"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_check_compose" "', argument " "2"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::TransformSemantics * >(argp2);
-  result = (bool)iDynTree::TransformSemantics::check_compose((iDynTree::TransformSemantics const &)*arg1,(iDynTree::TransformSemantics const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_check_inverse2 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = 0 ;
-  void *argp1 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_check_inverse2",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformSemantics,  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_check_inverse2" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_check_inverse2" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  result = (bool)iDynTree::TransformSemantics::check_inverse2((iDynTree::TransformSemantics const &)*arg1);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_check_transform (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = 0 ;
-  iDynTree::PositionSemantics *arg2 = 0 ;
-  void *argp1 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_check_transform",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformSemantics,  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_check_transform" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_check_transform" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__PositionSemantics,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformSemantics_check_transform" "', argument " "2"" of type '" "iDynTree::PositionSemantics const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_check_transform" "', argument " "2"" of type '" "iDynTree::PositionSemantics const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::PositionSemantics * >(argp2);
-  result = (bool)iDynTree::TransformSemantics::check_transform((iDynTree::TransformSemantics const &)*arg1,(iDynTree::PositionSemantics const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_compose__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = 0 ;
-  iDynTree::TransformSemantics *arg2 = 0 ;
-  void *argp1 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  iDynTree::TransformSemantics result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_compose",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformSemantics,  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_compose" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_compose" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__TransformSemantics,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformSemantics_compose" "', argument " "2"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_compose" "', argument " "2"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::TransformSemantics * >(argp2);
-  result = iDynTree::TransformSemantics::compose((iDynTree::TransformSemantics const &)*arg1,(iDynTree::TransformSemantics const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::TransformSemantics(static_cast< const iDynTree::TransformSemantics& >(result))), SWIGTYPE_p_iDynTree__TransformSemantics, SWIG_POINTER_OWN |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_compose__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = 0 ;
-  iDynTree::TransformSemantics *arg2 = 0 ;
-  iDynTree::TransformSemantics *arg3 = 0 ;
-  void *argp1 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("TransformSemantics_compose",argc,3,3,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformSemantics,  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_compose" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_compose" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__TransformSemantics,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformSemantics_compose" "', argument " "2"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_compose" "', argument " "2"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::TransformSemantics * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__TransformSemantics,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "TransformSemantics_compose" "', argument " "3"" of type '" "iDynTree::TransformSemantics &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_compose" "', argument " "3"" of type '" "iDynTree::TransformSemantics &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::TransformSemantics * >(argp3);
-  iDynTree::TransformSemantics::compose((iDynTree::TransformSemantics const &)*arg1,(iDynTree::TransformSemantics const &)*arg2,*arg3);
-  _out = (mxArray*)0;
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_compose (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__TransformSemantics, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__TransformSemantics, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_TransformSemantics_compose__SWIG_0(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__TransformSemantics, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__TransformSemantics, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__TransformSemantics, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_TransformSemantics_compose__SWIG_1(resc,resv,argc,argv);
-        }
-      }
-    }
-  }
-  
-  mexWarnMsgIdAndTxt("SWIG:RuntimeError","No matching function for overload");
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_inverse2__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = 0 ;
-  void *argp1 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::TransformSemantics result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_inverse2",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformSemantics,  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_inverse2" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_inverse2" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  result = iDynTree::TransformSemantics::inverse2((iDynTree::TransformSemantics const &)*arg1);
-  _out = SWIG_NewPointerObj((new iDynTree::TransformSemantics(static_cast< const iDynTree::TransformSemantics& >(result))), SWIGTYPE_p_iDynTree__TransformSemantics, SWIG_POINTER_OWN |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_inverse2__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = 0 ;
-  iDynTree::TransformSemantics *arg2 = 0 ;
-  void *argp1 ;
-  int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("TransformSemantics_inverse2",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformSemantics,  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_inverse2" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_inverse2" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__TransformSemantics,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformSemantics_inverse2" "', argument " "2"" of type '" "iDynTree::TransformSemantics &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_inverse2" "', argument " "2"" of type '" "iDynTree::TransformSemantics &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::TransformSemantics * >(argp2);
-  iDynTree::TransformSemantics::inverse2((iDynTree::TransformSemantics const &)*arg1,*arg2);
-  _out = (mxArray*)0;
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_inverse2 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__TransformSemantics, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_TransformSemantics_inverse2__SWIG_0(resc,resv,argc,argv);
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__TransformSemantics, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__TransformSemantics, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_TransformSemantics_inverse2__SWIG_1(resc,resv,argc,argv);
-      }
-    }
-  }
-  
-  mexWarnMsgIdAndTxt("SWIG:RuntimeError","No matching function for overload");
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_transform__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = 0 ;
-  iDynTree::PositionSemantics *arg2 = 0 ;
-  void *argp1 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  iDynTree::PositionSemantics result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_transform",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformSemantics,  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_transform" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_transform" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__PositionSemantics,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformSemantics_transform" "', argument " "2"" of type '" "iDynTree::PositionSemantics const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_transform" "', argument " "2"" of type '" "iDynTree::PositionSemantics const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::PositionSemantics * >(argp2);
-  result = iDynTree::TransformSemantics::transform((iDynTree::TransformSemantics const &)*arg1,(iDynTree::PositionSemantics const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::PositionSemantics(static_cast< const iDynTree::PositionSemantics& >(result))), SWIGTYPE_p_iDynTree__PositionSemantics, SWIG_POINTER_OWN |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_transform__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = 0 ;
-  iDynTree::PositionSemantics *arg2 = 0 ;
-  iDynTree::PositionSemantics *arg3 = 0 ;
-  void *argp1 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("TransformSemantics_transform",argc,3,3,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformSemantics,  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_transform" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_transform" "', argument " "1"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__PositionSemantics,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformSemantics_transform" "', argument " "2"" of type '" "iDynTree::PositionSemantics const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_transform" "', argument " "2"" of type '" "iDynTree::PositionSemantics const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::PositionSemantics * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__PositionSemantics,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "TransformSemantics_transform" "', argument " "3"" of type '" "iDynTree::PositionSemantics &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_transform" "', argument " "3"" of type '" "iDynTree::PositionSemantics &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::PositionSemantics * >(argp3);
-  iDynTree::TransformSemantics::transform((iDynTree::TransformSemantics const &)*arg1,(iDynTree::PositionSemantics const &)*arg2,*arg3);
-  _out = (mxArray*)0;
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_transform (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__TransformSemantics, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__PositionSemantics, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_TransformSemantics_transform__SWIG_0(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__TransformSemantics, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__PositionSemantics, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__PositionSemantics, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_TransformSemantics_transform__SWIG_1(resc,resv,argc,argv);
-        }
-      }
-    }
-  }
-  
-  mexWarnMsgIdAndTxt("SWIG:RuntimeError","No matching function for overload");
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_mtimes__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  iDynTree::TransformSemantics *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  iDynTree::TransformSemantics result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_mtimes",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_mtimes" "', argument " "1"" of type '" "iDynTree::TransformSemantics const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__TransformSemantics,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformSemantics_mtimes" "', argument " "2"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_mtimes" "', argument " "2"" of type '" "iDynTree::TransformSemantics const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::TransformSemantics * >(argp2);
-  result = ((iDynTree::TransformSemantics const *)arg1)->operator *((iDynTree::TransformSemantics const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::TransformSemantics(static_cast< const iDynTree::TransformSemantics& >(result))), SWIGTYPE_p_iDynTree__TransformSemantics, SWIG_POINTER_OWN |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_inverse (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::TransformSemantics result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_inverse",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_inverse" "', argument " "1"" of type '" "iDynTree::TransformSemantics const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  result = ((iDynTree::TransformSemantics const *)arg1)->inverse();
-  _out = SWIG_NewPointerObj((new iDynTree::TransformSemantics(static_cast< const iDynTree::TransformSemantics& >(result))), SWIGTYPE_p_iDynTree__TransformSemantics, SWIG_POINTER_OWN |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_mtimes__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  iDynTree::PositionSemantics *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  iDynTree::PositionSemantics result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_mtimes",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_mtimes" "', argument " "1"" of type '" "iDynTree::TransformSemantics const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__PositionSemantics,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "TransformSemantics_mtimes" "', argument " "2"" of type '" "iDynTree::PositionSemantics const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "TransformSemantics_mtimes" "', argument " "2"" of type '" "iDynTree::PositionSemantics const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::PositionSemantics * >(argp2);
-  result = ((iDynTree::TransformSemantics const *)arg1)->operator *((iDynTree::PositionSemantics const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::PositionSemantics(static_cast< const iDynTree::PositionSemantics& >(result))), SWIGTYPE_p_iDynTree__PositionSemantics, SWIG_POINTER_OWN |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_mtimes (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__TransformSemantics, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__TransformSemantics, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_TransformSemantics_mtimes__SWIG_0(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__TransformSemantics, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__PositionSemantics, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_TransformSemantics_mtimes__SWIG_1(resc,resv,argc,argv);
-      }
-    }
-  }
-  
-  mexWarnMsgIdAndTxt("SWIG:RuntimeError","No matching function for overload");
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_toString (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  std::string result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_toString",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_toString" "', argument " "1"" of type '" "iDynTree::TransformSemantics const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  result = ((iDynTree::TransformSemantics const *)arg1)->toString();
-  _out = SWIG_From_std_string(static_cast< std::string >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_TransformSemantics_display (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  std::string result;
-  
-  if (!SWIG_check_num_args("TransformSemantics_display",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_display" "', argument " "1"" of type '" "iDynTree::TransformSemantics const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
-  result = ((iDynTree::TransformSemantics const *)arg1)->reservedToString();
-  _out = SWIG_From_std_string(static_cast< std::string >(result));
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_new_Transform__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  mxArray * _out;
-  iDynTree::Transform *result = 0 ;
-  
-  if (!SWIG_check_num_args("new_Transform",argc,0,0,0)) {
-    SWIG_fail;
-  }
-  result = (iDynTree::Transform *)new iDynTree::Transform();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Transform, 1 |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_new_Transform__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Rotation *arg1 = 0 ;
-  iDynTree::Position *arg2 = 0 ;
-  void *argp1 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  iDynTree::Transform *result = 0 ;
-  
-  if (!SWIG_check_num_args("new_Transform",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Rotation,  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Transform" "', argument " "1"" of type '" "iDynTree::Rotation const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Transform" "', argument " "1"" of type '" "iDynTree::Rotation const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Rotation * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Position,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "new_Transform" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Transform" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Position * >(argp2);
-  result = (iDynTree::Transform *)new iDynTree::Transform((iDynTree::Rotation const &)*arg1,(iDynTree::Position const &)*arg2);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Transform, 1 |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_new_Transform__SWIG_2 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::TransformRaw *arg1 = 0 ;
-  void *argp1 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::Transform *result = 0 ;
-  
-  if (!SWIG_check_num_args("new_Transform",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__TransformRaw,  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Transform" "', argument " "1"" of type '" "iDynTree::TransformRaw const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Transform" "', argument " "1"" of type '" "iDynTree::TransformRaw const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::TransformRaw * >(argp1);
-  result = (iDynTree::Transform *)new iDynTree::Transform((iDynTree::TransformRaw const &)*arg1);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Transform, 1 |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_new_Transform__SWIG_3 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Transform *arg1 = 0 ;
-  void *argp1 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::Transform *result = 0 ;
-  
-  if (!SWIG_check_num_args("new_Transform",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Transform,  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Transform" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Transform" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  result = (iDynTree::Transform *)new iDynTree::Transform((iDynTree::Transform const &)*arg1);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Transform, 1 |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_new_Transform (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 0) {
-    return _wrap_new_Transform__SWIG_0(resc,resv,argc,argv);
-  }
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_new_Transform__SWIG_3(resc,resv,argc,argv);
-    }
-  }
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__TransformRaw, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_new_Transform__SWIG_2(resc,resv,argc,argv);
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Rotation, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_new_Transform__SWIG_1(resc,resv,argc,argv);
-      }
-    }
-  }
-  
-  mexWarnMsgIdAndTxt("SWIG:RuntimeError","No matching function for overload");
-  return 1;
-}
-
-
-int _wrap_delete_Transform (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("delete_Transform",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Transform, SWIG_POINTER_DISOWN |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_Transform" "', argument " "1"" of type '" "iDynTree::Transform *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  delete arg1;
-  _out = (mxArray*)0;
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_Transform_getSemantics__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::TransformSemantics *result = 0 ;
-  
-  if (!SWIG_check_num_args("Transform_getSemantics",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_getSemantics" "', argument " "1"" of type '" "iDynTree::Transform *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  result = (iDynTree::TransformSemantics *) &(arg1)->getSemantics();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_Transform_getSemantics__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::TransformSemantics *result = 0 ;
-  
-  if (!SWIG_check_num_args("Transform_getSemantics",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_getSemantics" "', argument " "1"" of type '" "iDynTree::Transform const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  result = (iDynTree::TransformSemantics *) &((iDynTree::Transform const *)arg1)->getSemantics();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_Transform_getSemantics (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_Transform_getSemantics__SWIG_0(resc,resv,argc,argv);
-    }
-  }
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_Transform_getSemantics__SWIG_1(resc,resv,argc,argv);
-    }
-  }
-  
-  mexWarnMsgIdAndTxt("SWIG:RuntimeError","No matching function for overload");
-  return 1;
-}
-
-
-int _wrap_Transform_getRotation (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::Rotation result;
-  
-  if (!SWIG_check_num_args("Transform_getRotation",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_getRotation" "', argument " "1"" of type '" "iDynTree::Transform const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  result = ((iDynTree::Transform const *)arg1)->getRotation();
-  _out = SWIG_NewPointerObj((new iDynTree::Rotation(static_cast< const iDynTree::Rotation& >(result))), SWIGTYPE_p_iDynTree__Rotation, SWIG_POINTER_OWN |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_Transform_getPosition (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
+int _wrap_TransformSemantics_display (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::TransformSemantics *arg1 = (iDynTree::TransformSemantics *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::Position result;
+  std::string result;
   
-  if (!SWIG_check_num_args("Transform_getPosition",argc,1,1,0)) {
+  if (!SWIG_check_num_args("TransformSemantics_display",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_getPosition" "', argument " "1"" of type '" "iDynTree::Transform const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "TransformSemantics_display" "', argument " "1"" of type '" "iDynTree::TransformSemantics const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  result = ((iDynTree::Transform const *)arg1)->getPosition();
-  _out = SWIG_NewPointerObj((new iDynTree::Position(static_cast< const iDynTree::Position& >(result))), SWIGTYPE_p_iDynTree__Position, SWIG_POINTER_OWN |  0 );
+  arg1 = reinterpret_cast< iDynTree::TransformSemantics * >(argp1);
+  result = ((iDynTree::TransformSemantics const *)arg1)->reservedToString();
+  _out = SWIG_From_std_string(static_cast< std::string >(result));
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -12938,34 +11413,15 @@ int _wrap_Transform_getPosition (int resc, mxArray *resv[], int argc, mxArray *a
 }
 
 
-int _wrap_Transform_setRotation__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
-  iDynTree::Rotation *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+int _wrap_new_Transform__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
-  bool result;
+  iDynTree::Transform *result = 0 ;
   
-  if (!SWIG_check_num_args("Transform_setRotation",argc,2,2,0)) {
+  if (!SWIG_check_num_args("new_Transform",argc,0,0,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_setRotation" "', argument " "1"" of type '" "iDynTree::Transform *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Rotation,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Transform_setRotation" "', argument " "2"" of type '" "iDynTree::Rotation const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_setRotation" "', argument " "2"" of type '" "iDynTree::Rotation const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Rotation * >(argp2);
-  result = (bool)(arg1)->setRotation((iDynTree::Rotation const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  result = (iDynTree::Transform *)new iDynTree::Transform();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Transform, 1 |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -12973,34 +11429,37 @@ int _wrap_Transform_setRotation__SWIG_0 (int resc, mxArray *resv[], int argc, mx
 }
 
 
-int _wrap_Transform_setPosition__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
+int _wrap_new_Transform__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Rotation *arg1 = 0 ;
   iDynTree::Position *arg2 = 0 ;
-  void *argp1 = 0 ;
+  void *argp1 ;
   int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::Transform *result = 0 ;
   
-  if (!SWIG_check_num_args("Transform_setPosition",argc,2,2,0)) {
+  if (!SWIG_check_num_args("new_Transform",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Rotation,  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_setPosition" "', argument " "1"" of type '" "iDynTree::Transform *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Transform" "', argument " "1"" of type '" "iDynTree::Rotation const &""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
+  if (!argp1) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Transform" "', argument " "1"" of type '" "iDynTree::Rotation const &""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Rotation * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Position,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Transform_setPosition" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "new_Transform" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_setPosition" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Transform" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::Position * >(argp2);
-  result = (bool)(arg1)->setPosition((iDynTree::Position const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  result = (iDynTree::Transform *)new iDynTree::Transform((iDynTree::Rotation const &)*arg1,(iDynTree::Position const &)*arg2);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Transform, 1 |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -13008,34 +11467,26 @@ int _wrap_Transform_setPosition__SWIG_0 (int resc, mxArray *resv[], int argc, mx
 }
 
 
-int _wrap_Transform_setRotation__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
-  iDynTree::RotationRaw *arg2 = 0 ;
-  void *argp1 = 0 ;
+int _wrap_new_Transform__SWIG_2 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Transform *arg1 = 0 ;
+  void *argp1 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::Transform *result = 0 ;
   
-  if (!SWIG_check_num_args("Transform_setRotation",argc,2,2,0)) {
+  if (!SWIG_check_num_args("new_Transform",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Transform,  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_setRotation" "', argument " "1"" of type '" "iDynTree::Transform *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__RotationRaw,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Transform_setRotation" "', argument " "2"" of type '" "iDynTree::RotationRaw const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Transform" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_setRotation" "', argument " "2"" of type '" "iDynTree::RotationRaw const &""'"); 
+  if (!argp1) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Transform" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::RotationRaw * >(argp2);
-  result = (bool)(arg1)->setRotation((iDynTree::RotationRaw const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
+  result = (iDynTree::Transform *)new iDynTree::Transform((iDynTree::Transform const &)*arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Transform, 1 |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -13043,32 +11494,30 @@ int _wrap_Transform_setRotation__SWIG_1 (int resc, mxArray *resv[], int argc, mx
 }
 
 
-int _wrap_Transform_setRotation (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
+int _wrap_new_Transform (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 0) {
+    return _wrap_new_Transform__SWIG_0(resc,resv,argc,argv);
+  }
+  if (argc == 1) {
     int _v;
     void *vptr = 0;
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Rotation, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_Transform_setRotation__SWIG_0(resc,resv,argc,argv);
-      }
+      return _wrap_new_Transform__SWIG_2(resc,resv,argc,argv);
     }
   }
   if (argc == 2) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Rotation, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__RotationRaw, 0);
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_Transform_setRotation__SWIG_1(resc,resv,argc,argv);
+        return _wrap_new_Transform__SWIG_1(resc,resv,argc,argv);
       }
     }
   }
@@ -13078,34 +11527,22 @@ int _wrap_Transform_setRotation (int resc, mxArray *resv[], int argc, mxArray *a
 }
 
 
-int _wrap_Transform_setPosition__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_delete_Transform (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
-  iDynTree::PositionRaw *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("Transform_setPosition",argc,2,2,0)) {
+  if (!SWIG_check_num_args("delete_Transform",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Transform, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_setPosition" "', argument " "1"" of type '" "iDynTree::Transform *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_Transform" "', argument " "1"" of type '" "iDynTree::Transform *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__PositionRaw,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Transform_setPosition" "', argument " "2"" of type '" "iDynTree::PositionRaw const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_setPosition" "', argument " "2"" of type '" "iDynTree::PositionRaw const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::PositionRaw * >(argp2);
-  result = (bool)(arg1)->setPosition((iDynTree::PositionRaw const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  delete arg1;
+  _out = (mxArray*)0;
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -13113,72 +11550,23 @@ int _wrap_Transform_setPosition__SWIG_1 (int resc, mxArray *resv[], int argc, mx
 }
 
 
-int _wrap_Transform_setPosition (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_Transform_setPosition__SWIG_0(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__PositionRaw, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_Transform_setPosition__SWIG_1(resc,resv,argc,argv);
-      }
-    }
-  }
-  
-  mexWarnMsgIdAndTxt("SWIG:RuntimeError","No matching function for overload");
-  return 1;
-}
-
-
-int _wrap_Transform_compose (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Transform *arg1 = 0 ;
-  iDynTree::Transform *arg2 = 0 ;
-  void *argp1 ;
+int _wrap_Transform_getSemantics__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::Transform result;
+  iDynTree::TransformSemantics *result = 0 ;
   
-  if (!SWIG_check_num_args("Transform_compose",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Transform_getSemantics",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Transform,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_compose" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_compose" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_getSemantics" "', argument " "1"" of type '" "iDynTree::Transform *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Transform,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Transform_compose" "', argument " "2"" of type '" "iDynTree::Transform const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_compose" "', argument " "2"" of type '" "iDynTree::Transform const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Transform * >(argp2);
-  result = iDynTree::Transform::compose((iDynTree::Transform const &)*arg1,(iDynTree::Transform const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::Transform(static_cast< const iDynTree::Transform& >(result))), SWIGTYPE_p_iDynTree__Transform, SWIG_POINTER_OWN |  0 );
+  result = (iDynTree::TransformSemantics *) &(arg1)->getSemantics();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -13186,64 +11574,72 @@ int _wrap_Transform_compose (int resc, mxArray *resv[], int argc, mxArray *argv[
 }
 
 
-int _wrap_Transform_inverse2 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Transform *arg1 = 0 ;
-  void *argp1 ;
+int _wrap_Transform_getSemantics__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::Transform result;
+  iDynTree::TransformSemantics *result = 0 ;
   
-  if (!SWIG_check_num_args("Transform_inverse2",argc,1,1,0)) {
+  if (!SWIG_check_num_args("Transform_getSemantics",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Transform,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_inverse2" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_getSemantics" "', argument " "1"" of type '" "iDynTree::Transform const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
+  result = (iDynTree::TransformSemantics *) &((iDynTree::Transform const *)arg1)->getSemantics();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__TransformSemantics, 0 |  0 );
+  if (_out && --resc>=0) *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Transform_getSemantics (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Transform_getSemantics__SWIG_0(resc,resv,argc,argv);
+    }
   }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_inverse2" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_Transform_getSemantics__SWIG_1(resc,resv,argc,argv);
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  result = iDynTree::Transform::inverse2((iDynTree::Transform const &)*arg1);
-  _out = SWIG_NewPointerObj((new iDynTree::Transform(static_cast< const iDynTree::Transform& >(result))), SWIGTYPE_p_iDynTree__Transform, SWIG_POINTER_OWN |  0 );
-  if (_out && --resc>=0) *resv++ = _out;
-  return 0;
-fail:
+  
+  mexWarnMsgIdAndTxt("SWIG:RuntimeError","No matching function for overload");
   return 1;
 }
 
 
-int _wrap_Transform_transform__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Transform *arg1 = 0 ;
-  iDynTree::Position *arg2 = 0 ;
-  void *argp1 ;
+int _wrap_Transform_getRotation (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::Position result;
+  iDynTree::Rotation *result = 0 ;
   
-  if (!SWIG_check_num_args("Transform_transform",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Transform_getRotation",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Transform,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_transform" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_transform" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_getRotation" "', argument " "1"" of type '" "iDynTree::Transform const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Position,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Transform_transform" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_transform" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Position * >(argp2);
-  result = iDynTree::Transform::transform((iDynTree::Transform const &)*arg1,(iDynTree::Position const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::Position(static_cast< const iDynTree::Position& >(result))), SWIGTYPE_p_iDynTree__Position, SWIG_POINTER_OWN |  0 );
+  result = (iDynTree::Rotation *) &((iDynTree::Transform const *)arg1)->getRotation();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Rotation, 0 |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -13251,37 +11647,23 @@ int _wrap_Transform_transform__SWIG_0 (int resc, mxArray *resv[], int argc, mxAr
 }
 
 
-int _wrap_Transform_transform__SWIG_1 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Transform *arg1 = 0 ;
-  iDynTree::Wrench *arg2 = 0 ;
-  void *argp1 ;
+int _wrap_Transform_getPosition (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::Wrench result;
+  iDynTree::Position *result = 0 ;
   
-  if (!SWIG_check_num_args("Transform_transform",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Transform_getPosition",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Transform,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_transform" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_transform" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_getPosition" "', argument " "1"" of type '" "iDynTree::Transform const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Wrench,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Transform_transform" "', argument " "2"" of type '" "iDynTree::Wrench const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_transform" "', argument " "2"" of type '" "iDynTree::Wrench const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Wrench * >(argp2);
-  result = iDynTree::Transform::transform((iDynTree::Transform const &)*arg1,(iDynTree::Wrench const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::Wrench(static_cast< const iDynTree::Wrench& >(result))), SWIGTYPE_p_iDynTree__Wrench, SWIG_POINTER_OWN |  0 );
+  result = (iDynTree::Position *) &((iDynTree::Transform const *)arg1)->getPosition();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Position, 0 |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -13289,37 +11671,33 @@ int _wrap_Transform_transform__SWIG_1 (int resc, mxArray *resv[], int argc, mxAr
 }
 
 
-int _wrap_Transform_transform__SWIG_2 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Transform *arg1 = 0 ;
-  iDynTree::Twist *arg2 = 0 ;
-  void *argp1 ;
+int _wrap_Transform_setRotation (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
+  iDynTree::Rotation *arg2 = 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
-  iDynTree::Twist result;
   
-  if (!SWIG_check_num_args("Transform_transform",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Transform_setRotation",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Transform,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_transform" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_transform" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_setRotation" "', argument " "1"" of type '" "iDynTree::Transform *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Twist,  0 );
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Rotation,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Transform_transform" "', argument " "2"" of type '" "iDynTree::Twist const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Transform_setRotation" "', argument " "2"" of type '" "iDynTree::Rotation const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_transform" "', argument " "2"" of type '" "iDynTree::Twist const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_setRotation" "', argument " "2"" of type '" "iDynTree::Rotation const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Twist * >(argp2);
-  result = iDynTree::Transform::transform((iDynTree::Transform const &)*arg1,(iDynTree::Twist const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::Twist(static_cast< const iDynTree::Twist& >(result))), SWIGTYPE_p_iDynTree__Twist, SWIG_POINTER_OWN |  0 );
+  arg2 = reinterpret_cast< iDynTree::Rotation * >(argp2);
+  (arg1)->setRotation((iDynTree::Rotation const &)*arg2);
+  _out = (mxArray*)0;
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -13327,37 +11705,33 @@ int _wrap_Transform_transform__SWIG_2 (int resc, mxArray *resv[], int argc, mxAr
 }
 
 
-int _wrap_Transform_transform__SWIG_3 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Transform *arg1 = 0 ;
-  iDynTree::SpatialMomentum *arg2 = 0 ;
-  void *argp1 ;
+int _wrap_Transform_setPosition (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
+  iDynTree::Position *arg2 = 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
-  iDynTree::SpatialMomentum result;
   
-  if (!SWIG_check_num_args("Transform_transform",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Transform_setPosition",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Transform,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_transform" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_transform" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_setPosition" "', argument " "1"" of type '" "iDynTree::Transform *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpatialMomentum,  0 );
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Position,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Transform_transform" "', argument " "2"" of type '" "iDynTree::SpatialMomentum const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Transform_setPosition" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_transform" "', argument " "2"" of type '" "iDynTree::SpatialMomentum const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_setPosition" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::SpatialMomentum * >(argp2);
-  result = iDynTree::Transform::transform((iDynTree::Transform const &)*arg1,(iDynTree::SpatialMomentum const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::SpatialMomentum(static_cast< const iDynTree::SpatialMomentum& >(result))), SWIGTYPE_p_iDynTree__SpatialMomentum, SWIG_POINTER_OWN |  0 );
+  arg2 = reinterpret_cast< iDynTree::Position * >(argp2);
+  (arg1)->setPosition((iDynTree::Position const &)*arg2);
+  _out = (mxArray*)0;
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -13365,37 +11739,37 @@ int _wrap_Transform_transform__SWIG_3 (int resc, mxArray *resv[], int argc, mxAr
 }
 
 
-int _wrap_Transform_transform__SWIG_4 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Transform_compose (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Transform *arg1 = 0 ;
-  iDynTree::SpatialAcc *arg2 = 0 ;
+  iDynTree::Transform *arg2 = 0 ;
   void *argp1 ;
   int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
-  iDynTree::SpatialAcc result;
+  iDynTree::Transform result;
   
-  if (!SWIG_check_num_args("Transform_transform",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Transform_compose",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Transform,  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_transform" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_compose" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
   }
   if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_transform" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_compose" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpatialAcc,  0 );
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Transform,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Transform_transform" "', argument " "2"" of type '" "iDynTree::SpatialAcc const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Transform_compose" "', argument " "2"" of type '" "iDynTree::Transform const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_transform" "', argument " "2"" of type '" "iDynTree::SpatialAcc const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_compose" "', argument " "2"" of type '" "iDynTree::Transform const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::SpatialAcc * >(argp2);
-  result = iDynTree::Transform::transform((iDynTree::Transform const &)*arg1,(iDynTree::SpatialAcc const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::SpatialAcc(static_cast< const iDynTree::SpatialAcc& >(result))), SWIGTYPE_p_iDynTree__SpatialAcc, SWIG_POINTER_OWN |  0 );
+  arg2 = reinterpret_cast< iDynTree::Transform * >(argp2);
+  result = iDynTree::Transform::compose((iDynTree::Transform const &)*arg1,(iDynTree::Transform const &)*arg2);
+  _out = SWIG_NewPointerObj((new iDynTree::Transform(static_cast< const iDynTree::Transform& >(result))), SWIGTYPE_p_iDynTree__Transform, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -13403,37 +11777,26 @@ int _wrap_Transform_transform__SWIG_4 (int resc, mxArray *resv[], int argc, mxAr
 }
 
 
-int _wrap_Transform_transform__SWIG_5 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Transform_inverse2 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Transform *arg1 = 0 ;
-  iDynTree::SpatialInertia *arg2 = 0 ;
   void *argp1 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::SpatialInertia result;
+  iDynTree::Transform result;
   
-  if (!SWIG_check_num_args("Transform_transform",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Transform_inverse2",argc,1,1,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Transform,  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_transform" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Transform_inverse2" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
   }
   if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_transform" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_inverse2" "', argument " "1"" of type '" "iDynTree::Transform const &""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Transform * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpatialInertia,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Transform_transform" "', argument " "2"" of type '" "iDynTree::SpatialInertia const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Transform_transform" "', argument " "2"" of type '" "iDynTree::SpatialInertia const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::SpatialInertia * >(argp2);
-  result = iDynTree::Transform::transform((iDynTree::Transform const &)*arg1,(iDynTree::SpatialInertia const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::SpatialInertia(static_cast< const iDynTree::SpatialInertia& >(result))), SWIGTYPE_p_iDynTree__SpatialInertia, SWIG_POINTER_OWN |  0 );
+  result = iDynTree::Transform::inverse2((iDynTree::Transform const &)*arg1);
+  _out = SWIG_NewPointerObj((new iDynTree::Transform(static_cast< const iDynTree::Transform& >(result))), SWIGTYPE_p_iDynTree__Transform, SWIG_POINTER_OWN |  0 );
   if (_out && --resc>=0) *resv++ = _out;
   return 0;
 fail:
@@ -13441,97 +11804,6 @@ int _wrap_Transform_transform__SWIG_5 (int resc, mxArray *resv[], int argc, mxAr
 }
 
 
-int _wrap_Transform_transform (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_Transform_transform__SWIG_0(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Wrench, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_Transform_transform__SWIG_1(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Twist, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_Transform_transform__SWIG_2(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpatialMomentum, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_Transform_transform__SWIG_3(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpatialAcc, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_Transform_transform__SWIG_4(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpatialInertia, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_Transform_transform__SWIG_5(resc,resv,argc,argv);
-      }
-    }
-  }
-  
-  mexWarnMsgIdAndTxt("SWIG:RuntimeError","No matching function for overload");
-  return 1;
-}
-
-
 int _wrap_Transform_mtimes__SWIG_0 (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
   iDynTree::Transform *arg2 = 0 ;
@@ -13906,6 +12178,22 @@ int _wrap_Transform_mtimes (int resc, mxArray *resv[], int argc, mxArray *argv[]
 }
 
 
+int _wrap_Transform_Identity (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  mxArray * _out;
+  iDynTree::Transform result;
+  
+  if (!SWIG_check_num_args("Transform_Identity",argc,0,0,0)) {
+    SWIG_fail;
+  }
+  result = iDynTree::Transform::Identity();
+  _out = SWIG_NewPointerObj((new iDynTree::Transform(static_cast< const iDynTree::Transform& >(result))), SWIGTYPE_p_iDynTree__Transform, SWIG_POINTER_OWN |  0 );
+  if (_out && --resc>=0) *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_Transform_toString (int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Transform *arg1 = (iDynTree::Transform *) 0 ;
   void *argp1 = 0 ;
@@ -17444,18 +15732,18 @@ static void *_p_iDynTree__RotationTo_p_iDynTree__RotationRaw(void *x, int *SWIGU
 static void *_p_iDynTree__PositionTo_p_iDynTree__PositionRaw(void *x, int *SWIGUNUSEDPARM(newmemory)) {
     return (void *)((iDynTree::PositionRaw *)  ((iDynTree::Position *) x));
 }
-static void *_p_iDynTree__TwistTo_p_iDynTree__SpatialMotionVectorRaw(void *x, int *SWIGUNUSEDPARM(newmemory)) {
-    return (void *)((iDynTree::SpatialMotionVectorRaw *)  ((iDynTree::Twist *) x));
-}
-static void *_p_iDynTree__SpatialAccTo_p_iDynTree__SpatialMotionVectorRaw(void *x, int *SWIGUNUSEDPARM(newmemory)) {
-    return (void *)((iDynTree::SpatialMotionVectorRaw *)  ((iDynTree::SpatialAcc *) x));
-}
 static void *_p_iDynTree__WrenchTo_p_iDynTree__SpatialForceVectorRaw(void *x, int *SWIGUNUSEDPARM(newmemory)) {
     return (void *)((iDynTree::SpatialForceVectorRaw *)  ((iDynTree::Wrench *) x));
 }
 static void *_p_iDynTree__SpatialMomentumTo_p_iDynTree__SpatialForceVectorRaw(void *x, int *SWIGUNUSEDPARM(newmemory)) {
     return (void *)((iDynTree::SpatialForceVectorRaw *)  ((iDynTree::SpatialMomentum *) x));
 }
+static void *_p_iDynTree__TwistTo_p_iDynTree__SpatialMotionVectorRaw(void *x, int *SWIGUNUSEDPARM(newmemory)) {
+    return (void *)((iDynTree::SpatialMotionVectorRaw *)  ((iDynTree::Twist *) x));
+}
+static void *_p_iDynTree__SpatialAccTo_p_iDynTree__SpatialMotionVectorRaw(void *x, int *SWIGUNUSEDPARM(newmemory)) {
+    return (void *)((iDynTree::SpatialMotionVectorRaw *)  ((iDynTree::SpatialAcc *) x));
+}
 static void *_p_iDynTree__WrenchTo_p_iDynTree__IVector(void *x, int *SWIGUNUSEDPARM(newmemory)) {
     return (void *)((iDynTree::IVector *) (iDynTree::Vector6 *)(iDynTree::SpatialForceVectorRaw *) ((iDynTree::Wrench *) x));
 }
@@ -17486,9 +15774,6 @@ static void *_p_iDynTree__TwistTo_p_iDynTree__IVector(void *x, int *SWIGUNUSEDPA
 static void *_p_iDynTree__SpatialAccTo_p_iDynTree__IVector(void *x, int *SWIGUNUSEDPARM(newmemory)) {
     return (void *)((iDynTree::IVector *) (iDynTree::Vector6 *)(iDynTree::SpatialMotionVectorRaw *) ((iDynTree::SpatialAcc *) x));
 }
-static void *_p_iDynTree__TransformTo_p_iDynTree__TransformRaw(void *x, int *SWIGUNUSEDPARM(newmemory)) {
-    return (void *)((iDynTree::TransformRaw *)  ((iDynTree::Transform *) x));
-}
 static void *_p_iDynTree__WrenchTo_p_iDynTree__Vector6(void *x, int *SWIGUNUSEDPARM(newmemory)) {
     return (void *)((iDynTree::Vector6 *) (iDynTree::SpatialForceVectorRaw *) ((iDynTree::Wrench *) x));
 }
@@ -17539,7 +15824,6 @@ static swig_type_info _swigt__p_iDynTree__SpatialInertiaRaw = {"_p_iDynTree__Spa
 static swig_type_info _swigt__p_iDynTree__SpatialMomentum = {"_p_iDynTree__SpatialMomentum", "iDynTree::SpatialMomentum *", 0, 0, (void*)"iDynTree.SpatialMomentum", 0};
 static swig_type_info _swigt__p_iDynTree__SpatialMotionVectorRaw = {"_p_iDynTree__SpatialMotionVectorRaw", "iDynTree::SpatialMotionVectorRaw *", 0, 0, (void*)"iDynTree.SpatialMotionVectorRaw", 0};
 static swig_type_info _swigt__p_iDynTree__Transform = {"_p_iDynTree__Transform", "iDynTree::Transform *", 0, 0, (void*)"iDynTree.Transform", 0};
-static swig_type_info _swigt__p_iDynTree__TransformRaw = {"_p_iDynTree__TransformRaw", "iDynTree::TransformRaw *", 0, 0, (void*)"iDynTree.TransformRaw", 0};
 static swig_type_info _swigt__p_iDynTree__TransformSemantics = {"_p_iDynTree__TransformSemantics", "iDynTree::TransformSemantics *", 0, 0, (void*)"iDynTree.TransformSemantics", 0};
 static swig_type_info _swigt__p_iDynTree__Twist = {"_p_iDynTree__Twist", "iDynTree::Twist *", 0, 0, (void*)"iDynTree.Twist", 0};
 static swig_type_info _swigt__p_iDynTree__Vector6 = {"_p_iDynTree__Vector6", "iDynTree::Vector6 *", 0, 0, (void*)"iDynTree.Vector6", 0};
@@ -17575,7 +15859,6 @@ static swig_type_info *swig_type_initial[] = {
   &_swigt__p_iDynTree__SpatialMomentum,
   &_swigt__p_iDynTree__SpatialMotionVectorRaw,
   &_swigt__p_iDynTree__Transform,
-  &_swigt__p_iDynTree__TransformRaw,
   &_swigt__p_iDynTree__TransformSemantics,
   &_swigt__p_iDynTree__Twist,
   &_swigt__p_iDynTree__Vector6,
@@ -17611,7 +15894,6 @@ static swig_cast_info _swigc__p_iDynTree__SpatialInertiaRaw[] = {  {&_swigt__p_i
 static swig_cast_info _swigc__p_iDynTree__SpatialMomentum[] = {  {&_swigt__p_iDynTree__SpatialMomentum, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__SpatialMotionVectorRaw[] = {  {&_swigt__p_iDynTree__Twist, _p_iDynTree__TwistTo_p_iDynTree__SpatialMotionVectorRaw, 0, 0},  {&_swigt__p_iDynTree__SpatialMotionVectorRaw, 0, 0, 0},  {&_swigt__p_iDynTree__SpatialAcc, _p_iDynTree__SpatialAccTo_p_iDynTree__SpatialMotionVectorRaw, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__Transform[] = {  {&_swigt__p_iDynTree__Transform, 0, 0, 0},{0, 0, 0, 0}};
-static swig_cast_info _swigc__p_iDynTree__TransformRaw[] = {  {&_swigt__p_iDynTree__TransformRaw, 0, 0, 0},  {&_swigt__p_iDynTree__Transform, _p_iDynTree__TransformTo_p_iDynTree__TransformRaw, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__TransformSemantics[] = {  {&_swigt__p_iDynTree__TransformSemantics, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__Twist[] = {  {&_swigt__p_iDynTree__Twist, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__Vector6[] = {  {&_swigt__p_iDynTree__Twist, _p_iDynTree__TwistTo_p_iDynTree__Vector6, 0, 0},  {&_swigt__p_iDynTree__Wrench, _p_iDynTree__WrenchTo_p_iDynTree__Vector6, 0, 0},  {&_swigt__p_iDynTree__Vector6, 0, 0, 0},  {&_swigt__p_iDynTree__SpatialForceVectorRaw, _p_iDynTree__SpatialForceVectorRawTo_p_iDynTree__Vector6, 0, 0},  {&_swigt__p_iDynTree__SpatialMotionVectorRaw, _p_iDynTree__SpatialMotionVectorRawTo_p_iDynTree__Vector6, 0, 0},  {&_swigt__p_iDynTree__SpatialMomentum, _p_iDynTree__SpatialMomentumTo_p_iDynTree__Vector6, 0, 0},  {&_swigt__p_iDynTree__SpatialAcc, _p_iDynTree__SpatialAccTo_p_iDynTree__Vector6, 0, 0},{0, 0, 0, 0}};
@@ -17647,7 +15929,6 @@ static swig_cast_info *swig_cast_initial[] = {
   _swigc__p_iDynTree__SpatialMomentum,
   _swigc__p_iDynTree__SpatialMotionVectorRaw,
   _swigc__p_iDynTree__Transform,
-  _swigc__p_iDynTree__TransformRaw,
   _swigc__p_iDynTree__TransformSemantics,
   _swigc__p_iDynTree__Twist,
   _swigc__p_iDynTree__Vector6,
@@ -18026,9 +16307,9 @@ void mexFunction(int resc, mxArray *resv[], int argc, const mxArray *argv[]) {
   case 57: if ((name_ok=!strcmp("PositionRaw_zero",cmd))) flag=_wrap_PositionRaw_zero(resc,resv,argc,(mxArray**)(argv)); break;
   case 58: if ((name_ok=!strcmp("PositionRaw_changePoint",cmd))) flag=_wrap_PositionRaw_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
   case 59: if ((name_ok=!strcmp("PositionRaw_changeRefPoint",cmd))) flag=_wrap_PositionRaw_changeRefPoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 60: if ((name_ok=!strcmp("PositionRaw_changeCoordinateFrame",cmd))) flag=_wrap_PositionRaw_changeCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 61: if ((name_ok=!strcmp("PositionRaw_compose",cmd))) flag=_wrap_PositionRaw_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 62: if ((name_ok=!strcmp("PositionRaw_inverse",cmd))) flag=_wrap_PositionRaw_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 60: if ((name_ok=!strcmp("PositionRaw_compose",cmd))) flag=_wrap_PositionRaw_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 61: if ((name_ok=!strcmp("PositionRaw_inverse",cmd))) flag=_wrap_PositionRaw_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 62: if ((name_ok=!strcmp("PositionRaw_changePointOf",cmd))) flag=_wrap_PositionRaw_changePointOf(resc,resv,argc,(mxArray**)(argv)); break;
   case 63: if ((name_ok=!strcmp("PositionRaw_toString",cmd))) flag=_wrap_PositionRaw_toString(resc,resv,argc,(mxArray**)(argv)); break;
   case 64: if ((name_ok=!strcmp("PositionRaw_display",cmd))) flag=_wrap_PositionRaw_display(resc,resv,argc,(mxArray**)(argv)); break;
   case 65: if ((name_ok=!strcmp("new_PositionSemantics",cmd))) flag=_wrap_new_PositionSemantics(resc,resv,argc,(mxArray**)(argv)); break;
@@ -18041,262 +16322,241 @@ void mexFunction(int resc, mxArray *resv[], int argc, const mxArray *argv[]) {
   case 72: if ((name_ok=!strcmp("PositionSemantics_setCoordinateFrame",cmd))) flag=_wrap_PositionSemantics_setCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
   case 73: if ((name_ok=!strcmp("PositionSemantics_changePoint",cmd))) flag=_wrap_PositionSemantics_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
   case 74: if ((name_ok=!strcmp("PositionSemantics_changeRefPoint",cmd))) flag=_wrap_PositionSemantics_changeRefPoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 75: if ((name_ok=!strcmp("PositionSemantics_changeCoordinateFrame",cmd))) flag=_wrap_PositionSemantics_changeCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 76: if ((name_ok=!strcmp("PositionSemantics_compose",cmd))) flag=_wrap_PositionSemantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 77: if ((name_ok=!strcmp("PositionSemantics_inverse",cmd))) flag=_wrap_PositionSemantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 78: if ((name_ok=!strcmp("PositionSemantics_toString",cmd))) flag=_wrap_PositionSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 79: if ((name_ok=!strcmp("PositionSemantics_display",cmd))) flag=_wrap_PositionSemantics_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 80: if ((name_ok=!strcmp("new_Position",cmd))) flag=_wrap_new_Position(resc,resv,argc,(mxArray**)(argv)); break;
-  case 81: if ((name_ok=!strcmp("delete_Position",cmd))) flag=_wrap_delete_Position(resc,resv,argc,(mxArray**)(argv)); break;
-  case 82: if ((name_ok=!strcmp("Position_getSemantics",cmd))) flag=_wrap_Position_getSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 83: if ((name_ok=!strcmp("Position_changePoint",cmd))) flag=_wrap_Position_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 84: if ((name_ok=!strcmp("Position_changeRefPoint",cmd))) flag=_wrap_Position_changeRefPoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 85: if ((name_ok=!strcmp("Position_changeCoordinateFrame",cmd))) flag=_wrap_Position_changeCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 86: if ((name_ok=!strcmp("Position_compose",cmd))) flag=_wrap_Position_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 87: if ((name_ok=!strcmp("Position_inverse",cmd))) flag=_wrap_Position_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 75: if ((name_ok=!strcmp("PositionSemantics_compose",cmd))) flag=_wrap_PositionSemantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 76: if ((name_ok=!strcmp("PositionSemantics_inverse",cmd))) flag=_wrap_PositionSemantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 77: if ((name_ok=!strcmp("PositionSemantics_toString",cmd))) flag=_wrap_PositionSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 78: if ((name_ok=!strcmp("PositionSemantics_display",cmd))) flag=_wrap_PositionSemantics_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 79: if ((name_ok=!strcmp("new_Position",cmd))) flag=_wrap_new_Position(resc,resv,argc,(mxArray**)(argv)); break;
+  case 80: if ((name_ok=!strcmp("delete_Position",cmd))) flag=_wrap_delete_Position(resc,resv,argc,(mxArray**)(argv)); break;
+  case 81: if ((name_ok=!strcmp("Position_getSemantics",cmd))) flag=_wrap_Position_getSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 82: if ((name_ok=!strcmp("Position_changePoint",cmd))) flag=_wrap_Position_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 83: if ((name_ok=!strcmp("Position_changeRefPoint",cmd))) flag=_wrap_Position_changeRefPoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 84: if ((name_ok=!strcmp("Position_changeCoordinateFrame",cmd))) flag=_wrap_Position_changeCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 85: if ((name_ok=!strcmp("Position_compose",cmd))) flag=_wrap_Position_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 86: if ((name_ok=!strcmp("Position_inverse",cmd))) flag=_wrap_Position_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 87: if ((name_ok=!strcmp("Position_changePointOf",cmd))) flag=_wrap_Position_changePointOf(resc,resv,argc,(mxArray**)(argv)); break;
   case 88: if ((name_ok=!strcmp("Position_plus",cmd))) flag=_wrap_Position_plus(resc,resv,argc,(mxArray**)(argv)); break;
   case 89: if ((name_ok=!strcmp("Position_minus",cmd))) flag=_wrap_Position_minus(resc,resv,argc,(mxArray**)(argv)); break;
   case 90: if ((name_ok=!strcmp("Position_uminus",cmd))) flag=_wrap_Position_uminus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 91: if ((name_ok=!strcmp("Position_toString",cmd))) flag=_wrap_Position_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 92: if ((name_ok=!strcmp("Position_display",cmd))) flag=_wrap_Position_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 93: if ((name_ok=!strcmp("new_SpatialForceVectorRaw",cmd))) flag=_wrap_new_SpatialForceVectorRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 94: if ((name_ok=!strcmp("delete_SpatialForceVectorRaw",cmd))) flag=_wrap_delete_SpatialForceVectorRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 95: if ((name_ok=!strcmp("SpatialForceVectorRaw_changePoint",cmd))) flag=_wrap_SpatialForceVectorRaw_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 96: if ((name_ok=!strcmp("SpatialForceVectorRaw_changeCoordFrame",cmd))) flag=_wrap_SpatialForceVectorRaw_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 97: if ((name_ok=!strcmp("SpatialForceVectorRaw_compose",cmd))) flag=_wrap_SpatialForceVectorRaw_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 98: if ((name_ok=!strcmp("SpatialForceVectorRaw_inverse",cmd))) flag=_wrap_SpatialForceVectorRaw_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 99: if ((name_ok=!strcmp("SpatialForceVectorRaw_dot",cmd))) flag=_wrap_SpatialForceVectorRaw_dot(resc,resv,argc,(mxArray**)(argv)); break;
-  case 100: if ((name_ok=!strcmp("SpatialForceVectorRaw_Zero",cmd))) flag=_wrap_SpatialForceVectorRaw_Zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 101: if ((name_ok=!strcmp("new_SpatialMotionVectorRaw",cmd))) flag=_wrap_new_SpatialMotionVectorRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 102: if ((name_ok=!strcmp("delete_SpatialMotionVectorRaw",cmd))) flag=_wrap_delete_SpatialMotionVectorRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 103: if ((name_ok=!strcmp("SpatialMotionVectorRaw_changePoint",cmd))) flag=_wrap_SpatialMotionVectorRaw_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 104: if ((name_ok=!strcmp("SpatialMotionVectorRaw_changeCoordFrame",cmd))) flag=_wrap_SpatialMotionVectorRaw_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 105: if ((name_ok=!strcmp("SpatialMotionVectorRaw_compose",cmd))) flag=_wrap_SpatialMotionVectorRaw_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 106: if ((name_ok=!strcmp("SpatialMotionVectorRaw_inverse",cmd))) flag=_wrap_SpatialMotionVectorRaw_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 107: if ((name_ok=!strcmp("SpatialMotionVectorRaw_dot",cmd))) flag=_wrap_SpatialMotionVectorRaw_dot(resc,resv,argc,(mxArray**)(argv)); break;
-  case 108: if ((name_ok=!strcmp("SpatialMotionVectorRaw_cross",cmd))) flag=_wrap_SpatialMotionVectorRaw_cross(resc,resv,argc,(mxArray**)(argv)); break;
-  case 109: if ((name_ok=!strcmp("SpatialMotionVectorRaw_Zero",cmd))) flag=_wrap_SpatialMotionVectorRaw_Zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 110: if ((name_ok=!strcmp("new_Twist",cmd))) flag=_wrap_new_Twist(resc,resv,argc,(mxArray**)(argv)); break;
-  case 111: if ((name_ok=!strcmp("delete_Twist",cmd))) flag=_wrap_delete_Twist(resc,resv,argc,(mxArray**)(argv)); break;
-  case 112: if ((name_ok=!strcmp("Twist_plus",cmd))) flag=_wrap_Twist_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 113: if ((name_ok=!strcmp("Twist_minus",cmd))) flag=_wrap_Twist_minus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 114: if ((name_ok=!strcmp("Twist_uminus",cmd))) flag=_wrap_Twist_uminus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 115: if ((name_ok=!strcmp("Twist_mtimes",cmd))) flag=_wrap_Twist_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 116: if ((name_ok=!strcmp("new_Wrench",cmd))) flag=_wrap_new_Wrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 117: if ((name_ok=!strcmp("delete_Wrench",cmd))) flag=_wrap_delete_Wrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 118: if ((name_ok=!strcmp("Wrench_plus",cmd))) flag=_wrap_Wrench_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 119: if ((name_ok=!strcmp("Wrench_minus",cmd))) flag=_wrap_Wrench_minus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 120: if ((name_ok=!strcmp("Wrench_uminus",cmd))) flag=_wrap_Wrench_uminus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 121: if ((name_ok=!strcmp("new_SpatialMomentum",cmd))) flag=_wrap_new_SpatialMomentum(resc,resv,argc,(mxArray**)(argv)); break;
-  case 122: if ((name_ok=!strcmp("delete_SpatialMomentum",cmd))) flag=_wrap_delete_SpatialMomentum(resc,resv,argc,(mxArray**)(argv)); break;
-  case 123: if ((name_ok=!strcmp("SpatialMomentum_plus",cmd))) flag=_wrap_SpatialMomentum_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 124: if ((name_ok=!strcmp("SpatialMomentum_minus",cmd))) flag=_wrap_SpatialMomentum_minus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 125: if ((name_ok=!strcmp("SpatialMomentum_uminus",cmd))) flag=_wrap_SpatialMomentum_uminus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 126: if ((name_ok=!strcmp("new_SpatialAcc",cmd))) flag=_wrap_new_SpatialAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 127: if ((name_ok=!strcmp("delete_SpatialAcc",cmd))) flag=_wrap_delete_SpatialAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 128: if ((name_ok=!strcmp("SpatialAcc_plus",cmd))) flag=_wrap_SpatialAcc_plus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 129: if ((name_ok=!strcmp("SpatialAcc_minus",cmd))) flag=_wrap_SpatialAcc_minus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 130: if ((name_ok=!strcmp("SpatialAcc_uminus",cmd))) flag=_wrap_SpatialAcc_uminus(resc,resv,argc,(mxArray**)(argv)); break;
-  case 131: if ((name_ok=!strcmp("new_RotationalInertiaRaw",cmd))) flag=_wrap_new_RotationalInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 132: if ((name_ok=!strcmp("delete_RotationalInertiaRaw",cmd))) flag=_wrap_delete_RotationalInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 133: if ((name_ok=!strcmp("RotationalInertiaRaw_zero",cmd))) flag=_wrap_RotationalInertiaRaw_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 134: if ((name_ok=!strcmp("RotationalInertiaRaw_TODOparen",cmd))) flag=_wrap_RotationalInertiaRaw_TODOparen(resc,resv,argc,(mxArray**)(argv)); break;
-  case 135: if ((name_ok=!strcmp("RotationalInertiaRaw_getVal",cmd))) flag=_wrap_RotationalInertiaRaw_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 136: if ((name_ok=!strcmp("RotationalInertiaRaw_setVal",cmd))) flag=_wrap_RotationalInertiaRaw_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 137: if ((name_ok=!strcmp("RotationalInertiaRaw_rows",cmd))) flag=_wrap_RotationalInertiaRaw_rows(resc,resv,argc,(mxArray**)(argv)); break;
-  case 138: if ((name_ok=!strcmp("RotationalInertiaRaw_cols",cmd))) flag=_wrap_RotationalInertiaRaw_cols(resc,resv,argc,(mxArray**)(argv)); break;
-  case 139: if ((name_ok=!strcmp("RotationalInertiaRaw_data",cmd))) flag=_wrap_RotationalInertiaRaw_data(resc,resv,argc,(mxArray**)(argv)); break;
-  case 140: if ((name_ok=!strcmp("new_SpatialInertiaRaw",cmd))) flag=_wrap_new_SpatialInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 141: if ((name_ok=!strcmp("delete_SpatialInertiaRaw",cmd))) flag=_wrap_delete_SpatialInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 142: if ((name_ok=!strcmp("SpatialInertiaRaw_getMass",cmd))) flag=_wrap_SpatialInertiaRaw_getMass(resc,resv,argc,(mxArray**)(argv)); break;
-  case 143: if ((name_ok=!strcmp("SpatialInertiaRaw_getCenterOfMass",cmd))) flag=_wrap_SpatialInertiaRaw_getCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break;
-  case 144: if ((name_ok=!strcmp("SpatialInertiaRaw_getRotationalInertiaWrtFrameOrigin",cmd))) flag=_wrap_SpatialInertiaRaw_getRotationalInertiaWrtFrameOrigin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 145: if ((name_ok=!strcmp("SpatialInertiaRaw_getRotationalInertiaWrtCenterOfMass",cmd))) flag=_wrap_SpatialInertiaRaw_getRotationalInertiaWrtCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break;
-  case 146: if ((name_ok=!strcmp("SpatialInertiaRaw_multiply",cmd))) flag=_wrap_SpatialInertiaRaw_multiply(resc,resv,argc,(mxArray**)(argv)); break;
-  case 147: if ((name_ok=!strcmp("SpatialInertiaRaw_zero",cmd))) flag=_wrap_SpatialInertiaRaw_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 148: if ((name_ok=!strcmp("new_SpatialInertia",cmd))) flag=_wrap_new_SpatialInertia(resc,resv,argc,(mxArray**)(argv)); break;
-  case 149: if ((name_ok=!strcmp("delete_SpatialInertia",cmd))) flag=_wrap_delete_SpatialInertia(resc,resv,argc,(mxArray**)(argv)); break;
-  case 150: if ((name_ok=!strcmp("SpatialInertia_mtimes",cmd))) flag=_wrap_SpatialInertia_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 151: if ((name_ok=!strcmp("new_RotationRaw",cmd))) flag=_wrap_new_RotationRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 152: if ((name_ok=!strcmp("delete_RotationRaw",cmd))) flag=_wrap_delete_RotationRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 153: if ((name_ok=!strcmp("RotationRaw_TODOparen",cmd))) flag=_wrap_RotationRaw_TODOparen(resc,resv,argc,(mxArray**)(argv)); break;
-  case 154: if ((name_ok=!strcmp("RotationRaw_getVal",cmd))) flag=_wrap_RotationRaw_getVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 155: if ((name_ok=!strcmp("RotationRaw_setVal",cmd))) flag=_wrap_RotationRaw_setVal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 156: if ((name_ok=!strcmp("RotationRaw_rows",cmd))) flag=_wrap_RotationRaw_rows(resc,resv,argc,(mxArray**)(argv)); break;
-  case 157: if ((name_ok=!strcmp("RotationRaw_cols",cmd))) flag=_wrap_RotationRaw_cols(resc,resv,argc,(mxArray**)(argv)); break;
-  case 158: if ((name_ok=!strcmp("RotationRaw_data",cmd))) flag=_wrap_RotationRaw_data(resc,resv,argc,(mxArray**)(argv)); break;
-  case 159: if ((name_ok=!strcmp("RotationRaw_changeOrientFrame",cmd))) flag=_wrap_RotationRaw_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 160: if ((name_ok=!strcmp("RotationRaw_changeRefOrientFrame",cmd))) flag=_wrap_RotationRaw_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 161: if ((name_ok=!strcmp("RotationRaw_compose",cmd))) flag=_wrap_RotationRaw_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 162: if ((name_ok=!strcmp("RotationRaw_inverse2",cmd))) flag=_wrap_RotationRaw_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
-  case 163: if ((name_ok=!strcmp("RotationRaw_convertToNewCoordFrame",cmd))) flag=_wrap_RotationRaw_convertToNewCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 164: if ((name_ok=!strcmp("RotationRaw_inverse",cmd))) flag=_wrap_RotationRaw_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 165: if ((name_ok=!strcmp("RotationRaw_mtimes",cmd))) flag=_wrap_RotationRaw_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 166: if ((name_ok=!strcmp("RotationRaw_toString",cmd))) flag=_wrap_RotationRaw_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 167: if ((name_ok=!strcmp("RotationRaw_display",cmd))) flag=_wrap_RotationRaw_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 168: if ((name_ok=!strcmp("RotationRaw_RotX",cmd))) flag=_wrap_RotationRaw_RotX(resc,resv,argc,(mxArray**)(argv)); break;
-  case 169: if ((name_ok=!strcmp("RotationRaw_RotY",cmd))) flag=_wrap_RotationRaw_RotY(resc,resv,argc,(mxArray**)(argv)); break;
-  case 170: if ((name_ok=!strcmp("RotationRaw_RotZ",cmd))) flag=_wrap_RotationRaw_RotZ(resc,resv,argc,(mxArray**)(argv)); break;
-  case 171: if ((name_ok=!strcmp("RotationRaw_RPY",cmd))) flag=_wrap_RotationRaw_RPY(resc,resv,argc,(mxArray**)(argv)); break;
-  case 172: if ((name_ok=!strcmp("RotationRaw_Identity",cmd))) flag=_wrap_RotationRaw_Identity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 173: if ((name_ok=!strcmp("new_RotationSemantics",cmd))) flag=_wrap_new_RotationSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 174: if ((name_ok=!strcmp("delete_RotationSemantics",cmd))) flag=_wrap_delete_RotationSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 175: if ((name_ok=!strcmp("RotationSemantics_getOrientationFrame",cmd))) flag=_wrap_RotationSemantics_getOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 176: if ((name_ok=!strcmp("RotationSemantics_getReferenceOrientationFrame",cmd))) flag=_wrap_RotationSemantics_getReferenceOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 177: if ((name_ok=!strcmp("RotationSemantics_getCoordinateFrame",cmd))) flag=_wrap_RotationSemantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 178: if ((name_ok=!strcmp("RotationSemantics_setOrientationFrame",cmd))) flag=_wrap_RotationSemantics_setOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 179: if ((name_ok=!strcmp("RotationSemantics_setReferenceOrientationFrame",cmd))) flag=_wrap_RotationSemantics_setReferenceOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 180: if ((name_ok=!strcmp("RotationSemantics_setCoordinateFrame",cmd))) flag=_wrap_RotationSemantics_setCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 181: if ((name_ok=!strcmp("RotationSemantics_changeOrientFrame",cmd))) flag=_wrap_RotationSemantics_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 182: if ((name_ok=!strcmp("RotationSemantics_changeRefOrientFrame",cmd))) flag=_wrap_RotationSemantics_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 183: if ((name_ok=!strcmp("RotationSemantics_convertToNewCoordFrame",cmd))) flag=_wrap_RotationSemantics_convertToNewCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 184: if ((name_ok=!strcmp("RotationSemantics_compose",cmd))) flag=_wrap_RotationSemantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 185: if ((name_ok=!strcmp("RotationSemantics_inverse2",cmd))) flag=_wrap_RotationSemantics_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
-  case 186: if ((name_ok=!strcmp("RotationSemantics_toString",cmd))) flag=_wrap_RotationSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 187: if ((name_ok=!strcmp("RotationSemantics_display",cmd))) flag=_wrap_RotationSemantics_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 188: if ((name_ok=!strcmp("new_Rotation",cmd))) flag=_wrap_new_Rotation(resc,resv,argc,(mxArray**)(argv)); break;
-  case 189: if ((name_ok=!strcmp("delete_Rotation",cmd))) flag=_wrap_delete_Rotation(resc,resv,argc,(mxArray**)(argv)); break;
-  case 190: if ((name_ok=!strcmp("Rotation_getSemantics",cmd))) flag=_wrap_Rotation_getSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 191: if ((name_ok=!strcmp("Rotation_changeOrientFrame",cmd))) flag=_wrap_Rotation_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 192: if ((name_ok=!strcmp("Rotation_changeRefOrientFrame",cmd))) flag=_wrap_Rotation_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 193: if ((name_ok=!strcmp("Rotation_compose",cmd))) flag=_wrap_Rotation_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 194: if ((name_ok=!strcmp("Rotation_inverse2",cmd))) flag=_wrap_Rotation_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
-  case 195: if ((name_ok=!strcmp("Rotation_convertToNewCoordFrame",cmd))) flag=_wrap_Rotation_convertToNewCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 196: if ((name_ok=!strcmp("Rotation_inverse",cmd))) flag=_wrap_Rotation_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 197: if ((name_ok=!strcmp("Rotation_mtimes",cmd))) flag=_wrap_Rotation_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 198: if ((name_ok=!strcmp("Rotation_toString",cmd))) flag=_wrap_Rotation_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 199: if ((name_ok=!strcmp("Rotation_display",cmd))) flag=_wrap_Rotation_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 200: if ((name_ok=!strcmp("new_TransformRaw",cmd))) flag=_wrap_new_TransformRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 201: if ((name_ok=!strcmp("delete_TransformRaw",cmd))) flag=_wrap_delete_TransformRaw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 202: if ((name_ok=!strcmp("TransformRaw_compose",cmd))) flag=_wrap_TransformRaw_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 203: if ((name_ok=!strcmp("TransformRaw_inverse2",cmd))) flag=_wrap_TransformRaw_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
-  case 204: if ((name_ok=!strcmp("TransformRaw_transform",cmd))) flag=_wrap_TransformRaw_transform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 205: if ((name_ok=!strcmp("TransformRaw_Identity",cmd))) flag=_wrap_TransformRaw_Identity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 206: if ((name_ok=!strcmp("TransformRaw_toString",cmd))) flag=_wrap_TransformRaw_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 207: if ((name_ok=!strcmp("TransformRaw_display",cmd))) flag=_wrap_TransformRaw_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 208: if ((name_ok=!strcmp("new_TransformSemantics",cmd))) flag=_wrap_new_TransformSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 209: if ((name_ok=!strcmp("delete_TransformSemantics",cmd))) flag=_wrap_delete_TransformSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 210: if ((name_ok=!strcmp("TransformSemantics_getRotationSemantics",cmd))) flag=_wrap_TransformSemantics_getRotationSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 211: if ((name_ok=!strcmp("TransformSemantics_getPositionSemantics",cmd))) flag=_wrap_TransformSemantics_getPositionSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 212: if ((name_ok=!strcmp("TransformSemantics_setRotationSemantics",cmd))) flag=_wrap_TransformSemantics_setRotationSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 213: if ((name_ok=!strcmp("TransformSemantics_setPositionSemantics",cmd))) flag=_wrap_TransformSemantics_setPositionSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 214: if ((name_ok=!strcmp("TransformSemantics_getPoint",cmd))) flag=_wrap_TransformSemantics_getPoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 215: if ((name_ok=!strcmp("TransformSemantics_getOrientationFrame",cmd))) flag=_wrap_TransformSemantics_getOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 216: if ((name_ok=!strcmp("TransformSemantics_getReferencePoint",cmd))) flag=_wrap_TransformSemantics_getReferencePoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 217: if ((name_ok=!strcmp("TransformSemantics_getReferenceOrientationFrame",cmd))) flag=_wrap_TransformSemantics_getReferenceOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 218: if ((name_ok=!strcmp("TransformSemantics_getCoordinateFrame",cmd))) flag=_wrap_TransformSemantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 219: if ((name_ok=!strcmp("TransformSemantics_setPoint",cmd))) flag=_wrap_TransformSemantics_setPoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 220: if ((name_ok=!strcmp("TransformSemantics_setOrientationFrame",cmd))) flag=_wrap_TransformSemantics_setOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 221: if ((name_ok=!strcmp("TransformSemantics_setReferencePoint",cmd))) flag=_wrap_TransformSemantics_setReferencePoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 222: if ((name_ok=!strcmp("TransformSemantics_setReferenceOrientationFrame",cmd))) flag=_wrap_TransformSemantics_setReferenceOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 223: if ((name_ok=!strcmp("TransformSemantics_check_compose",cmd))) flag=_wrap_TransformSemantics_check_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 224: if ((name_ok=!strcmp("TransformSemantics_check_inverse2",cmd))) flag=_wrap_TransformSemantics_check_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
-  case 225: if ((name_ok=!strcmp("TransformSemantics_check_transform",cmd))) flag=_wrap_TransformSemantics_check_transform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 226: if ((name_ok=!strcmp("TransformSemantics_compose",cmd))) flag=_wrap_TransformSemantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 227: if ((name_ok=!strcmp("TransformSemantics_inverse2",cmd))) flag=_wrap_TransformSemantics_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
-  case 228: if ((name_ok=!strcmp("TransformSemantics_transform",cmd))) flag=_wrap_TransformSemantics_transform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 229: if ((name_ok=!strcmp("TransformSemantics_inverse",cmd))) flag=_wrap_TransformSemantics_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 230: if ((name_ok=!strcmp("TransformSemantics_mtimes",cmd))) flag=_wrap_TransformSemantics_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 231: if ((name_ok=!strcmp("TransformSemantics_toString",cmd))) flag=_wrap_TransformSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 232: if ((name_ok=!strcmp("TransformSemantics_display",cmd))) flag=_wrap_TransformSemantics_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 233: if ((name_ok=!strcmp("new_Transform",cmd))) flag=_wrap_new_Transform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 234: if ((name_ok=!strcmp("delete_Transform",cmd))) flag=_wrap_delete_Transform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 235: if ((name_ok=!strcmp("Transform_getSemantics",cmd))) flag=_wrap_Transform_getSemantics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 236: if ((name_ok=!strcmp("Transform_getRotation",cmd))) flag=_wrap_Transform_getRotation(resc,resv,argc,(mxArray**)(argv)); break;
-  case 237: if ((name_ok=!strcmp("Transform_getPosition",cmd))) flag=_wrap_Transform_getPosition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 238: if ((name_ok=!strcmp("Transform_setRotation",cmd))) flag=_wrap_Transform_setRotation(resc,resv,argc,(mxArray**)(argv)); break;
-  case 239: if ((name_ok=!strcmp("Transform_setPosition",cmd))) flag=_wrap_Transform_setPosition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 240: if ((name_ok=!strcmp("Transform_compose",cmd))) flag=_wrap_Transform_compose(resc,resv,argc,(mxArray**)(argv)); break;
-  case 241: if ((name_ok=!strcmp("Transform_inverse2",cmd))) flag=_wrap_Transform_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
-  case 242: if ((name_ok=!strcmp("Transform_transform",cmd))) flag=_wrap_Transform_transform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 243: if ((name_ok=!strcmp("Transform_inverse",cmd))) flag=_wrap_Transform_inverse(resc,resv,argc,(mxArray**)(argv)); break;
-  case 244: if ((name_ok=!strcmp("Transform_mtimes",cmd))) flag=_wrap_Transform_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 245: if ((name_ok=!strcmp("Transform_toString",cmd))) flag=_wrap_Transform_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 246: if ((name_ok=!strcmp("Transform_display",cmd))) flag=_wrap_Transform_display(resc,resv,argc,(mxArray**)(argv)); break;
-  case 247: if ((name_ok=!strcmp("NR_OF_SENSOR_TYPES_get",cmd))) flag=_wrap_NR_OF_SENSOR_TYPES_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 248: if ((name_ok=!strcmp("delete_Sensor",cmd))) flag=_wrap_delete_Sensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 249: if ((name_ok=!strcmp("Sensor_getName",cmd))) flag=_wrap_Sensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 250: if ((name_ok=!strcmp("Sensor_getSensorType",cmd))) flag=_wrap_Sensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 251: if ((name_ok=!strcmp("Sensor_getParent",cmd))) flag=_wrap_Sensor_getParent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 252: if ((name_ok=!strcmp("Sensor_getParentIndex",cmd))) flag=_wrap_Sensor_getParentIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 253: if ((name_ok=!strcmp("Sensor_isValid",cmd))) flag=_wrap_Sensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 254: if ((name_ok=!strcmp("Sensor_clone",cmd))) flag=_wrap_Sensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 255: if ((name_ok=!strcmp("new_SensorsList",cmd))) flag=_wrap_new_SensorsList(resc,resv,argc,(mxArray**)(argv)); break;
-  case 256: if ((name_ok=!strcmp("delete_SensorsList",cmd))) flag=_wrap_delete_SensorsList(resc,resv,argc,(mxArray**)(argv)); break;
-  case 257: if ((name_ok=!strcmp("SensorsList_addSensor",cmd))) flag=_wrap_SensorsList_addSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 258: if ((name_ok=!strcmp("SensorsList_getNrOfSensors",cmd))) flag=_wrap_SensorsList_getNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 259: if ((name_ok=!strcmp("SensorsList_getSensorIndex",cmd))) flag=_wrap_SensorsList_getSensorIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 260: if ((name_ok=!strcmp("SensorsList_getSensor",cmd))) flag=_wrap_SensorsList_getSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 261: if ((name_ok=!strcmp("new_SensorsMeasurements",cmd))) flag=_wrap_new_SensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 262: if ((name_ok=!strcmp("delete_SensorsMeasurements",cmd))) flag=_wrap_delete_SensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 263: if ((name_ok=!strcmp("SensorsMeasurements_setNrOfSensors",cmd))) flag=_wrap_SensorsMeasurements_setNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 264: if ((name_ok=!strcmp("SensorsMeasurements_getNrOfSensors",cmd))) flag=_wrap_SensorsMeasurements_getNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 265: if ((name_ok=!strcmp("SensorsMeasurements_setMeasurement",cmd))) flag=_wrap_SensorsMeasurements_setMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 266: if ((name_ok=!strcmp("SensorsMeasurements_getMeasurement",cmd))) flag=_wrap_SensorsMeasurements_getMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 267: if ((name_ok=!strcmp("new_SixAxisForceTorqueSensor",cmd))) flag=_wrap_new_SixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 268: if ((name_ok=!strcmp("delete_SixAxisForceTorqueSensor",cmd))) flag=_wrap_delete_SixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 269: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_setName",cmd))) flag=_wrap_SixAxisForceTorqueSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 270: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_setFirstLinkSensorTransform",cmd))) flag=_wrap_SixAxisForceTorqueSensor_setFirstLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 271: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_setSecondLinkSensorTransform",cmd))) flag=_wrap_SixAxisForceTorqueSensor_setSecondLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 272: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getFirstLinkIndex",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getFirstLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 273: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getSecondLinkIndex",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getSecondLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 274: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_setParent",cmd))) flag=_wrap_SixAxisForceTorqueSensor_setParent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 275: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_setParentIndex",cmd))) flag=_wrap_SixAxisForceTorqueSensor_setParentIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 276: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_setAppliedWrenchLink",cmd))) flag=_wrap_SixAxisForceTorqueSensor_setAppliedWrenchLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 277: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getName",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 278: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getSensorType",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 279: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getParent",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getParent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 280: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getParentIndex",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getParentIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 281: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_isValid",cmd))) flag=_wrap_SixAxisForceTorqueSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 282: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_clone",cmd))) flag=_wrap_SixAxisForceTorqueSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 283: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getAppliedWrenchLink",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getAppliedWrenchLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 284: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_isLinkAttachedToSensor",cmd))) flag=_wrap_SixAxisForceTorqueSensor_isLinkAttachedToSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 285: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getLinkSensorTransform",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 286: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getWrenchAppliedOnLink",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 287: if ((name_ok=!strcmp("DynamicsRegressorParameter_category_get",cmd))) flag=_wrap_DynamicsRegressorParameter_category_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 288: if ((name_ok=!strcmp("DynamicsRegressorParameter_category_set",cmd))) flag=_wrap_DynamicsRegressorParameter_category_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 289: if ((name_ok=!strcmp("DynamicsRegressorParameter_elemIndex_get",cmd))) flag=_wrap_DynamicsRegressorParameter_elemIndex_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 290: if ((name_ok=!strcmp("DynamicsRegressorParameter_elemIndex_set",cmd))) flag=_wrap_DynamicsRegressorParameter_elemIndex_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 291: if ((name_ok=!strcmp("DynamicsRegressorParameter_type_get",cmd))) flag=_wrap_DynamicsRegressorParameter_type_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 292: if ((name_ok=!strcmp("DynamicsRegressorParameter_type_set",cmd))) flag=_wrap_DynamicsRegressorParameter_type_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 293: if ((name_ok=!strcmp("DynamicsRegressorParameter_lt",cmd))) flag=_wrap_DynamicsRegressorParameter_lt(resc,resv,argc,(mxArray**)(argv)); break;
-  case 294: if ((name_ok=!strcmp("DynamicsRegressorParameter_isequal",cmd))) flag=_wrap_DynamicsRegressorParameter_isequal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 295: if ((name_ok=!strcmp("DynamicsRegressorParameter_ne",cmd))) flag=_wrap_DynamicsRegressorParameter_ne(resc,resv,argc,(mxArray**)(argv)); break;
-  case 296: if ((name_ok=!strcmp("new_DynamicsRegressorParameter",cmd))) flag=_wrap_new_DynamicsRegressorParameter(resc,resv,argc,(mxArray**)(argv)); break;
-  case 297: if ((name_ok=!strcmp("delete_DynamicsRegressorParameter",cmd))) flag=_wrap_delete_DynamicsRegressorParameter(resc,resv,argc,(mxArray**)(argv)); break;
-  case 298: if ((name_ok=!strcmp("DynamicsRegressorParametersList_parameters_get",cmd))) flag=_wrap_DynamicsRegressorParametersList_parameters_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 299: if ((name_ok=!strcmp("DynamicsRegressorParametersList_parameters_set",cmd))) flag=_wrap_DynamicsRegressorParametersList_parameters_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 300: if ((name_ok=!strcmp("DynamicsRegressorParametersList_getDescriptionOfParameter",cmd))) flag=_wrap_DynamicsRegressorParametersList_getDescriptionOfParameter(resc,resv,argc,(mxArray**)(argv)); break;
-  case 301: if ((name_ok=!strcmp("DynamicsRegressorParametersList_addParam",cmd))) flag=_wrap_DynamicsRegressorParametersList_addParam(resc,resv,argc,(mxArray**)(argv)); break;
-  case 302: if ((name_ok=!strcmp("DynamicsRegressorParametersList_addList",cmd))) flag=_wrap_DynamicsRegressorParametersList_addList(resc,resv,argc,(mxArray**)(argv)); break;
-  case 303: if ((name_ok=!strcmp("DynamicsRegressorParametersList_findParam",cmd))) flag=_wrap_DynamicsRegressorParametersList_findParam(resc,resv,argc,(mxArray**)(argv)); break;
-  case 304: if ((name_ok=!strcmp("DynamicsRegressorParametersList_getNrOfParameters",cmd))) flag=_wrap_DynamicsRegressorParametersList_getNrOfParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 305: if ((name_ok=!strcmp("new_DynamicsRegressorParametersList",cmd))) flag=_wrap_new_DynamicsRegressorParametersList(resc,resv,argc,(mxArray**)(argv)); break;
-  case 306: if ((name_ok=!strcmp("delete_DynamicsRegressorParametersList",cmd))) flag=_wrap_delete_DynamicsRegressorParametersList(resc,resv,argc,(mxArray**)(argv)); break;
-  case 307: if ((name_ok=!strcmp("new_DynamicsRegressorGenerator",cmd))) flag=_wrap_new_DynamicsRegressorGenerator(resc,resv,argc,(mxArray**)(argv)); break;
-  case 308: if ((name_ok=!strcmp("delete_DynamicsRegressorGenerator",cmd))) flag=_wrap_delete_DynamicsRegressorGenerator(resc,resv,argc,(mxArray**)(argv)); break;
-  case 309: if ((name_ok=!strcmp("DynamicsRegressorGenerator_loadRobotAndSensorsModelFromFile",cmd))) flag=_wrap_DynamicsRegressorGenerator_loadRobotAndSensorsModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 310: if ((name_ok=!strcmp("DynamicsRegressorGenerator_loadRobotAndSensorsModelFromString",cmd))) flag=_wrap_DynamicsRegressorGenerator_loadRobotAndSensorsModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 311: if ((name_ok=!strcmp("DynamicsRegressorGenerator_loadRegressorStructureFromFile",cmd))) flag=_wrap_DynamicsRegressorGenerator_loadRegressorStructureFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 312: if ((name_ok=!strcmp("DynamicsRegressorGenerator_loadRegressorStructureFromString",cmd))) flag=_wrap_DynamicsRegressorGenerator_loadRegressorStructureFromString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 313: if ((name_ok=!strcmp("DynamicsRegressorGenerator_isValid",cmd))) flag=_wrap_DynamicsRegressorGenerator_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 314: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getNrOfParameters",cmd))) flag=_wrap_DynamicsRegressorGenerator_getNrOfParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 315: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getNrOfOutputs",cmd))) flag=_wrap_DynamicsRegressorGenerator_getNrOfOutputs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 316: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getNrOfDegreesOfFreedom",cmd))) flag=_wrap_DynamicsRegressorGenerator_getNrOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
-  case 317: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getDescriptionOfParameter",cmd))) flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfParameter(resc,resv,argc,(mxArray**)(argv)); break;
-  case 318: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getDescriptionOfParameters",cmd))) flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 319: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getDescriptionOfOutput",cmd))) flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfOutput(resc,resv,argc,(mxArray**)(argv)); break;
-  case 320: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getDescriptionOfOutputs",cmd))) flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfOutputs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 321: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getDescriptionOfDegreeOfFreedom",cmd))) flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfDegreeOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
-  case 322: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getDescriptionOfDegreesOfFreedom",cmd))) flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
-  case 323: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getBaseLinkName",cmd))) flag=_wrap_DynamicsRegressorGenerator_getBaseLinkName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 324: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getSensorsModel",cmd))) flag=_wrap_DynamicsRegressorGenerator_getSensorsModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 325: if ((name_ok=!strcmp("DynamicsRegressorGenerator_setRobotState",cmd))) flag=_wrap_DynamicsRegressorGenerator_setRobotState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 326: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getSensorsMeasurements",cmd))) flag=_wrap_DynamicsRegressorGenerator_getSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 327: if ((name_ok=!strcmp("DynamicsRegressorGenerator_computeRegressor",cmd))) flag=_wrap_DynamicsRegressorGenerator_computeRegressor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 328: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getModelParameters",cmd))) flag=_wrap_DynamicsRegressorGenerator_getModelParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 329: if ((name_ok=!strcmp("DynamicsRegressorGenerator_computeFloatingBaseIdentifiableSubspace",cmd))) flag=_wrap_DynamicsRegressorGenerator_computeFloatingBaseIdentifiableSubspace(resc,resv,argc,(mxArray**)(argv)); break;
-  case 330: if ((name_ok=!strcmp("DynamicsRegressorGenerator_computeFixedBaseIdentifiableSubspace",cmd))) flag=_wrap_DynamicsRegressorGenerator_computeFixedBaseIdentifiableSubspace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 91: if ((name_ok=!strcmp("Position_mtimes",cmd))) flag=_wrap_Position_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 92: if ((name_ok=!strcmp("Position_toString",cmd))) flag=_wrap_Position_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 93: if ((name_ok=!strcmp("Position_display",cmd))) flag=_wrap_Position_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 94: if ((name_ok=!strcmp("new_SpatialForceVectorRaw",cmd))) flag=_wrap_new_SpatialForceVectorRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 95: if ((name_ok=!strcmp("delete_SpatialForceVectorRaw",cmd))) flag=_wrap_delete_SpatialForceVectorRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 96: if ((name_ok=!strcmp("SpatialForceVectorRaw_changePoint",cmd))) flag=_wrap_SpatialForceVectorRaw_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 97: if ((name_ok=!strcmp("SpatialForceVectorRaw_changeCoordFrame",cmd))) flag=_wrap_SpatialForceVectorRaw_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 98: if ((name_ok=!strcmp("SpatialForceVectorRaw_compose",cmd))) flag=_wrap_SpatialForceVectorRaw_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 99: if ((name_ok=!strcmp("SpatialForceVectorRaw_inverse",cmd))) flag=_wrap_SpatialForceVectorRaw_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 100: if ((name_ok=!strcmp("SpatialForceVectorRaw_dot",cmd))) flag=_wrap_SpatialForceVectorRaw_dot(resc,resv,argc,(mxArray**)(argv)); break;
+  case 101: if ((name_ok=!strcmp("SpatialForceVectorRaw_Zero",cmd))) flag=_wrap_SpatialForceVectorRaw_Zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 102: if ((name_ok=!strcmp("new_SpatialMotionVectorRaw",cmd))) flag=_wrap_new_SpatialMotionVectorRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 103: if ((name_ok=!strcmp("delete_SpatialMotionVectorRaw",cmd))) flag=_wrap_delete_SpatialMotionVectorRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 104: if ((name_ok=!strcmp("SpatialMotionVectorRaw_changePoint",cmd))) flag=_wrap_SpatialMotionVectorRaw_changePoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 105: if ((name_ok=!strcmp("SpatialMotionVectorRaw_changeCoordFrame",cmd))) flag=_wrap_SpatialMotionVectorRaw_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 106: if ((name_ok=!strcmp("SpatialMotionVectorRaw_compose",cmd))) flag=_wrap_SpatialMotionVectorRaw_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 107: if ((name_ok=!strcmp("SpatialMotionVectorRaw_inverse",cmd))) flag=_wrap_SpatialMotionVectorRaw_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 108: if ((name_ok=!strcmp("SpatialMotionVectorRaw_dot",cmd))) flag=_wrap_SpatialMotionVectorRaw_dot(resc,resv,argc,(mxArray**)(argv)); break;
+  case 109: if ((name_ok=!strcmp("SpatialMotionVectorRaw_cross",cmd))) flag=_wrap_SpatialMotionVectorRaw_cross(resc,resv,argc,(mxArray**)(argv)); break;
+  case 110: if ((name_ok=!strcmp("SpatialMotionVectorRaw_Zero",cmd))) flag=_wrap_SpatialMotionVectorRaw_Zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 111: if ((name_ok=!strcmp("new_Twist",cmd))) flag=_wrap_new_Twist(resc,resv,argc,(mxArray**)(argv)); break;
+  case 112: if ((name_ok=!strcmp("delete_Twist",cmd))) flag=_wrap_delete_Twist(resc,resv,argc,(mxArray**)(argv)); break;
+  case 113: if ((name_ok=!strcmp("Twist_plus",cmd))) flag=_wrap_Twist_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 114: if ((name_ok=!strcmp("Twist_minus",cmd))) flag=_wrap_Twist_minus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 115: if ((name_ok=!strcmp("Twist_uminus",cmd))) flag=_wrap_Twist_uminus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 116: if ((name_ok=!strcmp("Twist_mtimes",cmd))) flag=_wrap_Twist_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 117: if ((name_ok=!strcmp("new_Wrench",cmd))) flag=_wrap_new_Wrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 118: if ((name_ok=!strcmp("delete_Wrench",cmd))) flag=_wrap_delete_Wrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 119: if ((name_ok=!strcmp("Wrench_plus",cmd))) flag=_wrap_Wrench_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 120: if ((name_ok=!strcmp("Wrench_minus",cmd))) flag=_wrap_Wrench_minus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 121: if ((name_ok=!strcmp("Wrench_uminus",cmd))) flag=_wrap_Wrench_uminus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 122: if ((name_ok=!strcmp("new_SpatialMomentum",cmd))) flag=_wrap_new_SpatialMomentum(resc,resv,argc,(mxArray**)(argv)); break;
+  case 123: if ((name_ok=!strcmp("delete_SpatialMomentum",cmd))) flag=_wrap_delete_SpatialMomentum(resc,resv,argc,(mxArray**)(argv)); break;
+  case 124: if ((name_ok=!strcmp("SpatialMomentum_plus",cmd))) flag=_wrap_SpatialMomentum_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 125: if ((name_ok=!strcmp("SpatialMomentum_minus",cmd))) flag=_wrap_SpatialMomentum_minus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 126: if ((name_ok=!strcmp("SpatialMomentum_uminus",cmd))) flag=_wrap_SpatialMomentum_uminus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 127: if ((name_ok=!strcmp("new_SpatialAcc",cmd))) flag=_wrap_new_SpatialAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 128: if ((name_ok=!strcmp("delete_SpatialAcc",cmd))) flag=_wrap_delete_SpatialAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 129: if ((name_ok=!strcmp("SpatialAcc_plus",cmd))) flag=_wrap_SpatialAcc_plus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 130: if ((name_ok=!strcmp("SpatialAcc_minus",cmd))) flag=_wrap_SpatialAcc_minus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 131: if ((name_ok=!strcmp("SpatialAcc_uminus",cmd))) flag=_wrap_SpatialAcc_uminus(resc,resv,argc,(mxArray**)(argv)); break;
+  case 132: if ((name_ok=!strcmp("new_RotationalInertiaRaw",cmd))) flag=_wrap_new_RotationalInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 133: if ((name_ok=!strcmp("delete_RotationalInertiaRaw",cmd))) flag=_wrap_delete_RotationalInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 134: if ((name_ok=!strcmp("RotationalInertiaRaw_zero",cmd))) flag=_wrap_RotationalInertiaRaw_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 135: if ((name_ok=!strcmp("RotationalInertiaRaw_TODOparen",cmd))) flag=_wrap_RotationalInertiaRaw_TODOparen(resc,resv,argc,(mxArray**)(argv)); break;
+  case 136: if ((name_ok=!strcmp("RotationalInertiaRaw_getVal",cmd))) flag=_wrap_RotationalInertiaRaw_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 137: if ((name_ok=!strcmp("RotationalInertiaRaw_setVal",cmd))) flag=_wrap_RotationalInertiaRaw_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 138: if ((name_ok=!strcmp("RotationalInertiaRaw_rows",cmd))) flag=_wrap_RotationalInertiaRaw_rows(resc,resv,argc,(mxArray**)(argv)); break;
+  case 139: if ((name_ok=!strcmp("RotationalInertiaRaw_cols",cmd))) flag=_wrap_RotationalInertiaRaw_cols(resc,resv,argc,(mxArray**)(argv)); break;
+  case 140: if ((name_ok=!strcmp("RotationalInertiaRaw_data",cmd))) flag=_wrap_RotationalInertiaRaw_data(resc,resv,argc,(mxArray**)(argv)); break;
+  case 141: if ((name_ok=!strcmp("new_SpatialInertiaRaw",cmd))) flag=_wrap_new_SpatialInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 142: if ((name_ok=!strcmp("delete_SpatialInertiaRaw",cmd))) flag=_wrap_delete_SpatialInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 143: if ((name_ok=!strcmp("SpatialInertiaRaw_getMass",cmd))) flag=_wrap_SpatialInertiaRaw_getMass(resc,resv,argc,(mxArray**)(argv)); break;
+  case 144: if ((name_ok=!strcmp("SpatialInertiaRaw_getCenterOfMass",cmd))) flag=_wrap_SpatialInertiaRaw_getCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break;
+  case 145: if ((name_ok=!strcmp("SpatialInertiaRaw_getRotationalInertiaWrtFrameOrigin",cmd))) flag=_wrap_SpatialInertiaRaw_getRotationalInertiaWrtFrameOrigin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 146: if ((name_ok=!strcmp("SpatialInertiaRaw_getRotationalInertiaWrtCenterOfMass",cmd))) flag=_wrap_SpatialInertiaRaw_getRotationalInertiaWrtCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break;
+  case 147: if ((name_ok=!strcmp("SpatialInertiaRaw_multiply",cmd))) flag=_wrap_SpatialInertiaRaw_multiply(resc,resv,argc,(mxArray**)(argv)); break;
+  case 148: if ((name_ok=!strcmp("SpatialInertiaRaw_zero",cmd))) flag=_wrap_SpatialInertiaRaw_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 149: if ((name_ok=!strcmp("new_SpatialInertia",cmd))) flag=_wrap_new_SpatialInertia(resc,resv,argc,(mxArray**)(argv)); break;
+  case 150: if ((name_ok=!strcmp("delete_SpatialInertia",cmd))) flag=_wrap_delete_SpatialInertia(resc,resv,argc,(mxArray**)(argv)); break;
+  case 151: if ((name_ok=!strcmp("SpatialInertia_mtimes",cmd))) flag=_wrap_SpatialInertia_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 152: if ((name_ok=!strcmp("new_RotationRaw",cmd))) flag=_wrap_new_RotationRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 153: if ((name_ok=!strcmp("delete_RotationRaw",cmd))) flag=_wrap_delete_RotationRaw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 154: if ((name_ok=!strcmp("RotationRaw_TODOparen",cmd))) flag=_wrap_RotationRaw_TODOparen(resc,resv,argc,(mxArray**)(argv)); break;
+  case 155: if ((name_ok=!strcmp("RotationRaw_getVal",cmd))) flag=_wrap_RotationRaw_getVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 156: if ((name_ok=!strcmp("RotationRaw_setVal",cmd))) flag=_wrap_RotationRaw_setVal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 157: if ((name_ok=!strcmp("RotationRaw_rows",cmd))) flag=_wrap_RotationRaw_rows(resc,resv,argc,(mxArray**)(argv)); break;
+  case 158: if ((name_ok=!strcmp("RotationRaw_cols",cmd))) flag=_wrap_RotationRaw_cols(resc,resv,argc,(mxArray**)(argv)); break;
+  case 159: if ((name_ok=!strcmp("RotationRaw_data",cmd))) flag=_wrap_RotationRaw_data(resc,resv,argc,(mxArray**)(argv)); break;
+  case 160: if ((name_ok=!strcmp("RotationRaw_changeOrientFrame",cmd))) flag=_wrap_RotationRaw_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 161: if ((name_ok=!strcmp("RotationRaw_changeRefOrientFrame",cmd))) flag=_wrap_RotationRaw_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 162: if ((name_ok=!strcmp("RotationRaw_compose",cmd))) flag=_wrap_RotationRaw_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 163: if ((name_ok=!strcmp("RotationRaw_inverse2",cmd))) flag=_wrap_RotationRaw_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
+  case 164: if ((name_ok=!strcmp("RotationRaw_changeCoordFrameOf",cmd))) flag=_wrap_RotationRaw_changeCoordFrameOf(resc,resv,argc,(mxArray**)(argv)); break;
+  case 165: if ((name_ok=!strcmp("RotationRaw_RotX",cmd))) flag=_wrap_RotationRaw_RotX(resc,resv,argc,(mxArray**)(argv)); break;
+  case 166: if ((name_ok=!strcmp("RotationRaw_RotY",cmd))) flag=_wrap_RotationRaw_RotY(resc,resv,argc,(mxArray**)(argv)); break;
+  case 167: if ((name_ok=!strcmp("RotationRaw_RotZ",cmd))) flag=_wrap_RotationRaw_RotZ(resc,resv,argc,(mxArray**)(argv)); break;
+  case 168: if ((name_ok=!strcmp("RotationRaw_RPY",cmd))) flag=_wrap_RotationRaw_RPY(resc,resv,argc,(mxArray**)(argv)); break;
+  case 169: if ((name_ok=!strcmp("RotationRaw_Identity",cmd))) flag=_wrap_RotationRaw_Identity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 170: if ((name_ok=!strcmp("RotationRaw_toString",cmd))) flag=_wrap_RotationRaw_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 171: if ((name_ok=!strcmp("RotationRaw_display",cmd))) flag=_wrap_RotationRaw_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 172: if ((name_ok=!strcmp("new_RotationSemantics",cmd))) flag=_wrap_new_RotationSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 173: if ((name_ok=!strcmp("delete_RotationSemantics",cmd))) flag=_wrap_delete_RotationSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 174: if ((name_ok=!strcmp("RotationSemantics_getOrientationFrame",cmd))) flag=_wrap_RotationSemantics_getOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 175: if ((name_ok=!strcmp("RotationSemantics_getReferenceOrientationFrame",cmd))) flag=_wrap_RotationSemantics_getReferenceOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 176: if ((name_ok=!strcmp("RotationSemantics_getCoordinateFrame",cmd))) flag=_wrap_RotationSemantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 177: if ((name_ok=!strcmp("RotationSemantics_setOrientationFrame",cmd))) flag=_wrap_RotationSemantics_setOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 178: if ((name_ok=!strcmp("RotationSemantics_setReferenceOrientationFrame",cmd))) flag=_wrap_RotationSemantics_setReferenceOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 179: if ((name_ok=!strcmp("RotationSemantics_setCoordinateFrame",cmd))) flag=_wrap_RotationSemantics_setCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 180: if ((name_ok=!strcmp("RotationSemantics_changeOrientFrame",cmd))) flag=_wrap_RotationSemantics_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 181: if ((name_ok=!strcmp("RotationSemantics_changeRefOrientFrame",cmd))) flag=_wrap_RotationSemantics_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 182: if ((name_ok=!strcmp("RotationSemantics_changeCoordFrameOf",cmd))) flag=_wrap_RotationSemantics_changeCoordFrameOf(resc,resv,argc,(mxArray**)(argv)); break;
+  case 183: if ((name_ok=!strcmp("RotationSemantics_compose",cmd))) flag=_wrap_RotationSemantics_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 184: if ((name_ok=!strcmp("RotationSemantics_inverse2",cmd))) flag=_wrap_RotationSemantics_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
+  case 185: if ((name_ok=!strcmp("RotationSemantics_toString",cmd))) flag=_wrap_RotationSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 186: if ((name_ok=!strcmp("RotationSemantics_display",cmd))) flag=_wrap_RotationSemantics_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 187: if ((name_ok=!strcmp("new_Rotation",cmd))) flag=_wrap_new_Rotation(resc,resv,argc,(mxArray**)(argv)); break;
+  case 188: if ((name_ok=!strcmp("delete_Rotation",cmd))) flag=_wrap_delete_Rotation(resc,resv,argc,(mxArray**)(argv)); break;
+  case 189: if ((name_ok=!strcmp("Rotation_getSemantics",cmd))) flag=_wrap_Rotation_getSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 190: if ((name_ok=!strcmp("Rotation_changeOrientFrame",cmd))) flag=_wrap_Rotation_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 191: if ((name_ok=!strcmp("Rotation_changeRefOrientFrame",cmd))) flag=_wrap_Rotation_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 192: if ((name_ok=!strcmp("Rotation_compose",cmd))) flag=_wrap_Rotation_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 193: if ((name_ok=!strcmp("Rotation_inverse2",cmd))) flag=_wrap_Rotation_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
+  case 194: if ((name_ok=!strcmp("Rotation_changeCoordFrameOf",cmd))) flag=_wrap_Rotation_changeCoordFrameOf(resc,resv,argc,(mxArray**)(argv)); break;
+  case 195: if ((name_ok=!strcmp("Rotation_inverse",cmd))) flag=_wrap_Rotation_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 196: if ((name_ok=!strcmp("Rotation_mtimes",cmd))) flag=_wrap_Rotation_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 197: if ((name_ok=!strcmp("Rotation_RotX",cmd))) flag=_wrap_Rotation_RotX(resc,resv,argc,(mxArray**)(argv)); break;
+  case 198: if ((name_ok=!strcmp("Rotation_RotY",cmd))) flag=_wrap_Rotation_RotY(resc,resv,argc,(mxArray**)(argv)); break;
+  case 199: if ((name_ok=!strcmp("Rotation_RotZ",cmd))) flag=_wrap_Rotation_RotZ(resc,resv,argc,(mxArray**)(argv)); break;
+  case 200: if ((name_ok=!strcmp("Rotation_RPY",cmd))) flag=_wrap_Rotation_RPY(resc,resv,argc,(mxArray**)(argv)); break;
+  case 201: if ((name_ok=!strcmp("Rotation_Identity",cmd))) flag=_wrap_Rotation_Identity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 202: if ((name_ok=!strcmp("Rotation_toString",cmd))) flag=_wrap_Rotation_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 203: if ((name_ok=!strcmp("Rotation_display",cmd))) flag=_wrap_Rotation_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 204: if ((name_ok=!strcmp("new_TransformSemantics",cmd))) flag=_wrap_new_TransformSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 205: if ((name_ok=!strcmp("delete_TransformSemantics",cmd))) flag=_wrap_delete_TransformSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 206: if ((name_ok=!strcmp("TransformSemantics_getRotationSemantics",cmd))) flag=_wrap_TransformSemantics_getRotationSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 207: if ((name_ok=!strcmp("TransformSemantics_getPositionSemantics",cmd))) flag=_wrap_TransformSemantics_getPositionSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 208: if ((name_ok=!strcmp("TransformSemantics_setRotationSemantics",cmd))) flag=_wrap_TransformSemantics_setRotationSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 209: if ((name_ok=!strcmp("TransformSemantics_setPositionSemantics",cmd))) flag=_wrap_TransformSemantics_setPositionSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 210: if ((name_ok=!strcmp("TransformSemantics_toString",cmd))) flag=_wrap_TransformSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 211: if ((name_ok=!strcmp("TransformSemantics_display",cmd))) flag=_wrap_TransformSemantics_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 212: if ((name_ok=!strcmp("new_Transform",cmd))) flag=_wrap_new_Transform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 213: if ((name_ok=!strcmp("delete_Transform",cmd))) flag=_wrap_delete_Transform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 214: if ((name_ok=!strcmp("Transform_getSemantics",cmd))) flag=_wrap_Transform_getSemantics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 215: if ((name_ok=!strcmp("Transform_getRotation",cmd))) flag=_wrap_Transform_getRotation(resc,resv,argc,(mxArray**)(argv)); break;
+  case 216: if ((name_ok=!strcmp("Transform_getPosition",cmd))) flag=_wrap_Transform_getPosition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 217: if ((name_ok=!strcmp("Transform_setRotation",cmd))) flag=_wrap_Transform_setRotation(resc,resv,argc,(mxArray**)(argv)); break;
+  case 218: if ((name_ok=!strcmp("Transform_setPosition",cmd))) flag=_wrap_Transform_setPosition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 219: if ((name_ok=!strcmp("Transform_compose",cmd))) flag=_wrap_Transform_compose(resc,resv,argc,(mxArray**)(argv)); break;
+  case 220: if ((name_ok=!strcmp("Transform_inverse2",cmd))) flag=_wrap_Transform_inverse2(resc,resv,argc,(mxArray**)(argv)); break;
+  case 221: if ((name_ok=!strcmp("Transform_inverse",cmd))) flag=_wrap_Transform_inverse(resc,resv,argc,(mxArray**)(argv)); break;
+  case 222: if ((name_ok=!strcmp("Transform_mtimes",cmd))) flag=_wrap_Transform_mtimes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 223: if ((name_ok=!strcmp("Transform_Identity",cmd))) flag=_wrap_Transform_Identity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 224: if ((name_ok=!strcmp("Transform_toString",cmd))) flag=_wrap_Transform_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 225: if ((name_ok=!strcmp("Transform_display",cmd))) flag=_wrap_Transform_display(resc,resv,argc,(mxArray**)(argv)); break;
+  case 226: if ((name_ok=!strcmp("NR_OF_SENSOR_TYPES_get",cmd))) flag=_wrap_NR_OF_SENSOR_TYPES_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 227: if ((name_ok=!strcmp("delete_Sensor",cmd))) flag=_wrap_delete_Sensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 228: if ((name_ok=!strcmp("Sensor_getName",cmd))) flag=_wrap_Sensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 229: if ((name_ok=!strcmp("Sensor_getSensorType",cmd))) flag=_wrap_Sensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 230: if ((name_ok=!strcmp("Sensor_getParent",cmd))) flag=_wrap_Sensor_getParent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 231: if ((name_ok=!strcmp("Sensor_getParentIndex",cmd))) flag=_wrap_Sensor_getParentIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 232: if ((name_ok=!strcmp("Sensor_isValid",cmd))) flag=_wrap_Sensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 233: if ((name_ok=!strcmp("Sensor_clone",cmd))) flag=_wrap_Sensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 234: if ((name_ok=!strcmp("new_SensorsList",cmd))) flag=_wrap_new_SensorsList(resc,resv,argc,(mxArray**)(argv)); break;
+  case 235: if ((name_ok=!strcmp("delete_SensorsList",cmd))) flag=_wrap_delete_SensorsList(resc,resv,argc,(mxArray**)(argv)); break;
+  case 236: if ((name_ok=!strcmp("SensorsList_addSensor",cmd))) flag=_wrap_SensorsList_addSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 237: if ((name_ok=!strcmp("SensorsList_getNrOfSensors",cmd))) flag=_wrap_SensorsList_getNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 238: if ((name_ok=!strcmp("SensorsList_getSensorIndex",cmd))) flag=_wrap_SensorsList_getSensorIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 239: if ((name_ok=!strcmp("SensorsList_getSensor",cmd))) flag=_wrap_SensorsList_getSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 240: if ((name_ok=!strcmp("new_SensorsMeasurements",cmd))) flag=_wrap_new_SensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 241: if ((name_ok=!strcmp("delete_SensorsMeasurements",cmd))) flag=_wrap_delete_SensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 242: if ((name_ok=!strcmp("SensorsMeasurements_setNrOfSensors",cmd))) flag=_wrap_SensorsMeasurements_setNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 243: if ((name_ok=!strcmp("SensorsMeasurements_getNrOfSensors",cmd))) flag=_wrap_SensorsMeasurements_getNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 244: if ((name_ok=!strcmp("SensorsMeasurements_setMeasurement",cmd))) flag=_wrap_SensorsMeasurements_setMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 245: if ((name_ok=!strcmp("SensorsMeasurements_getMeasurement",cmd))) flag=_wrap_SensorsMeasurements_getMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 246: if ((name_ok=!strcmp("new_SixAxisForceTorqueSensor",cmd))) flag=_wrap_new_SixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 247: if ((name_ok=!strcmp("delete_SixAxisForceTorqueSensor",cmd))) flag=_wrap_delete_SixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 248: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_setName",cmd))) flag=_wrap_SixAxisForceTorqueSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 249: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_setFirstLinkSensorTransform",cmd))) flag=_wrap_SixAxisForceTorqueSensor_setFirstLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 250: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_setSecondLinkSensorTransform",cmd))) flag=_wrap_SixAxisForceTorqueSensor_setSecondLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 251: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getFirstLinkIndex",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getFirstLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 252: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getSecondLinkIndex",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getSecondLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 253: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_setParent",cmd))) flag=_wrap_SixAxisForceTorqueSensor_setParent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 254: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_setParentIndex",cmd))) flag=_wrap_SixAxisForceTorqueSensor_setParentIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 255: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_setAppliedWrenchLink",cmd))) flag=_wrap_SixAxisForceTorqueSensor_setAppliedWrenchLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 256: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getName",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 257: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getSensorType",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 258: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getParent",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getParent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 259: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getParentIndex",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getParentIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 260: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_isValid",cmd))) flag=_wrap_SixAxisForceTorqueSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 261: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_clone",cmd))) flag=_wrap_SixAxisForceTorqueSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 262: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getAppliedWrenchLink",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getAppliedWrenchLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 263: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_isLinkAttachedToSensor",cmd))) flag=_wrap_SixAxisForceTorqueSensor_isLinkAttachedToSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 264: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getLinkSensorTransform",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 265: if ((name_ok=!strcmp("SixAxisForceTorqueSensor_getWrenchAppliedOnLink",cmd))) flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 266: if ((name_ok=!strcmp("DynamicsRegressorParameter_category_get",cmd))) flag=_wrap_DynamicsRegressorParameter_category_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 267: if ((name_ok=!strcmp("DynamicsRegressorParameter_category_set",cmd))) flag=_wrap_DynamicsRegressorParameter_category_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 268: if ((name_ok=!strcmp("DynamicsRegressorParameter_elemIndex_get",cmd))) flag=_wrap_DynamicsRegressorParameter_elemIndex_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 269: if ((name_ok=!strcmp("DynamicsRegressorParameter_elemIndex_set",cmd))) flag=_wrap_DynamicsRegressorParameter_elemIndex_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 270: if ((name_ok=!strcmp("DynamicsRegressorParameter_type_get",cmd))) flag=_wrap_DynamicsRegressorParameter_type_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 271: if ((name_ok=!strcmp("DynamicsRegressorParameter_type_set",cmd))) flag=_wrap_DynamicsRegressorParameter_type_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 272: if ((name_ok=!strcmp("DynamicsRegressorParameter_lt",cmd))) flag=_wrap_DynamicsRegressorParameter_lt(resc,resv,argc,(mxArray**)(argv)); break;
+  case 273: if ((name_ok=!strcmp("DynamicsRegressorParameter_isequal",cmd))) flag=_wrap_DynamicsRegressorParameter_isequal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 274: if ((name_ok=!strcmp("DynamicsRegressorParameter_ne",cmd))) flag=_wrap_DynamicsRegressorParameter_ne(resc,resv,argc,(mxArray**)(argv)); break;
+  case 275: if ((name_ok=!strcmp("new_DynamicsRegressorParameter",cmd))) flag=_wrap_new_DynamicsRegressorParameter(resc,resv,argc,(mxArray**)(argv)); break;
+  case 276: if ((name_ok=!strcmp("delete_DynamicsRegressorParameter",cmd))) flag=_wrap_delete_DynamicsRegressorParameter(resc,resv,argc,(mxArray**)(argv)); break;
+  case 277: if ((name_ok=!strcmp("DynamicsRegressorParametersList_parameters_get",cmd))) flag=_wrap_DynamicsRegressorParametersList_parameters_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 278: if ((name_ok=!strcmp("DynamicsRegressorParametersList_parameters_set",cmd))) flag=_wrap_DynamicsRegressorParametersList_parameters_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 279: if ((name_ok=!strcmp("DynamicsRegressorParametersList_getDescriptionOfParameter",cmd))) flag=_wrap_DynamicsRegressorParametersList_getDescriptionOfParameter(resc,resv,argc,(mxArray**)(argv)); break;
+  case 280: if ((name_ok=!strcmp("DynamicsRegressorParametersList_addParam",cmd))) flag=_wrap_DynamicsRegressorParametersList_addParam(resc,resv,argc,(mxArray**)(argv)); break;
+  case 281: if ((name_ok=!strcmp("DynamicsRegressorParametersList_addList",cmd))) flag=_wrap_DynamicsRegressorParametersList_addList(resc,resv,argc,(mxArray**)(argv)); break;
+  case 282: if ((name_ok=!strcmp("DynamicsRegressorParametersList_findParam",cmd))) flag=_wrap_DynamicsRegressorParametersList_findParam(resc,resv,argc,(mxArray**)(argv)); break;
+  case 283: if ((name_ok=!strcmp("DynamicsRegressorParametersList_getNrOfParameters",cmd))) flag=_wrap_DynamicsRegressorParametersList_getNrOfParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 284: if ((name_ok=!strcmp("new_DynamicsRegressorParametersList",cmd))) flag=_wrap_new_DynamicsRegressorParametersList(resc,resv,argc,(mxArray**)(argv)); break;
+  case 285: if ((name_ok=!strcmp("delete_DynamicsRegressorParametersList",cmd))) flag=_wrap_delete_DynamicsRegressorParametersList(resc,resv,argc,(mxArray**)(argv)); break;
+  case 286: if ((name_ok=!strcmp("new_DynamicsRegressorGenerator",cmd))) flag=_wrap_new_DynamicsRegressorGenerator(resc,resv,argc,(mxArray**)(argv)); break;
+  case 287: if ((name_ok=!strcmp("delete_DynamicsRegressorGenerator",cmd))) flag=_wrap_delete_DynamicsRegressorGenerator(resc,resv,argc,(mxArray**)(argv)); break;
+  case 288: if ((name_ok=!strcmp("DynamicsRegressorGenerator_loadRobotAndSensorsModelFromFile",cmd))) flag=_wrap_DynamicsRegressorGenerator_loadRobotAndSensorsModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 289: if ((name_ok=!strcmp("DynamicsRegressorGenerator_loadRobotAndSensorsModelFromString",cmd))) flag=_wrap_DynamicsRegressorGenerator_loadRobotAndSensorsModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 290: if ((name_ok=!strcmp("DynamicsRegressorGenerator_loadRegressorStructureFromFile",cmd))) flag=_wrap_DynamicsRegressorGenerator_loadRegressorStructureFromFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 291: if ((name_ok=!strcmp("DynamicsRegressorGenerator_loadRegressorStructureFromString",cmd))) flag=_wrap_DynamicsRegressorGenerator_loadRegressorStructureFromString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 292: if ((name_ok=!strcmp("DynamicsRegressorGenerator_isValid",cmd))) flag=_wrap_DynamicsRegressorGenerator_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 293: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getNrOfParameters",cmd))) flag=_wrap_DynamicsRegressorGenerator_getNrOfParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 294: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getNrOfOutputs",cmd))) flag=_wrap_DynamicsRegressorGenerator_getNrOfOutputs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 295: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getNrOfDegreesOfFreedom",cmd))) flag=_wrap_DynamicsRegressorGenerator_getNrOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
+  case 296: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getDescriptionOfParameter",cmd))) flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfParameter(resc,resv,argc,(mxArray**)(argv)); break;
+  case 297: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getDescriptionOfParameters",cmd))) flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 298: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getDescriptionOfOutput",cmd))) flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfOutput(resc,resv,argc,(mxArray**)(argv)); break;
+  case 299: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getDescriptionOfOutputs",cmd))) flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfOutputs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 300: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getDescriptionOfDegreeOfFreedom",cmd))) flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfDegreeOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
+  case 301: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getDescriptionOfDegreesOfFreedom",cmd))) flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
+  case 302: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getBaseLinkName",cmd))) flag=_wrap_DynamicsRegressorGenerator_getBaseLinkName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 303: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getSensorsModel",cmd))) flag=_wrap_DynamicsRegressorGenerator_getSensorsModel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 304: if ((name_ok=!strcmp("DynamicsRegressorGenerator_setRobotState",cmd))) flag=_wrap_DynamicsRegressorGenerator_setRobotState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 305: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getSensorsMeasurements",cmd))) flag=_wrap_DynamicsRegressorGenerator_getSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 306: if ((name_ok=!strcmp("DynamicsRegressorGenerator_computeRegressor",cmd))) flag=_wrap_DynamicsRegressorGenerator_computeRegressor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 307: if ((name_ok=!strcmp("DynamicsRegressorGenerator_getModelParameters",cmd))) flag=_wrap_DynamicsRegressorGenerator_getModelParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 308: if ((name_ok=!strcmp("DynamicsRegressorGenerator_computeFloatingBaseIdentifiableSubspace",cmd))) flag=_wrap_DynamicsRegressorGenerator_computeFloatingBaseIdentifiableSubspace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 309: if ((name_ok=!strcmp("DynamicsRegressorGenerator_computeFixedBaseIdentifiableSubspace",cmd))) flag=_wrap_DynamicsRegressorGenerator_computeFixedBaseIdentifiableSubspace(resc,resv,argc,(mxArray**)(argv)); break;
   default: id_exists=0;
   }
   if (!id_exists) {
diff --git a/core-experimental/CMakeLists.txt b/core-experimental/CMakeLists.txt
index c62059373dc..5dc634685d4 100644
--- a/core-experimental/CMakeLists.txt
+++ b/core-experimental/CMakeLists.txt
@@ -24,7 +24,6 @@ set(IDYNTREE_CORE_EXP_HEADERS include/iDynTree/Core/IMatrix.h
                               include/iDynTree/Core/SpatialMomentum.h
                               include/iDynTree/Core/SpatialMotionVectorRaw.h
                               include/iDynTree/Core/Transform.h
-                              include/iDynTree/Core/TransformRaw.h
                               include/iDynTree/Core/TransformSemantics.h
                               include/iDynTree/Core/Twist.h
                               include/iDynTree/Core/Utils.h
@@ -51,7 +50,6 @@ set(IDYNTREE_CORE_EXP_SOURCES src/InterfaceDestructors.cpp
                               src/SpatialInertiaRaw.cpp
                               src/SpatialInertia.cpp
                               src/Transform.cpp
-                              src/TransformRaw.cpp
                               src/TransformSemantics.cpp
                               src/Twist.cpp
                               src/Utils.cpp
diff --git a/core-experimental/include/iDynTree/Core/Position.h b/core-experimental/include/iDynTree/Core/Position.h
index faf46e15768..4e9289265ef 100644
--- a/core-experimental/include/iDynTree/Core/Position.h
+++ b/core-experimental/include/iDynTree/Core/Position.h
@@ -17,6 +17,8 @@
 namespace iDynTree
 {
     class Rotation;
+    class Twist;
+    class Wrench;
     
     /**
      * Class representation the coordinates of the Position of
@@ -89,6 +91,8 @@ namespace iDynTree
         const Position & changeCoordinateFrame(const Rotation & newCoordinateFrame);
         static Position compose(const Position & op1, const Position & op2);
         static Position inverse(const Position & op);
+        Twist  changePointOf(const Twist & other) const;
+        Wrench changePointOf(const Wrench & other) const;
         
         /**
          * overloaded operators
@@ -96,6 +100,8 @@ namespace iDynTree
         Position operator+(const Position &other) const;
         Position operator-(const Position &other) const;
         Position operator-() const;
+        Twist    operator*(const Twist    & other) const;
+        Wrench   operator*(const Wrench   & other) const;
         
         /** @name Output helpers.
          *  Output helpers.
@@ -106,7 +112,7 @@ namespace iDynTree
         std::string reservedToString() const;
         ///@}
         
-        friend Position Rotation::convertToNewCoordFrame(const Position & op) const;
+        friend Position Rotation::changeCoordFrameOf(const Position & op) const;
     };
 }
 
diff --git a/core-experimental/include/iDynTree/Core/PositionRaw.h b/core-experimental/include/iDynTree/Core/PositionRaw.h
index 5fd98cfcd30..58d88e3eac5 100644
--- a/core-experimental/include/iDynTree/Core/PositionRaw.h
+++ b/core-experimental/include/iDynTree/Core/PositionRaw.h
@@ -14,6 +14,8 @@
 namespace iDynTree
 {
     class RotationRaw;
+    class SpatialMotionVectorRaw;
+    class SpatialForceVectorRaw;
     
     /**
      * Class providing the raw coordinates for iDynTree::Position class.
@@ -93,9 +95,10 @@ namespace iDynTree
          */
         const PositionRaw & changePoint(const PositionRaw & newPoint);
         const PositionRaw & changeRefPoint(const PositionRaw & newRefPoint);
-        const PositionRaw & changeCoordinateFrame(const RotationRaw & newCoordinateFrame);
         static PositionRaw compose(const PositionRaw & op1, const PositionRaw & op2);
         static PositionRaw inverse(const PositionRaw & op);
+        SpatialMotionVectorRaw changePointOf(const SpatialMotionVectorRaw & other) const;
+        SpatialForceVectorRaw changePointOf(const SpatialForceVectorRaw & other) const;
         
         
         /** @name Output helpers.
diff --git a/core-experimental/include/iDynTree/Core/PositionSemantics.h b/core-experimental/include/iDynTree/Core/PositionSemantics.h
index 212506880ab..bb93918ce62 100644
--- a/core-experimental/include/iDynTree/Core/PositionSemantics.h
+++ b/core-experimental/include/iDynTree/Core/PositionSemantics.h
@@ -80,7 +80,6 @@ namespace iDynTree
          */
         bool changePoint(const PositionSemantics & newPoint);
         bool changeRefPoint(const PositionSemantics & newRefPoint);
-        bool changeCoordinateFrame(const RotationSemantics & newCoordinateFrame);
         static bool compose(const PositionSemantics & op1, const PositionSemantics & op2, PositionSemantics & result);
         static bool inverse(const PositionSemantics & op, PositionSemantics & result);
 
diff --git a/core-experimental/include/iDynTree/Core/Rotation.h b/core-experimental/include/iDynTree/Core/Rotation.h
index e23a9273503..c2a18ae4d8d 100644
--- a/core-experimental/include/iDynTree/Core/Rotation.h
+++ b/core-experimental/include/iDynTree/Core/Rotation.h
@@ -96,9 +96,9 @@ namespace iDynTree
         const Rotation & changeRefOrientFrame(const Rotation & newRefOrientFrame);
         static Rotation compose(const Rotation & op1, const Rotation & op2);
         static Rotation inverse2(const Rotation & orient);
-        Position convertToNewCoordFrame(const Position & other) const;
-        Twist  convertToNewCoordFrame(const Twist & other) const;
-        Wrench convertToNewCoordFrame(const Wrench & other) const;
+        Position changeCoordFrameOf(const Position & other) const;
+        Twist  changeCoordFrameOf(const Twist & other) const;
+        Wrench changeCoordFrameOf(const Wrench & other) const;
 
 
         /**
@@ -110,13 +110,56 @@ namespace iDynTree
         Twist    operator*(const Twist    & other) const;
         Wrench   operator*(const Wrench   & other) const;
 
-
+        
+        /**
+         * @name Initialization helpers.
+         *
+         */
+        ///@{
+        
+        /**
+         * Return a Rotation around axis X of given angle
+         *
+         * @param angle the angle (in Radians) of the rotation arount the X axis
+         */
+        static Rotation RotX(const double angle);
+        
+        /**
+         * Return a Rotation around axis Y of given angle
+         *
+         * @param angle the angle (in Radians) of the rotation arount the Y axis
+         */
+        static Rotation RotY(const double angle);
+        
+        /**
+         * Return a Rotation around axis Z of given angle
+         *
+         * @param angle the angle (in Radians) of the rotation arount the Z axis
+         */
+        static Rotation RotZ(const double angle);
+        
+        /**
+         * Return a rotation object given Roll, Pitch and Yaw values.
+         *
+         * @note This method is compatible with the KDL::Rotation::RPY method.
+         */
+        static Rotation RPY(const double roll, const double pitch, const double yaw);
+        
+        /**
+         * Return an identity rotation.
+         *
+         *
+         */
+        static Rotation Identity();
+        
+        ///@}
+        
         /** @name Output helpers.
          *  Output helpers.
          */
         ///@{
         std::string toString() const;
-
+        
         std::string reservedToString() const;
         ///@}
     };
diff --git a/core-experimental/include/iDynTree/Core/RotationRaw.h b/core-experimental/include/iDynTree/Core/RotationRaw.h
index e5294a2a057..663cafd8f68 100644
--- a/core-experimental/include/iDynTree/Core/RotationRaw.h
+++ b/core-experimental/include/iDynTree/Core/RotationRaw.h
@@ -93,29 +93,14 @@ namespace iDynTree
         const RotationRaw & changeRefOrientFrame(const RotationRaw & newRefOrientFrame);
         static RotationRaw compose(const RotationRaw & op1, const RotationRaw & op2);
         static RotationRaw inverse2(const RotationRaw & orient);
-        PositionRaw convertToNewCoordFrame(const PositionRaw & other) const;
-        SpatialMotionVectorRaw convertToNewCoordFrame(const SpatialMotionVectorRaw & other) const;
-        SpatialForceVectorRaw convertToNewCoordFrame(const SpatialForceVectorRaw & other) const;
+        PositionRaw changeCoordFrameOf(const PositionRaw & other) const;
+        SpatialMotionVectorRaw changeCoordFrameOf(const SpatialMotionVectorRaw & other) const;
+        SpatialForceVectorRaw changeCoordFrameOf(const SpatialForceVectorRaw & other) const;
 
 
         /**
          * overloaded operators
          */
-        RotationRaw operator*(const RotationRaw & other) const;
-        RotationRaw inverse() const;
-        PositionRaw operator*(const PositionRaw & other) const;
-        SpatialMotionVectorRaw operator*(const SpatialMotionVectorRaw & other) const;
-        SpatialForceVectorRaw operator*(const SpatialForceVectorRaw & other) const;
-
-
-        /** @name Output helpers.
-         *  Output helpers.
-         */
-        ///@{
-        std::string toString() const;
-
-        std::string reservedToString() const;
-        ///@}
 
         /**
          * @name Initialization helpers.
@@ -159,6 +144,16 @@ namespace iDynTree
         static RotationRaw Identity();
 
         ///@}
+
+        
+        /** @name Output helpers.
+         *  Output helpers.
+         */
+        ///@{
+        std::string toString() const;
+        
+        std::string reservedToString() const;
+        ///@}
     };
 }
 
diff --git a/core-experimental/include/iDynTree/Core/RotationSemantics.h b/core-experimental/include/iDynTree/Core/RotationSemantics.h
index 2e3e187c893..2a95ce4dab6 100644
--- a/core-experimental/include/iDynTree/Core/RotationSemantics.h
+++ b/core-experimental/include/iDynTree/Core/RotationSemantics.h
@@ -33,7 +33,7 @@ namespace iDynTree
         ///@{
         bool check_changeOrientFrame(const RotationSemantics & newOrientFrame);
         bool check_changeRefOrientFrame(const RotationSemantics & newRefOrientFrame);
-        bool check_convertToNewCoordFrame(const PositionSemantics & op) const;
+        bool check_changeCoordFrameOf(const PositionSemantics & op) const;
         static bool check_compose(const RotationSemantics & op1, const RotationSemantics & op2);
         static bool check_inverse2(const RotationSemantics & op);
         ///@}
@@ -80,7 +80,7 @@ namespace iDynTree
         ///@{
         bool changeOrientFrame(const RotationSemantics & newOrientFrame);
         bool changeRefOrientFrame(const RotationSemantics & newRefOrientFrame);
-        bool convertToNewCoordFrame(const PositionSemantics & other, PositionSemantics & result) const;
+        bool changeCoordFrameOf(const PositionSemantics & other, PositionSemantics & result) const;
         static bool compose(const RotationSemantics & op1, const RotationSemantics & op2, RotationSemantics & result);
         static bool inverse2(const RotationSemantics & op, RotationSemantics & result);
         ///@}
diff --git a/core-experimental/include/iDynTree/Core/Transform.h b/core-experimental/include/iDynTree/Core/Transform.h
index 834f4c30ddf..2e05baf46e2 100644
--- a/core-experimental/include/iDynTree/Core/Transform.h
+++ b/core-experimental/include/iDynTree/Core/Transform.h
@@ -9,7 +9,8 @@
 #define IDYNTREE_TRANSFORM_H
 
 #include <string>
-#include "TransformRaw.h"
+#include "Position.h"
+#include "Rotation.h"
 #include "TransformSemantics.h"
 
 namespace iDynTree
@@ -22,6 +23,9 @@ namespace iDynTree
     class SpatialAcc;
     class SpatialInertia;
 
+    class PositionSemantics;
+    class RotationSemantics;
+
     /**
      * Class representation the relative displacement between two different frames.
      *
@@ -45,11 +49,13 @@ namespace iDynTree
      * matrix, no raw access to the underline storage ( data() method ) is provided, because it does not
      * have a canonical representation.
      */
-    class Transform: public TransformRaw
+    class Transform
     {
-    private:
+    protected:
+        Position pos;
+        Rotation rot;
         TransformSemantics semantics;
-
+        
     public:
         /**
          * Default constructor: initialize the rotation to the identity and the translation to 0
@@ -59,12 +65,7 @@ namespace iDynTree
         /**
          * Constructor from a rotation and a point (can raise error on semantics of the passed elements)
          */
-        Transform(const Rotation & rot, const Position & origin);
-
-        /**
-         * Copy constructor: create a Transform from a TransformRaw.
-         */
-        Transform(const TransformRaw & other);
+        Transform(const Rotation & _rot, const Position & origin);
 
         /**
          * Copy constructor: create a Transform from another Transform.
@@ -72,62 +73,50 @@ namespace iDynTree
         Transform(const Transform & other);
 
         /**
-         * Denstructor
+         * Destructor
          */
         virtual ~Transform();
 
         /**
          * Semantic accessor
          */
-        TransformSemantics& getSemantics();
+        TransformSemantics & getSemantics();
 
         /**
          * Const semantic getter
          */
-        const TransformSemantics& getSemantics() const;
+        const TransformSemantics & getSemantics() const;
 
         /**
          * Get the rotation part of the transform
          */
-        const Rotation getRotation() const;
+        const Rotation & getRotation() const;
 
         /**
          * Get the translation part of the transform
          */
-        const Position getPosition() const;
+        const Position & getPosition() const;
 
         /**
          * Set the rotation part of the transform
          */
-        const bool setRotation(const Rotation & rotation);
+        void setRotation(const Rotation & rotation);
 
         /**
          * Set the translation part of the transform
          */
-        const bool setPosition(const Position & position);
+        void setPosition(const Position & position);
 
-        /**
-         * Set the rotation part of the transform, from a RotationRaw
-         */
-        const bool setRotation(const RotationRaw & rotation);
-
-        /**
-         * Set the translation part of the transform, from a PositionRaw
-         */
-        const bool setPosition(const PositionRaw & position);
-
-        // semantics operation
+        // geometric operations on 3x1 vectors (positions and rotations and homogemeous tranform)
         static Transform compose(const Transform & op1, const Transform & op2);
-        static Transform inverse2(const Transform & orient);
-        static Position transform(const Transform & op1, const Position & op2);
-        static Wrench   transform(const Transform & op1, const Wrench   & op2);
-        static Twist    transform(const Transform & op1, const Twist    & op2);
-        static SpatialMomentum transform(const Transform & op1, const SpatialMomentum & op2);
-        static SpatialAcc      transform(const Transform & op1, const SpatialAcc & op2);
-        static SpatialInertia  transform(const Transform & op1, const SpatialInertia & op2);
+        static Transform inverse2(const Transform & trans);
 
         /**
          * overloaded operators
+         * 
+         * They overload geometric operations which are local functions in Transform.cpp. These functions are
+         * not exported because they are templated, and exporting templates on Windows might cause compatibility 
+         * issues.
          */
         Transform operator*(const Transform & other) const;
         Transform inverse() const;
@@ -138,6 +127,11 @@ namespace iDynTree
         SpatialAcc   operator*(const SpatialAcc & other) const;
         SpatialInertia operator*(const SpatialInertia  & other) const;
 
+        /**
+         * constructor helpers
+         */
+        static Transform Identity();
+        
         /** @name Output helpers.
          *  Output helpers.
          */
diff --git a/core-experimental/include/iDynTree/Core/TransformRaw.h b/core-experimental/include/iDynTree/Core/TransformRaw.h
deleted file mode 100644
index 56c1b26beda..00000000000
--- a/core-experimental/include/iDynTree/Core/TransformRaw.h
+++ /dev/null
@@ -1,81 +0,0 @@
-/*
- * Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia
- * Authors: Silvio Traversaro
- * CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
- *
- */
-
-#ifndef IDYNTREE_TRANSFORM_RAW_H
-#define IDYNTREE_TRANSFORM_RAW_H
-
-#include <string>
-#include "PositionRaw.h"
-#include "RotationRaw.h"
-
-namespace iDynTree
-{
-    class SpatialMotionVectorRaw;
-    class SpatialForceVectorRaw;
-    class SpatialInertiaRaw;
-
-    /**
-     * Class providing the raw coordinates for iDynTree::Transform class.
-     * This class matches the specific representation of a pose as an
-     * homogeneous transformatin matrix.
-     *
-     * \ingroup iDynTreeCore
-     */
-    class TransformRaw
-    {
-    protected:
-        RotationRaw rot;
-        PositionRaw pos;
-
-    public:
-        /**
-         * Default constructor: initialize the rotation to the identity and the translation to 0
-         */
-        TransformRaw();
-
-        /**
-         * Constructor from a rotation and a point
-         */
-        TransformRaw(const RotationRaw & rot, const PositionRaw & origin);
-
-        /**
-         * Copy constructor: create a Transform from a TransformRaw.
-         */
-        TransformRaw(const TransformRaw & other);
-
-        /**
-         * Destructor
-         */
-        virtual ~TransformRaw();
-
-        /**
-         * Geometric operations.
-         */
-        static TransformRaw compose(const TransformRaw & op1, const TransformRaw & op2);
-        static TransformRaw inverse2(const TransformRaw & trans);
-        static PositionRaw transform(const TransformRaw & op1, const PositionRaw & op2);
-        static SpatialMotionVectorRaw transform(const TransformRaw & op1, const SpatialMotionVectorRaw & op2);
-        static SpatialForceVectorRaw  transform(const TransformRaw & op1, const SpatialForceVectorRaw & op2);
-        static SpatialInertiaRaw      transform(const TransformRaw & op1, const SpatialInertiaRaw & op2);
-
-        /**
-         * constructor helpers
-         */
-        static TransformRaw Identity();
-
-        /** @name Output helpers.
-         *  Output helpers.
-         */
-        ///@{
-        std::string toString() const;
-
-        std::string reservedToString() const;
-        ///@}
-    };
-}
-
-#endif
\ No newline at end of file
diff --git a/core-experimental/include/iDynTree/Core/TransformSemantics.h b/core-experimental/include/iDynTree/Core/TransformSemantics.h
index e7f5d074d2f..a22cc70b6da 100644
--- a/core-experimental/include/iDynTree/Core/TransformSemantics.h
+++ b/core-experimental/include/iDynTree/Core/TransformSemantics.h
@@ -14,7 +14,8 @@ namespace iDynTree
 {
     class PositionSemantics;
     class RotationSemantics;
-
+    class Transform;
+    
     /**
      * Class providing the semantics for iDynTree::Transform class.
      *
@@ -23,31 +24,25 @@ namespace iDynTree
     class TransformSemantics
     {
     private:
-        int point;
-        int orientationFrame;
-        int refPoint;
-        int refOrientationFrame;
-        int coordinateFrame;
-
-    public:
         /**
-         * Default constructor: initialize all semantics to unknown
+         * copy assignment operator
          */
-        TransformSemantics();
+        TransformSemantics & operator= (const TransformSemantics & other);
+        
+    protected:
+        PositionSemantics & positionSemantics;
+        RotationSemantics & rotationSemantics;
 
+        bool check_position2rotationConsistency(const PositionSemantics& position, const RotationSemantics& rotation);
+        
+    public:
         /**
-         * constructor: initialize all semantics from individual parameters.
+         * Default constructor: initialize all semantics from a Transform object (create links)
          */
-        TransformSemantics(int _orientationFrame, int _refOrientationFrame);
+        TransformSemantics(PositionSemantics & position, RotationSemantics & rotation);
 
         /**
-         * Copy constructor: create a TransformSemantics from a TransformSemantics.
-         */
-        TransformSemantics(const TransformSemantics & other);
-        
-
-        /**
-         * Denstructor
+         * Destructor
          */
         virtual ~TransformSemantics();
 
@@ -55,12 +50,12 @@ namespace iDynTree
         /**
          * Get the rotation part of the transform
          */
-        const RotationSemantics getRotationSemantics() const;
+        const RotationSemantics & getRotationSemantics() const;
 
         /**
          * Get the translation part of the transform
          */
-        const PositionSemantics getPositionSemantics() const;
+        const PositionSemantics & getPositionSemantics() const;
 
         /**
          * Set the rotation part of the transform
@@ -73,42 +68,13 @@ namespace iDynTree
         bool setPositionSemantics(const PositionSemantics & position);
 
         /**
-          * @name Semantics setters and getters.
-          *  Semantics setters and getters.
-          */
-        ///@{
-        int getPoint() const;
-        int getOrientationFrame() const;
-        int getReferencePoint() const;
-        int getReferenceOrientationFrame() const;
-        int getCoordinateFrame() const;
-
-        void setPoint(int _point);
-        void setOrientationFrame(int _orientationFrame);
-        void setReferencePoint(int _refPoint);
-        void setReferenceOrientationFrame(int _refOrientationFrame);
-        ///@}
-
-        /**
-         * semantics operation
+         * Semantics operations: all of them are done through the Semantics methods from
+         * Position and Rotation classes, which compose the Transform class.
          */
-        static bool check_compose(const TransformSemantics & op1, const TransformSemantics & op2);
-        static bool check_inverse2(const TransformSemantics & orient);
-        static bool check_transform(const TransformSemantics & op1, const PositionSemantics & op2);
-
-        static TransformSemantics compose(const TransformSemantics & op1, const TransformSemantics & op2);
-        static void compose(const TransformSemantics & op1, const TransformSemantics & op2, TransformSemantics & result);
-        static TransformSemantics inverse2(const TransformSemantics & trans);
-        static void inverse2(const TransformSemantics & trans, TransformSemantics & result);
-        static PositionSemantics transform(const TransformSemantics & op1, const PositionSemantics & op2);
-        static void transform(const TransformSemantics & op1, const PositionSemantics & op2, PositionSemantics & result);
 
         /**
-         * overloaded operators
+         * overloaded operators: done through Position and Rotation classes
          */
-        TransformSemantics operator*(const TransformSemantics & other) const;
-        TransformSemantics inverse() const;
-        PositionSemantics operator*(const PositionSemantics & op2) const;
 
         /** @name Output helpers.
          *  Output helpers.
@@ -118,6 +84,8 @@ namespace iDynTree
 
         std::string reservedToString() const;
         ///@}
+        
+        friend class Transform;
     };
 }
 
diff --git a/core-experimental/src/Position.cpp b/core-experimental/src/Position.cpp
index 632e9701a97..fbce20b790b 100644
--- a/core-experimental/src/Position.cpp
+++ b/core-experimental/src/Position.cpp
@@ -7,6 +7,8 @@
 
 #include "Position.h"
 #include "Rotation.h"
+#include "Twist.h"
+#include "Wrench.h"
 #include "Utils.h"
 #include <cassert>
 #include <iostream>
@@ -71,7 +73,7 @@ namespace iDynTree
 
     const Position& Position::changeCoordinateFrame(const Rotation & newCoordinateFrame)
     {
-        *this = newCoordinateFrame.convertToNewCoordFrame(*this);
+        *this = newCoordinateFrame.changeCoordFrameOf(*this);
         return *this;
     }
 
@@ -90,6 +92,16 @@ namespace iDynTree
         return Position(PositionRaw::inverse(op),resultSemantics);
     }
 
+    Twist Position::changePointOf(const Twist & other) const
+    {
+        return PositionRaw::changePointOf(other);
+    }
+    
+    Wrench Position::changePointOf(const Wrench & other) const
+    {
+        return PositionRaw::changePointOf(other);
+    }
+
     // overloaded operators
     Position Position::operator+(const Position& other) const
     {
@@ -106,6 +118,16 @@ namespace iDynTree
         return inverse(*this);
     }
     
+    Twist Position::operator*(const Twist& other) const
+    {
+        return changePointOf(other);
+    }
+    
+    Wrench Position::operator*(const Wrench& other) const
+    {
+        return changePointOf(other);
+    }
+    
     std::string Position::toString() const
     {
         std::stringstream ss;
diff --git a/core-experimental/src/PositionRaw.cpp b/core-experimental/src/PositionRaw.cpp
index 87036c6d7f7..4bef5c8d691 100644
--- a/core-experimental/src/PositionRaw.cpp
+++ b/core-experimental/src/PositionRaw.cpp
@@ -7,6 +7,8 @@
 
 #include "PositionRaw.h"
 #include "RotationRaw.h"
+#include "SpatialMotionVectorRaw.h"
+#include "SpatialForceVectorRaw.h"
 #include "Utils.h"
 #include <cstdio>
 #include <sstream>
@@ -15,6 +17,8 @@
 #include <Eigen/Geometry>
 
 typedef Eigen::Matrix<double,3,3,Eigen::RowMajor> Matrix3dRowMajor;
+typedef Eigen::Matrix<double,6,1> Vector6d;
+
 
 namespace iDynTree
 {
@@ -117,16 +121,6 @@ namespace iDynTree
         return *this;
     }
     
-    const PositionRaw& PositionRaw::changeCoordinateFrame(const RotationRaw & newCoordinateFrame)
-    {
-        Eigen::Map<const Matrix3dRowMajor> newCoordFrame(newCoordinateFrame.data());
-        Eigen::Map<Eigen::Vector3d> positionCoord(this->data());
-        
-        positionCoord = newCoordFrame*positionCoord;
-        
-        return *this;
-    }
-    
     PositionRaw PositionRaw::compose(const PositionRaw& op1, const PositionRaw& op2)
     {
         PositionRaw result;
@@ -145,8 +139,34 @@ namespace iDynTree
         return result;
     }
     
+    SpatialMotionVectorRaw PositionRaw::changePointOf(const SpatialMotionVectorRaw & other) const
+    {
+        SpatialMotionVectorRaw result;
+        
+        Eigen::Map<const Eigen::Vector3d> thisPos(this->data());
+        Eigen::Map<const Vector6d> otherTwist(other.data());
+        Eigen::Map<Vector6d> resTwist(result.data());
+        
+        resTwist.segment<3>(0) =  otherTwist.segment<3>(0)+thisPos.cross(otherTwist.segment<3>(3));
+        resTwist.segment<3>(3) =  otherTwist.segment<3>(3);
+        
+        return result;
+    }
     
-    
+    SpatialForceVectorRaw PositionRaw::changePointOf(const SpatialForceVectorRaw & other) const
+    {
+        SpatialForceVectorRaw result;
+        
+        Eigen::Map<const Eigen::Vector3d> thisPos(this->data());
+        Eigen::Map<const Vector6d> otherWrench(other.data());
+        Eigen::Map<Vector6d> resWrench(result.data());
+        
+        resWrench.segment<3>(0) = otherWrench.segment<3>(0);
+        resWrench.segment<3>(3) = thisPos.cross(otherWrench.segment<3>(0))+otherWrench.segment<3>(3);
+        
+        return result;
+    }
+
     std::string PositionRaw::toString() const
     {
         std::stringstream ss;
diff --git a/core-experimental/src/PositionSemantics.cpp b/core-experimental/src/PositionSemantics.cpp
index 290254e32e9..7ebdc5abcc1 100644
--- a/core-experimental/src/PositionSemantics.cpp
+++ b/core-experimental/src/PositionSemantics.cpp
@@ -113,24 +113,6 @@ namespace iDynTree
         return status;
     }
 
-    bool PositionSemantics::check_changeCoordinateFrame(const RotationSemantics & newCoordinateFrame)
-    {
-        return reportErrorIf(!checkEqualOrUnknown(newCoordinateFrame.getOrientationFrame(),this->coordinateFrame),
-                             __PRETTY_FUNCTION__,
-                             "transformation's orientationFrame is different from current coordinateFrame\n");
-    }
-
-    bool PositionSemantics::changeCoordinateFrame(const RotationSemantics & newCoordinateFrame)
-    {
-        // check semantics
-        bool status = this->check_changeCoordinateFrame(newCoordinateFrame);
-        
-        // set new semantics
-        this->coordinateFrame = newCoordinateFrame.getCoordinateFrame();
-        
-        return status;
-    }
-    
     bool PositionSemantics::check_compose(const PositionSemantics& op1, const PositionSemantics& op2)
     {
         return (   reportErrorIf(!checkEqualOrUnknown(op1.coordinateFrame,op2.coordinateFrame),
diff --git a/core-experimental/src/Rotation.cpp b/core-experimental/src/Rotation.cpp
index 8ba4dadcbc4..656ec85dd58 100644
--- a/core-experimental/src/Rotation.cpp
+++ b/core-experimental/src/Rotation.cpp
@@ -89,29 +89,29 @@ namespace iDynTree
         return Rotation(RotationRaw::inverse2(orient),resultSemantics);
     }
 
-    Position Rotation::convertToNewCoordFrame(const Position & other) const
+    Position Rotation::changeCoordFrameOf(const Position & other) const
     {
         PositionSemantics resultSemantics;
-        iDynTreeAssert( this->semantics.convertToNewCoordFrame(other.getSemantics(), resultSemantics) );
-        return Position(this->RotationRaw::convertToNewCoordFrame(other), resultSemantics);
+        iDynTreeAssert( this->semantics.changeCoordFrameOf(other.getSemantics(), resultSemantics) );
+        return Position(this->RotationRaw::changeCoordFrameOf(other), resultSemantics);
     }
     
-    Twist Rotation::convertToNewCoordFrame(const Twist& other) const
+    Twist Rotation::changeCoordFrameOf(const Twist& other) const
     {
         Twist result;
 
         // \todo TODO add semantics to Twist
-        result = RotationRaw::convertToNewCoordFrame(other);
+        result = RotationRaw::changeCoordFrameOf(other);
 
         return result;
     }
 
-    Wrench Rotation::convertToNewCoordFrame(const Wrench& other) const
+    Wrench Rotation::changeCoordFrameOf(const Wrench &other) const
     {
         Wrench result;
 
         // \todo TODO add semantics to Wrench
-        result = RotationRaw::convertToNewCoordFrame(other);
+        result = RotationRaw::changeCoordFrameOf(other);
 
         return result;
     }
@@ -128,19 +128,44 @@ namespace iDynTree
 
     Position Rotation::operator*(const Position& other) const
     {
-        return convertToNewCoordFrame(other);
+        return changeCoordFrameOf(other);
     }
 
     Twist Rotation::operator*(const Twist& other) const
     {
-        return convertToNewCoordFrame(other);
+        return changeCoordFrameOf(other);
     }
 
     Wrench Rotation::operator*(const Wrench& other) const
     {
-        return convertToNewCoordFrame(other);
+        return changeCoordFrameOf(other);
     }
 
+    Rotation Rotation::RotX(const double angle)
+    {
+        return Rotation(RotationRaw::RotX(angle));
+    }
+    
+    Rotation Rotation::RotY(const double angle)
+    {
+        return Rotation(RotationRaw::RotY(angle));
+    }
+    
+    Rotation Rotation::RotZ(const double angle)
+    {
+        return Rotation(RotationRaw::RotZ(angle));
+    }
+    
+    Rotation Rotation::RPY(const double roll, const double pitch, const double yaw)
+    {
+        return Rotation(RotationRaw::RPY(roll, pitch, yaw));
+    }
+    
+    Rotation Rotation::Identity()
+    {
+        return Rotation();
+    }
+    
     std::string Rotation::toString() const
     {
         std::stringstream ss;
diff --git a/core-experimental/src/RotationRaw.cpp b/core-experimental/src/RotationRaw.cpp
index eda3686b215..8f2d48a5aee 100644
--- a/core-experimental/src/RotationRaw.cpp
+++ b/core-experimental/src/RotationRaw.cpp
@@ -157,7 +157,7 @@ namespace iDynTree
         return result;
     }
     
-    PositionRaw RotationRaw::convertToNewCoordFrame(const PositionRaw & other) const
+    PositionRaw RotationRaw::changeCoordFrameOf(const PositionRaw & other) const
     {
         PositionRaw result;
         
@@ -170,7 +170,7 @@ namespace iDynTree
         return result;
     }
     
-    SpatialMotionVectorRaw RotationRaw::convertToNewCoordFrame(const SpatialMotionVectorRaw& other) const
+    SpatialMotionVectorRaw RotationRaw::changeCoordFrameOf(const SpatialMotionVectorRaw& other) const
     {
         SpatialMotionVectorRaw result;
         
@@ -185,7 +185,7 @@ namespace iDynTree
         return result;
     }
     
-    SpatialForceVectorRaw RotationRaw::convertToNewCoordFrame(const SpatialForceVectorRaw& other) const
+    SpatialForceVectorRaw RotationRaw::changeCoordFrameOf(const SpatialForceVectorRaw& other) const
     {
         SpatialForceVectorRaw result;
         
@@ -201,31 +201,6 @@ namespace iDynTree
     }
     
     
-    RotationRaw RotationRaw::inverse() const
-    {
-        return RotationRaw::inverse2(*this);
-    }
-    
-    RotationRaw RotationRaw::operator*(const RotationRaw& other) const
-    {
-        return compose(*this,other);
-    }
-    
-    PositionRaw RotationRaw::operator*(const PositionRaw& other) const
-    {
-        return convertToNewCoordFrame(other);
-    }
-    
-    SpatialMotionVectorRaw RotationRaw::operator*(const SpatialMotionVectorRaw& other) const
-    {
-        return convertToNewCoordFrame(other);
-    }
-    
-    SpatialForceVectorRaw RotationRaw::operator*(const SpatialForceVectorRaw& other) const
-    {
-        return convertToNewCoordFrame(other);
-    }
-    
     RotationRaw RotationRaw::RotX(const double angle)
     {
         RotationRaw result;
@@ -255,14 +230,14 @@ namespace iDynTree
     
     RotationRaw RotationRaw::RPY(const double roll, const double pitch, const double yaw)
     {
-        return RotX(roll)*RotY(pitch)*RotZ(yaw);
+        return compose(RotX(roll), compose(RotY(pitch), RotZ(yaw)));
     }
-
-RotationRaw RotationRaw::Identity()
-{
-    return RotationRaw();
-}
-
+    
+    RotationRaw RotationRaw::Identity()
+    {
+        return RotationRaw();
+    }
+    
     
     std::string RotationRaw::toString() const
     {
diff --git a/core-experimental/src/RotationSemantics.cpp b/core-experimental/src/RotationSemantics.cpp
index a56b6af216c..05e22ed18e7 100644
--- a/core-experimental/src/RotationSemantics.cpp
+++ b/core-experimental/src/RotationSemantics.cpp
@@ -83,7 +83,7 @@ namespace iDynTree
                              "the refOrientationFrame of this object does not match the orientationFrame of the newRefOrientFrame\n");
     }
 
-    bool RotationSemantics::check_convertToNewCoordFrame(const PositionSemantics & op) const
+    bool RotationSemantics::check_changeCoordFrameOf(const PositionSemantics & op) const
     {
         return reportErrorIf(!checkEqualOrUnknown(this->orientationFrame,op.getCoordinateFrame()),
                              __PRETTY_FUNCTION__,
@@ -124,10 +124,10 @@ namespace iDynTree
         return status;
     }
 
-    bool RotationSemantics::convertToNewCoordFrame(const PositionSemantics & other, PositionSemantics & result) const
+    bool RotationSemantics::changeCoordFrameOf(const PositionSemantics & other, PositionSemantics & result) const
     {
         // check semantics
-        bool status = this->check_convertToNewCoordFrame(other);
+        bool status = this->check_changeCoordFrameOf(other);
         
         // set new semantics
         result = other;
diff --git a/core-experimental/src/Transform.cpp b/core-experimental/src/Transform.cpp
index 945c19a8295..e8d6cabe0c1 100644
--- a/core-experimental/src/Transform.cpp
+++ b/core-experimental/src/Transform.cpp
@@ -14,81 +14,80 @@
 #include "SpatialAcc.h"
 #include "SpatialInertia.h"
 
+#include "PrivateUtils.h"
 #include "Utils.h"
 
+#include <Eigen/Dense>
 #include <cassert>
 #include <iostream>
 #include <sstream>
 
-namespace iDynTree
-{
-
-Transform::Transform(): TransformRaw()
-{
-}
-
-Transform::Transform(const Transform& other): TransformRaw(other),
-                                              semantics(other.getSemantics())
-{
-}
+typedef Eigen::Matrix<double,3,3,Eigen::RowMajor> Matrix3dRowMajor;
 
-Transform::Transform(const TransformRaw& other): TransformRaw(other)
+namespace iDynTree
 {
 
-}
+/**
+ * Static functions
+ * 
+ * We define here templated functions implementing geometrical operations, listed below
+ * (with the respective instanciation result):
+ * 
+ * - geometric operations on 3x1 vectors (positions and rotations and homogemeous tranform)
+ *
+ *   static Position transform(const Transform & op1, const Position & op2)
+ *
+ * - geometric operations on spatial 6x1 vectors (Twist, SpatialAcc, SpatialMomentum, Wrench).
+ *   The distinction between these vectors is handled in Position and Rotation operations
+ *   through overloaded functions.
+ *
+ *   static Wrench   transform(const Transform & op1, const Wrench   & op2)
+ *   static Twist    transform(const Transform & op1, const Twist    & op2)
+ *   static SpatialMomentum transform(const Transform & op1, const SpatialMomentum & op2)
+ *   static SpatialAcc      transform(const Transform & op1, const SpatialAcc & op2)
+ *   
+ * - geometric operations on spatial 6x6 matrices (SpatialInertia).
+ *
+ *   static SpatialInertia  transform(const Transform & op1, const SpatialInertia & op2)
+ */
 
-Transform::Transform(const Rotation& rot, const Position& origin)
-{
-    // warning: this could cause errors
-    this->setRotation(rot);
-    this->setPosition(origin);
-}
+template<class T>
+static T transform(const Transform & op1, const T & op2);
 
-Transform::~Transform()
-{
+template<>
+Position transform(const Transform& op1, const Position& op2);
 
-}
+template<>
+SpatialInertia transform(const Transform& op1, const SpatialInertia& op2);
 
-const Position Transform::getPosition() const
-{
-    Position result = this->pos;
-    result.getSemantics().setCoordinateFrame(this->semantics.getReferenceOrientationFrame());
-    result.getSemantics().setPoint(this->semantics.getPoint());
-    result.getSemantics().setReferencePoint(this->semantics.getReferencePoint());
-    return result;
-}
+    
+/**
+ * Class functions
+ */
 
-const Rotation Transform::getRotation() const
+Transform::Transform(): pos(),
+                        rot(),
+                        semantics(pos.getSemantics(), rot.getSemantics())
 {
-    Rotation result = this->rot;
-    result.getSemantics().setOrientationFrame(this->semantics.getOrientationFrame());
-    result.getSemantics().setReferenceOrientationFrame(this->semantics.getReferenceOrientationFrame());
-    return result;
 }
 
-const bool Transform::setPosition(const Position& position)
+Transform::Transform(const Rotation& _rot, const Position& origin): pos(origin),
+                                                                    rot(_rot),
+                                                                    semantics(pos.getSemantics(), rot.getSemantics())
 {
-    this->pos = position;
-    return this->semantics.setPositionSemantics(position.getSemantics());
 }
 
-const bool Transform::setRotation(const Rotation& rotation)
+Transform::Transform(const Transform& other): pos(other.getPosition()),
+                                              rot(other.getRotation()),
+                                              semantics(pos.getSemantics(), rot.getSemantics())
 {
-    this->rot = rotation;
-    return this->semantics.setRotationSemantics(rotation.getSemantics());
 }
-
-const bool Transform::setPosition(const PositionRaw& position)
+    
+Transform::~Transform()
 {
-    return setPosition(iDynTree::Position(position));
-}
 
-const bool Transform::setRotation(const RotationRaw& rotation)
-{
-    return setRotation(iDynTree::Rotation(rotation));
 }
 
-
 TransformSemantics& Transform::getSemantics()
 {
     return this->semantics;
@@ -98,98 +97,58 @@ const TransformSemantics& Transform::getSemantics() const
 {
     return this->semantics;
 }
-
-Transform Transform::compose(const Transform& op1, const Transform& op2)
+    
+const Position& Transform::getPosition() const
 {
-    Transform result;
-
-    if( TransformSemantics::check_compose(op1.getSemantics(),op2.getSemantics()) )
-    {
-        result = TransformRaw::compose(op1,op2);
-        TransformSemantics::compose(op1.getSemantics(),op2.getSemantics(),result.getSemantics());
-    }
-
-    return result;
-}
-
-Transform Transform::inverse2(const Transform& trans)
-{
-    Transform result;
-
-    if( TransformSemantics::check_inverse2(trans.getSemantics()) )
-    {
-        result = TransformRaw::inverse2(trans);
-        TransformSemantics::inverse2(trans.getSemantics(),result.getSemantics());
-    }
-
-    return result;
+    return this->pos;
 }
 
-Position Transform::transform(const Transform& op1, const Position& op2)
+const Rotation& Transform::getRotation() const
 {
-    Position result;
-
-    if( TransformSemantics::check_transform(op1.getSemantics(),op2.getSemantics()) )
-    {
-        result = TransformRaw::transform(op1,op2);
-        TransformSemantics::transform(op1.getSemantics(),op2.getSemantics(),result.getSemantics());
-    }
-
-    return result;
+    return this->rot;
 }
 
-Twist Transform::transform(const Transform& op1, const Twist& op2)
+void Transform::setPosition(const Position& position)
 {
-    Twist result;
-
-    // \todo TODO add semantics to Twist
-    result = TransformRaw::transform(op1,op2);
-
-    return result;
+    // check consistency of setted position with existing rotation
+    // and set the semantics.
+    iDynTreeAssert(this->semantics.setPositionSemantics(position.getSemantics()));
+    
+    // set position
+    this->pos = position;
 }
 
-Wrench Transform::transform(const Transform& op1, const Wrench& op2)
+void Transform::setRotation(const Rotation& rotation)
 {
-    Wrench result;
-
-    // \todo TODO add semantics to Wrench
-    result = TransformRaw::transform(op1,op2);
-
-    return result;
+    // check consistency of setted rotation with existing position
+    // and set the semantics.
+    iDynTreeAssert(this->semantics.setRotationSemantics(rotation.getSemantics()));
+    
+    // set rotation
+    this->rot = rotation;
 }
 
-SpatialMomentum Transform::transform(const Transform& op1, const SpatialMomentum& op2)
-{
-    SpatialMomentum result;
 
-    // \todo TODO add semantics to Twist
-    result = TransformRaw::transform(op1,op2);
-
-    return result;
-}
-
-SpatialAcc Transform::transform(const Transform& op1, const SpatialAcc& op2)
+Transform Transform::compose(const Transform& op1, const Transform& op2)
 {
-    SpatialAcc result;
-
-    // \todo TODO add semantics to Wrench
-    result = TransformRaw::transform(op1,op2);
-
+    Transform result;
+    
+    result.setRotation(op1.getRotation()*op2.getRotation());
+    result.setPosition(op1.getRotation()*op2.getPosition()+op1.getPosition());
+    
     return result;
 }
 
-SpatialInertia Transform::transform(const Transform& op1, const SpatialInertia& op2)
+Transform Transform::inverse2(const Transform& trans)
 {
-    SpatialInertia result;
-
-    // \todo TODO add semantics to Wrench
-    result = TransformRaw::transform(op1,op2);
-
+    Transform result;
+    
+    result.setRotation(trans.getRotation().inverse());
+    result.setPosition(-(result.getRotation()*trans.getPosition()));
+    
     return result;
 }
 
-
-
 Transform Transform::operator*(const Transform& other) const
 {
     return compose(*this,other);
@@ -203,39 +162,47 @@ Transform Transform::inverse() const
 
 Position Transform::operator*(const Position& op2) const
 {
-    return Transform::transform(*this,op2);
+    return transform<Position>(*this,op2);
 }
 
 Twist Transform::operator*(const Twist& op2) const
 {
-    return Transform::transform(*this,op2);
+    return transform<Twist>(*this,op2);
 }
 
 Wrench Transform::operator*(const Wrench& op2) const
 {
-    return Transform::transform(*this,op2);
+    return transform<Wrench>(*this,op2);
 }
 
 SpatialMomentum Transform::operator*(const SpatialMomentum& op2) const
 {
-    return Transform::transform(*this,op2);
+    return transform<SpatialMomentum>(*this,op2);
 }
 
 SpatialAcc Transform::operator*(const SpatialAcc& op2) const
 {
-    return Transform::transform(*this,op2);
+    return transform<SpatialAcc>(*this,op2);
 }
 
+
 SpatialInertia Transform::operator*(const SpatialInertia& op2) const
 {
-    return Transform::transform(*this,op2);
+    return transform<SpatialInertia>(*this,op2);
+}
+
+Transform Transform::Identity()
+{
+    return Transform();
 }
 
 std::string Transform::toString() const
 {
     std::stringstream ss;
-
-    ss << TransformRaw::toString() << " " << semantics.toString();
+    
+    ss << rot.toString() << " "
+       << pos.toString() << " "
+       << semantics.toString() << std::endl;
 
     return ss.str();
 }
@@ -246,5 +213,97 @@ std::string Transform::reservedToString() const
 }
 
 
+/**
+ * Static functions
+ * 
+ *
+ */
+    template<class T>
+    T transform(const Transform& op1, const T& op2)
+    {
+        /*
+         *### Twist Transform::transform(const Transform& op1, const Twist& op2)
+         *
+         * The Twist is a Spatial Motion vector.
+         * We decompose the spatial transform as the product of the translation
+         * and the rotation:
+         * B^X_A = |E   0|.|1   0|
+         *         |0   E| |r˜' 1|
+         *
+         * A^X_B = |1   0|.|E'  0 | = xlt(-r) * rot(E')
+         *         |r˜  1| |0   E'|
+         * where E is the rotation transforming coordinates from [A] to [B],
+         * E' is the rotation transforming coordinates from [B] to [A] (op1.rot),
+         * r the position of B with respect to A => op1.pos
+         * xlt(r) the spatial translation component of A^X_B = xlt(op1.pos)
+         * rot(E') the spatial rotation component of A^X_B = rot(op1.rot)
+         *
+         * so, considering a given "twist":
+         * A^X_B * twist = xlt(op1.pos) * rot(op1.rot) * twist
+         *
+         * If we associate (xlt(op1.pos)*) to the operator Position::operator * (Twist&),
+         * and (rot(op1.rot)*) to the operator Rotation::operator * (Twist&), we then get:
+         *
+         * op1 * twist = op1.pos * (op1.rot * op2)
+         *
+         *### Wrench Transform::transform(const Transform& op1, const Wrench& op2)
+         *
+         * Same thing as for Twist, but with translation and rotation for a Spatial Force vector:
+         *
+         * A^X_B^* = xlt(r)' * rot(E')
+         *
+         * Position::operator * (Twist&) |-> (xlt(r)' *)
+         * Rotation::operator * (Twist&) |-> (rot(E') *)
+         *
+         *### SpatialMomentum Transform::transform(const Transform& op1, const SpatialMomentum& op2)
+         *
+         * The Spatial Momentum is a Spatial Force vector
+         *
+         *###SpatialAcc Transform::transform(const Transform& op1, const SpatialAcc& op2)
+         *
+         * The Spatial Acceleration is a Spatial Motion vector
+         *
+         */
+        
+        return op1.getPosition()*(op1.getRotation()*op2);
+    }
+    
+    template<>
+    Position transform(const Transform& op1, const Position& op2)
+    {
+        /* op2 is a vector of dimention 3. We expand here the dot product
+         * between the homogeneous transform and the homogeneous position
+         * (vector of dim 4), as being : [T].[x y z 1]'
+         */
+        return (op1.getRotation()*op2+op1.getPosition());
+    }
+
+    template<>
+    SpatialInertia transform(const Transform& op1, const SpatialInertia& op2)
+    {
+        /* The transform of a Spatial Inertia is defined as follows:
+         * A^I = A^X_B^* * B^I * B^X_A
+         */
+        
+        // mass clearly remains the same
+        double newMass = op2.getMass();
+        
+        // the com is transformed as any position
+        Position newCenterOfMass = transform<Position>(op1,Position(op2.getCenterOfMass()));
+        
+        // the rotational inertial is rotated and then
+        // the parallel axis theorem applies
+        RotationalInertiaRaw newRotInertia;
+        Eigen::Map<Eigen::Matrix3d> newI(newRotInertia.data());
+        RotationalInertiaRaw oldRotInertia = op2.getRotationalInertiaWrtFrameOrigin();
+        Eigen::Map<const Eigen::Matrix3d> oldI(oldRotInertia.data());
+        
+        Eigen::Map<const Matrix3dRowMajor> R(op1.getRotation().data());
+        Eigen::Map<const Eigen::Vector3d> p(op1.getPosition().data());
+        
+        newI =  R*oldI*R.transpose() - newMass*squareCrossProductMatrix(p);
+        
+        return SpatialInertia(newMass,newCenterOfMass,newRotInertia);
+    }
 
 }
diff --git a/core-experimental/src/TransformRaw.cpp b/core-experimental/src/TransformRaw.cpp
deleted file mode 100644
index 6f651bd3bd3..00000000000
--- a/core-experimental/src/TransformRaw.cpp
+++ /dev/null
@@ -1,173 +0,0 @@
-/*
- * Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia
- * Authors: Silvio Traversaro
- * CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT
- *
- */
-
-#include "TransformRaw.h"
-#include "SpatialMotionVectorRaw.h"
-#include "SpatialForceVectorRaw.h"
-#include "SpatialInertiaRaw.h"
-#include "Utils.h"
-#include "PrivateUtils.h"
-
-#include <Eigen/Dense>
-
-#include <cstdio>
-#include <sstream>
-
-
-typedef Eigen::Matrix<double,3,3,Eigen::RowMajor> Matrix3dRowMajor;
-typedef Eigen::Matrix<double,6,1> Vector6d;
-
-
-namespace iDynTree
-{
-
-TransformRaw::TransformRaw(): rot(), pos()
-{
-
-}
-
-TransformRaw::TransformRaw(const RotationRaw& _rot, const PositionRaw& _origin): rot(_rot), pos(_origin)
-{
-
-}
-
-TransformRaw::TransformRaw(const TransformRaw& other): rot(other.rot), pos(other.pos)
-{
-}
-
-TransformRaw::~TransformRaw()
-{
-
-}
-
-TransformRaw TransformRaw::compose(const TransformRaw& op1, const TransformRaw& op2)
-{
-    TransformRaw result;
-
-    Eigen::Map<const Matrix3dRowMajor> op1Rot(op1.rot.data());
-    Eigen::Map<const Matrix3dRowMajor> op2Rot(op2.rot.data());
-    Eigen::Map<const Eigen::Vector3d> op1Pos(op1.pos.data());
-    Eigen::Map<const Eigen::Vector3d> op2Pos(op2.pos.data());
-
-    Eigen::Map<Matrix3dRowMajor> resRot(result.rot.data());
-    Eigen::Map<Eigen::Vector3d> resPos(result.pos.data());
-
-    resRot = op1Rot*op2Rot;
-    resPos = op1Rot*op2Pos+op1Pos;
-
-    return result;
-}
-
-TransformRaw TransformRaw::inverse2(const TransformRaw& trans)
-{
-    TransformRaw result;
-
-    Eigen::Map<const Matrix3dRowMajor> transRot(trans.rot.data());
-    Eigen::Map<const Eigen::Vector3d> transPos(trans.pos.data());
-
-    Eigen::Map<Matrix3dRowMajor> resRot(result.rot.data());
-    Eigen::Map<Eigen::Vector3d> resPos(result.pos.data());
-
-    resRot = transRot.transpose();
-    resPos = -resRot*transPos;
-
-    return result;
-}
-
-PositionRaw TransformRaw::transform(const TransformRaw& op1, const PositionRaw& op2)
-{
-    PositionRaw result;
-
-    Eigen::Map<const Matrix3dRowMajor> op1Rot(op1.rot.data());
-    Eigen::Map<const Eigen::Vector3d> op1Pos(op1.pos.data());
-    Eigen::Map<const Eigen::Vector3d> op2Pos(op2.data());
-
-    Eigen::Map<Eigen::Vector3d> resPos(result.data());
-
-    resPos = op1Rot*op2Pos+op1Pos;
-
-    return result;
-}
-
-SpatialMotionVectorRaw TransformRaw::transform(const TransformRaw& op1, const SpatialMotionVectorRaw& op2)
-{
-    SpatialMotionVectorRaw result;
-
-    Eigen::Map<const Matrix3dRowMajor> op1Rot(op1.rot.data());
-    Eigen::Map<const Eigen::Vector3d> op1Pos(op1.pos.data());
-    Eigen::Map<const Vector6d> op2Twist(op2.data());
-
-    Eigen::Map<Vector6d> resTwist(result.data());
-
-    resTwist.segment<3>(3) =  op1Rot*(op2Twist.segment<3>(3));
-    resTwist.segment<3>(0) =  op1Rot*(op2Twist.segment<3>(0))+op1Pos.cross(resTwist.segment<3>(3));
-
-    return result;
-}
-
-SpatialForceVectorRaw TransformRaw::transform(const TransformRaw& op1, const SpatialForceVectorRaw& op2)
-{
-    SpatialForceVectorRaw result;
-
-    Eigen::Map<const Matrix3dRowMajor> M(op1.rot.data());
-    Eigen::Map<const Eigen::Vector3d> p(op1.pos.data());
-    Eigen::Map<const Vector6d> f(op2.data());
-
-    Eigen::Map<Vector6d> resWrench(result.data());
-
-    resWrench.segment<3>(0) =  M*(f.segment<3>(0));
-    resWrench.segment<3>(3) =  M*(f.segment<3>(3))+p.cross(resWrench.segment<3>(0));
-
-    return result;
-}
-
-SpatialInertiaRaw TransformRaw::transform(const TransformRaw& op1, const SpatialInertiaRaw& op2)
-{
-    // mass clearly remains the same
-    double newMass = op2.getMass();
-
-    // the com is transformed as any position
-    PositionRaw newCom = TransformRaw::transform(op1,op2.getCenterOfMass());
-
-    // the rotational inertial is rotated and then
-    // the parallel axis theorem applies
-    RotationalInertiaRaw newRotInertia;
-    Eigen::Map<Eigen::Matrix3d> newI(newRotInertia.data());
-    RotationalInertiaRaw oldRotI = op2.getRotationalInertiaWrtFrameOrigin();
-    Eigen::Map<const Eigen::Matrix3d> oldI(oldRotI.data());
-
-    Eigen::Map<const Matrix3dRowMajor> R(op1.rot.data());
-    Eigen::Map<const Eigen::Vector3d> p(op1.pos.data());
-
-    newI =  R*oldI*R.transpose() - newMass*squareCrossProductMatrix(p);
-
-    return SpatialInertiaRaw(newMass,newCom,newRotInertia);
-}
-
-
-TransformRaw TransformRaw::Identity()
-{
-    return TransformRaw();
-}
-
-
-std::string TransformRaw::toString() const
-{
-    std::stringstream ss;
-
-    ss << rot.toString() << " "
-       << pos.toString() << std::endl;
-
-    return ss.str();
-}
-
-std::string TransformRaw::reservedToString() const
-{
-    return this->toString();
-}
-
-}
\ No newline at end of file
diff --git a/core-experimental/src/TransformSemantics.cpp b/core-experimental/src/TransformSemantics.cpp
index abd3ecae2a8..3e07d7c6f88 100644
--- a/core-experimental/src/TransformSemantics.cpp
+++ b/core-experimental/src/TransformSemantics.cpp
@@ -8,6 +8,9 @@
 #include "TransformSemantics.h"
 #include "RotationSemantics.h"
 #include "PositionSemantics.h"
+#include "Transform.h"
+#include "Position.h"
+#include "Rotation.h"
 #include "Utils.h"
 #include <cassert>
 #include <iostream>
@@ -16,28 +19,8 @@
 namespace iDynTree
 {
     
-    TransformSemantics::TransformSemantics(): point(UNKNOWN),
-                                              orientationFrame(UNKNOWN),
-                                              refPoint(UNKNOWN),
-                                              refOrientationFrame(UNKNOWN)
-    {
-        
-    }
-    
-    TransformSemantics::TransformSemantics(int _orientationFrame, int _refOrientationFrame): point(_orientationFrame),
-                                                                                             orientationFrame(_orientationFrame),
-                                                                                             refPoint(_refOrientationFrame),
-                                                                                             refOrientationFrame(_refOrientationFrame),
-                                                                                             coordinateFrame(_refOrientationFrame)
-    {
-        
-    }
-    
-    TransformSemantics::TransformSemantics(const TransformSemantics& other): point(other.point),
-                                                                             orientationFrame(other.orientationFrame),
-                                                                             refPoint(other.refPoint),
-                                                                             refOrientationFrame(other.refOrientationFrame),
-                                                                             coordinateFrame(other.coordinateFrame)
+    TransformSemantics::TransformSemantics(PositionSemantics & position, RotationSemantics & rotation): positionSemantics(position),
+                                                                                                        rotationSemantics(rotation)
     {
         
     }
@@ -47,219 +30,54 @@ namespace iDynTree
         
     }
     
-    int TransformSemantics::getPoint() const
-    {
-        return point;
-    }
-    
-    int TransformSemantics::getOrientationFrame() const
-    {
-        return orientationFrame;
-    }
-    
-    int TransformSemantics::getReferencePoint() const
-    {
-        return refPoint;
-    }
-    
-    int TransformSemantics::getReferenceOrientationFrame() const
-    {
-        return refOrientationFrame;
-    }
-    
-    int TransformSemantics::getCoordinateFrame() const
-    {
-        return coordinateFrame;
-    }
-    
-    void TransformSemantics::setPoint(int _point)
-    {
-        this->point = _point;
-    }
-    
-    void TransformSemantics::setOrientationFrame(int _orientationFrame)
-    {
-        this->orientationFrame = _orientationFrame;
-    }
-    
-    void TransformSemantics::setReferencePoint(int _refPoint)
-    {
-        this->refPoint = _refPoint;
-    }
-    
-    void TransformSemantics::setReferenceOrientationFrame(int _refOrientationFrame)
+    const PositionSemantics & TransformSemantics::getPositionSemantics() const
     {
-        this->refOrientationFrame = _refOrientationFrame;
+        return this->positionSemantics;
     }
     
-    const PositionSemantics TransformSemantics::getPositionSemantics() const
+    const RotationSemantics & TransformSemantics::getRotationSemantics() const
     {
-        return PositionSemantics(this->getPoint(),
-                                 this->getReferencePoint(),
-                                 this->getReferenceOrientationFrame());
+        return this->rotationSemantics;
     }
     
-    const RotationSemantics TransformSemantics::getRotationSemantics() const
+    bool TransformSemantics::check_position2rotationConsistency(const PositionSemantics& position, const RotationSemantics& rotation)
     {
-        return RotationSemantics(this->getOrientationFrame(),
-                                 this->getReferenceOrientationFrame());
+        return (   reportErrorIf(!checkEqualOrUnknown(position.getCoordinateFrame(), rotation.getCoordinateFrame()),
+                                 __PRETTY_FUNCTION__,
+                                 "position and rotation expressed in a different coordinateFrames\n")
+                && reportErrorIf(!checkEqualOrUnknown(position.getPoint(), rotation.getOrientationFrame()),
+                                 __PRETTY_FUNCTION__,
+                                 "position point is different from the orientation frame origin\n")
+                && reportErrorIf(!checkEqualOrUnknown(position.getReferencePoint(), rotation.getReferenceOrientationFrame()),
+                                 __PRETTY_FUNCTION__,
+                                 "position Ref point is different from the Ref orientation frame origin\n"));
     }
     
     bool TransformSemantics::setPositionSemantics(const PositionSemantics& position)
     {
         // check consistency of setted position with existing rotation
-        // \todo TODO should be move to a proper check_* method ?
-        if( !checkEqualOrUnknown(position.getCoordinateFrame(),this->getReferenceOrientationFrame()) )
-        {
-            reportError("TransformSemantics",
-                        "setPositionSemantics",
-                        "Mismatch between coordinateFrame of the setted position and referenceOrientationFrame of the Transform");
-            
-            return false;
-        }
+        bool status = this->check_position2rotationConsistency(position, this->getRotationSemantics());
         
-        this->point = position.getPoint();
-        this->refPoint = position.getReferencePoint();
-        if( this->getReferenceOrientationFrame() == UNKNOWN )
-        {
-            this->refOrientationFrame = position.getCoordinateFrame();
-        }
+        // set semantics
+        this->positionSemantics = position;
         
-        return true;
+        return status;
     }
     
     bool TransformSemantics::setRotationSemantics(const RotationSemantics& rotation)
     {
-        // check consistency of setted rotation with existing position
-        // \todo TODO should be move to a proper check_* method ?
-        if( !checkEqualOrUnknown(rotation.getReferenceOrientationFrame(),this->getReferenceOrientationFrame()) )
-        {
-            reportError("TransformSemantics",
-                        "setRotationSemantics",
-                        "Mismatch between coordinateFrame of the setted orientation and referenceOrientationFrame of the Transform");
-            
-            return false;
-        }
-        
-        this->orientationFrame = rotation.getOrientationFrame();
-        if( this->getReferenceOrientationFrame() == UNKNOWN )
-        {
-            this->refOrientationFrame = rotation.getReferenceOrientationFrame();
-        }
-        
-        return true;
-    }
-    
-    bool TransformSemantics::check_compose(const TransformSemantics& op1, const TransformSemantics& op2)
-    {
-        if( !checkEqualOrUnknown(op1.getOrientationFrame(),op2.getReferenceOrientationFrame()) )
-        {
-            reportError("TransformSemantics",
-                        "compose",
-                        "Mismatch between orientationFrame of first operand and referenceOrientationFrame of second operand");
-            
-            return false;
-        }
-        
-        if( !checkEqualOrUnknown(op1.getPoint(),op2.getReferencePoint()) )
-        {
-            reportError("TransformSemantics",
-                        "compose",
-                        "Mismatch between point of first operand and referencePoint of second operand");
-            
-            return false;
-        }
-        
-        return true;
-    }
-    
-    bool TransformSemantics::check_inverse2(const TransformSemantics& orient)
-    {
-        return true;
-    }
-    
-    bool TransformSemantics::check_transform(const TransformSemantics& op1, const PositionSemantics& op2)
-    {
-        if( !checkEqualOrUnknown(op1.getOrientationFrame(),op2.getCoordinateFrame()) )
-        {
-            reportError("TransformSemantics",
-                        "apply",
-                        "Mismatch between orientationFrame of first operand and coordinateFrame of second operand");
-            
-            return false;
-        }
+        // check consistency of setted position with existing rotation
+        bool status = this->check_position2rotationConsistency(this->getPositionSemantics(), rotation);
         
-        if( !checkEqualOrUnknown(op1.getPoint(),op2.getReferencePoint()) )
-        {
-            reportError("TransformSemantics",
-                        "compose",
-                        "Mismatch between point of first operand and referencePoint of second operand");
-            
-            return false;
-        }
+        // set semantics
+        this->rotationSemantics = rotation;
         
-        return true;
-    }
-    
-    void TransformSemantics::compose(const TransformSemantics& op1, const TransformSemantics& op2, TransformSemantics& result)
-    {
-        result.setPoint(op2.getPoint());
-        result.setOrientationFrame(op2.getOrientationFrame());
-        result.setReferencePoint(op1.getReferencePoint());
-        result.setReferenceOrientationFrame(op1.getReferenceOrientationFrame());
-    }
-    
-    TransformSemantics TransformSemantics::compose(const TransformSemantics& op1, const TransformSemantics& op2)
-    {
-        TransformSemantics result;
-        TransformSemantics::compose(op1,op2,result);
-        return result;
-    }
-    
-    void TransformSemantics::inverse2(const TransformSemantics& trans, TransformSemantics& result)
-    {
-        result.setPoint(trans.getReferencePoint());
-        result.setOrientationFrame(trans.getReferenceOrientationFrame());
-        result.setReferencePoint(trans.getPoint());
-        result.setReferenceOrientationFrame(trans.getOrientationFrame());
-    }
-    
-    TransformSemantics TransformSemantics::inverse2(const TransformSemantics& trans)
-    {
-        TransformSemantics result;
-        TransformSemantics::inverse2(trans,result);
-        return result;
-    }
-    
-    void TransformSemantics::transform(const TransformSemantics& op1, const PositionSemantics& op2, PositionSemantics& result)
-    {
-        result.setPoint(op2.getPoint());
-        result.setReferencePoint(op1.getReferencePoint());
-        result.setCoordinateFrame(op1.getReferenceOrientationFrame());
-        
-        return;
-    }
-    
-    PositionSemantics TransformSemantics::transform(const TransformSemantics& op1, const PositionSemantics& op2)
-    {
-        PositionSemantics result;
-        transform(op1,op2,result);
-        return result;
-    }
-    
-    TransformSemantics TransformSemantics::operator*(const TransformSemantics& other) const
-    {
-        return compose(*this,other);
-    }
-    
-    TransformSemantics TransformSemantics::inverse() const
-    {
-        return inverse2(*this);
+        return status;
     }
     
-    PositionSemantics TransformSemantics::operator*(const PositionSemantics& op2) const
+    TransformSemantics & TransformSemantics::operator= (const TransformSemantics & other)
     {
-        return transform(*this,op2);
+        return *this;
     }
     
     std::string TransformSemantics::toString() const
@@ -267,10 +85,10 @@ namespace iDynTree
         std::stringstream ss;
         
         ss << " Semantics:"
-        << " point " << this->getPoint()
-        << " orientationFrame " << this->getOrientationFrame()
-        << " referencePoint " << this->getReferencePoint()
-        << " referenceOrientationFrame " << this->getReferenceOrientationFrame();
+        << " point " << this->getPositionSemantics().getPoint()
+        << " orientationFrame " << this->getRotationSemantics().getOrientationFrame()
+        << " referencePoint " << this->getPositionSemantics().getReferencePoint()
+        << " referenceOrientationFrame " << this->getRotationSemantics().getReferenceOrientationFrame();
         
         return ss.str();
     }
diff --git a/regressors/src/DynamicsRegressorGenerator.cpp b/regressors/src/DynamicsRegressorGenerator.cpp
index c354f007572..e0f1cebebff 100644
--- a/regressors/src/DynamicsRegressorGenerator.cpp
+++ b/regressors/src/DynamicsRegressorGenerator.cpp
@@ -394,7 +394,7 @@ bool DynamicsRegressorGenerator::setRobotState(const VectorDynSize& q,
                                                const VectorDynSize& q_dotdot,
                                                const Twist& world_gravity)
 {
-    Transform world_T_base = TransformRaw::Identity();
+    Transform world_T_base = Transform::Identity();
     Twist base_velocity = SpatialMotionVectorRaw::Zero();
     Twist base_acceleration = SpatialMotionVectorRaw::Zero();