diff --git a/.ci/install_debian.sh b/.ci/install_debian.sh new file mode 100644 index 00000000000..b503c4a4c2b --- /dev/null +++ b/.ci/install_debian.sh @@ -0,0 +1,27 @@ +#!/bin/sh +set -e + +apt-get update + +# noninteractive tzdata ( https://stackoverflow.com/questions/44331836/apt-get-install-tzdata-noninteractive ) +export DEBIAN_FRONTEND=noninteractive + +# CI specific packages +apt-get install -y clang valgrind + +# Dependencies +apt-get install -y build-essential libboost-system-dev libboost-filesystem-dev libboost-thread-dev cmake coinor-libipopt-dev liborocos-kdl-dev libeigen3-dev libtinyxml-dev libace-dev libgsl0-dev libopencv-dev libode-dev git swig qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev libqt5opengl5-dev libqcustomplot-dev libxml2-dev liburdfdom-dev + +# Lua +apt-get install -y liblua5.1-dev lua5.1 + +# Python +apt-get install -y python-dev + +# Octave +apt-get install -y liboctave-dev + + + + + diff --git a/.ci/install_debian_and_script.sh b/.ci/install_debian_and_script.sh new file mode 100644 index 00000000000..7a6b1cbbcb4 --- /dev/null +++ b/.ci/install_debian_and_script.sh @@ -0,0 +1,8 @@ +#!/bin/sh +set -e + +DIR=$(dirname "$(readlink -f "$0")") + +sh $DIR/install_debian.sh +sh $DIR/script.sh + diff --git a/.ci/script.sh b/.ci/script.sh new file mode 100644 index 00000000000..5ca444b594b --- /dev/null +++ b/.ci/script.sh @@ -0,0 +1,40 @@ +#!/bin/sh +set -e + +# Install source deps + +# Build YARP +git clone https://github.com/robotology/yarp +cd yarp +git checkout devel +mkdir build +cd build +cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCREATE_LIB_MATH:BOOL=ON -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} .. +cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install +cd ../.. + +# Build ICUB +git clone https://github.com/robotology/icub-main +cd icub-main +git checkout devel +mkdir build +cd build +cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} .. +cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install +cd ../.. + +# Build, test and install iDynTree +cd $TRAVIS_BUILD_DIR +mkdir build && cd build +cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_RUN_VALGRIND_TESTS:BOOL=${VALGRIND_TESTS} -DCODYCO_TRAVIS_CI:BOOL=ON -DIDYNTREE_USES_KDL:BOOL=${FULL_DEPS} -DIDYNTREE_USES_YARP:BOOL=${FULL_DEPS} -DIDYNTREE_USES_ICUB_MAIN:BOOL=${FULL_DEPS} -DIDYNTREE_USES_PYTHON:BOOL=${COMPILE_BINDINGS} -DIDYNTREE_USES_LUA:BOOL=${COMPILE_BINDINGS} -DIDYNTREE_USES_OCTAVE:BOOL=${COMPILE_BINDINGS} .. +cmake --build . --config $TRAVIS_BUILD_TYPE +ctest --output-on-failure --build-config ${TRAVIS_BUILD_TYPE} +cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install + +# Build iDynTree examples +cd ../examples +mkdir build +cd build +cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} .. +cmake --build . --config ${TRAVIS_BUILD_TYPE} + diff --git a/.travis.yml b/.travis.yml index 1f4510b26d4..c96d0ba6c8d 100644 --- a/.travis.yml +++ b/.travis.yml @@ -1,185 +1,106 @@ -sudo: required dist: trusty -osx_image: xcode7.3 language: cpp -cache: ccache -group: deprecated-2017Q3 +services: docker -addons: - apt: - sources: - - ubuntu-toolchain-r-test - - llvm-toolchain-trusty-5.0 - packages: - # gcc - - gcc-5 - - g++-5 - # clang - - clang-5.0 - # build tools - - cmake3 - - valgrind - - ccache - # libraries - - qtbase5-dev - - qtdeclarative5-dev - - qtmultimedia5-dev - - libqt5opengl5-dev - - libboost-system-dev - - libboost-filesystem-dev - - libboost-thread-dev - - libace-dev - - libgsl0-dev - - libcv-dev - - libhighgui-dev - - libcvaux-dev - - libtinyxml-dev - - libode-dev - # Bindings - - swig - # C# bindings - - mono-mcs - # Lua bindings - - liblua5.1-0-dev - - lua5.1 - # Python bindings - - python-dev +os: linux -matrix: - include: - - os: linux - compiler: clang - env: TRAVIS_CMAKE_GENERATOR="Unix Makefiles", TRAVIS_BUILD_TYPE="Debug", VALGRIND_TESTS="ON", COMPILE_BINDINGS="ON", FULL_DEPS="ON" - - os: linux - compiler: clang - env: TRAVIS_CMAKE_GENERATOR="Unix Makefiles", TRAVIS_BUILD_TYPE="Release", VALGRIND_TESTS="ON", COMPILE_BINDINGS="ON", FULL_DEPS="ON" - - os: linux - compiler: gcc - env: TRAVIS_CMAKE_GENERATOR="Unix Makefiles", TRAVIS_BUILD_TYPE="Debug", VALGRIND_TESTS="ON", COMPILE_BINDINGS="ON", FULL_DEPS="ON" - - os: linux - compiler: gcc - env: TRAVIS_CMAKE_GENERATOR="Unix Makefiles", TRAVIS_BUILD_TYPE="Release",VALGRIND_TESTS="ON", COMPILE_BINDINGS="ON", FULL_DEPS="ON" - - os: linux - compiler: gcc - env: TRAVIS_CMAKE_GENERATOR="Unix Makefiles", TRAVIS_BUILD_TYPE="Debug", VALGRIND_TESTS="ON", COMPILE_BINDINGS="ON", FULL_DEPS="OFF" - allow_failures: - - os: osx - compiler: clang - env: TRAVIS_CMAKE_GENERATOR="Xcode", TRAVIS_BUILD_TYPE="Debug", VALGRIND_TESTS="OFF", COMPILE_BINDINGS="OFF", FULL_DEPS="ON" +cache: + directories: + - $HOME/.ccache + - $HOME/Library/Caches/Homebrew -before_script: - # Update homebrew on osx - - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew update; fi - - # Install ccache on osx - - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew install ccache; fi - - if [ "$TRAVIS_OS_NAME" == "osx" ]; then export PATH="/usr/local/opt/ccache/libexec:$PATH"; fi +stages: + - test # Default stage with job matrix + - osx - # Use ccache also for clang and clang++ on linux - - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if [ "$CC" == "clang" ]; then sudo ln -s ../../bin/ccache /usr/lib/ccache/clang; fi; fi - - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if [ "$CXX" == "clang++" ]; then sudo ln -s ../../bin/ccache /usr/lib/ccache/clang++; fi; fi +compiler: + - gcc - # Force gcc-5 - - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if [ "$CC" == "gcc" ]; then export CC=gcc-5; export CXX=g++-5; fi; fi +env: + global: + - TRAVIS_CMAKE_GENERATOR="Unix Makefiles" + matrix: + - TRAVIS_BUILD_TYPE="Release" UBUNTU="xenial" VALGRIND_TESTS="ON" COMPILE_BINDINGS="ON" FULL_DEPS="ON" + - TRAVIS_BUILD_TYPE="Debug" UBUNTU="xenial" VALGRIND_TESTS="OFF" COMPILE_BINDINGS="ON" FULL_DEPS="ON" + - TRAVIS_BUILD_TYPE="Release" UBUNTU="bionic" VALGRIND_TESTS="OFF" COMPILE_BINDINGS="ON" FULL_DEPS="ON" + - TRAVIS_BUILD_TYPE="Debug" UBUNTU="bionic" VALGRIND_TESTS="OFF" COMPILE_BINDINGS="ON" FULL_DEPS="ON" - # Force clang-5.0 - - if [ "$TRAVIS_OS_NAME" == "linux" ]; then if [ "$CC" == "clang" ]; then export CC=clang-5.0; export CXX=clang++-5.0; fi; fi +# =================== +# STAGE: test (linux) +# =================== - # install system dependencies using apt (linux) or homebrew (macos) - # note: we install a lot of dependencies, as we compile iDynTree with all dependencies enabled - - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo add-apt-repository ppa:octave/stable -y; fi - - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo add-apt-repository ppa:nschloe/eigen-backports -y; fi - - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo sh -c 'echo "deb http://www.icub.org/ubuntu trusty contrib/science" > /etc/apt/sources.list.d/icub.list'; fi - - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo apt-get update; fi - - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo apt-get install --allow-unauthenticated build-essential icub-common libeigen3-dev liboctave-dev; fi - - if [ "$TRAVIS_OS_NAME" == "osx" ]; then brew install ace eigen cmake boost tinyxml swig gsl pkg-config jpeg sqlite readline tinyxml dartsim/dart/ipopt octave; fi - - # avoid using openblas - - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo apt-get install libatlas-base-dev; fi - - if [ "$TRAVIS_OS_NAME" == "linux" ]; then sudo update-alternatives --set libblas.so.3 /usr/lib/atlas-base/atlas/libblas.so.3 ; fi - - # check cmake version - - cmake --version - - # build everything else from source (opyionsl dependencies) - - pwd - # Switch to the parent directory of the git repository folder - - cd .. - - # Build YARP - - git clone https://github.com/robotology/yarp - - cd yarp - - git checkout devel - - mkdir build - - cd build - - cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCREATE_LIB_MATH:BOOL=ON -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} .. - - sudo cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install - - cd ../.. - - # Build ICUB - - git clone https://github.com/robotology/icub-main - - cd icub-main - - git checkout devel - - mkdir build - - cd build - - cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} .. - - sudo cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install - - cd ../.. - - # Dependencies of the deprecated part of iDynTree that depends on KDL, but we need to keep testing that part - # Build console_bridge - - git clone https://github.com/ros/console_bridge - - cd console_bridge - - mkdir build - - cd build - - cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} .. - - sudo cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install - - cd ../.. - - # Build urdfdom_headers - - git clone https://github.com/ros/urdfdom_headers - - cd urdfdom_headers - - mkdir build - - cd build - - cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} .. - - sudo cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install - - cd ../.. - - # Build urdfdom - - git clone https://github.com/ros/urdfdom - - cd urdfdom - - mkdir build - - cd build - - cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} .. - - sudo cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install - - cd ../.. - - # Build orocos_kdl - - git clone https://github.com/orocos/orocos_kinematics_dynamics - - cd orocos_kinematics_dynamics/orocos_kdl - - mkdir build - - cd build - - cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} .. - - sudo cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install - - cd ../../.. - - # Prepare iDynTree build - - cd idyntree - - mkdir build - - cd build - # Xcode has support for multiple configurations. Passing -DCMAKE_BUILD_TYPE is ignored - - cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} -DIDYNTREE_COMPILE_TESTS:BOOL=ON -DIDYNTREE_RUN_VALGRIND_TESTS:BOOL=${VALGRIND_TESTS} -DCODYCO_TRAVIS_CI:BOOL=ON -DIDYNTREE_USES_KDL:BOOL=${FULL_DEPS} -DIDYNTREE_USES_YARP:BOOL=${FULL_DEPS} -DIDYNTREE_USES_ICUB_MAIN:BOOL=${FULL_DEPS} -DIDYNTREE_USES_PYTHON:BOOL=${COMPILE_BINDINGS} -DIDYNTREE_USES_LUA:BOOL=${COMPILE_BINDINGS} -DIDYNTREE_USES_OCTAVE:BOOL=${COMPILE_BINDINGS} .. +before_script: + - docker pull ubuntu:$UBUNTU script: - - cmake --build . --config ${TRAVIS_BUILD_TYPE} - - sudo cmake --build . --config ${TRAVIS_BUILD_TYPE} --target install - - ctest --output-on-failure --build-config ${TRAVIS_BUILD_TYPE} - # test examples (only on macOS because on Trusty Eigen3 does not ship with an Eigen3Config.cmake - - if [ "$TRAVIS_OS_NAME" == "osx" ]; then cd ../examples ; fi - - if [ "$TRAVIS_OS_NAME" == "osx" ]; then mkdir build ; fi - - if [ "$TRAVIS_OS_NAME" == "osx" ]; then cd build ; fi - - if [ "$TRAVIS_OS_NAME" == "osx" ]; then cmake -G"${TRAVIS_CMAKE_GENERATOR}" -DCODYCO_TRAVIS_CI:BOOL=ON -DCMAKE_BUILD_TYPE=${TRAVIS_BUILD_TYPE} .. ; fi - - if [ "$TRAVIS_OS_NAME" == "osx" ]; then cmake --build . --config ${TRAVIS_BUILD_TYPE} ; fi + - >- + docker run -it \ + -v $TRAVIS_BUILD_DIR:$TRAVIS_BUILD_DIR \ + -v $HOME/.ccache:$HOME/.ccache \ + -w $TRAVIS_BUILD_DIR \ + --env CC \ + --env CXX \ + --env TRAVIS_BUILD_DIR \ + --env TRAVIS_BUILD_TYPE \ + --env TRAVIS_CMAKE_GENERATOR \ + --env VALGRIND_TESTS \ + --env COMPILE_BINDINGS \ + --env FULL_DEPS \ + ubuntu:$UBUNTU \ + sh .ci/install_debian_and_script.sh + +# ========== +# STAGE: osx +# ========== + +stage_osx: + install: &osx_install + # Setup ccache + - brew update + - brew install ccache + - export PATH="/usr/local/opt/ccache/libexec:$PATH" + # Install dependencies + - brew install ace eigen boost tinyxml swig qt5 gsl pkg-config jpeg sqlite tinyxml + - export Qt5_DIR=/usr/local/opt/qt5/lib/cmake/Qt5 + script: &osx_script + - cd $TRAVIS_BUILD_DIR/.ci + - sh ./script.sh + +# ====================== +# BUILD JOBS FROM STAGES +# ====================== + +jobs: + include: + # --------- + # STAGE OSX + # --------- + - &osx_template + stage: osx + os: osx + osx_image: xcode9.4 + before_install: skip + install: *osx_install + before_script: skip + script: *osx_script + after_failure: skip + after_success: skip + after_script: skip + env: + TRAVIS_CMAKE_GENERATOR="Xcode" + TRAVIS_BUILD_TYPE="Debug" + VALGRIND_TESTS="OFF" + COMPILE_BINDINGS="OFF" + FULL_DEPS="OFF" + - <<: *osx_template + compiler: clang + env: + TRAVIS_CMAKE_GENERATOR="Unix Makefiles" + TRAVIS_BUILD_TYPE="Debug" + VALGRIND_TESTS="OFF" + COMPILE_BINDINGS="OFF" + FULL_DEPS="OFF" + notifications: email: diff --git a/CMakeLists.txt b/CMakeLists.txt index 97fedef7cc8..091f6e6d6b4 100644 --- a/CMakeLists.txt +++ b/CMakeLists.txt @@ -24,7 +24,7 @@ endif() set(VARS_PREFIX "iDynTree") set(${VARS_PREFIX}_MAJOR_VERSION 0) -set(${VARS_PREFIX}_MINOR_VERSION 10) +set(${VARS_PREFIX}_MINOR_VERSION 11) set(${VARS_PREFIX}_PATCH_VERSION 0) set(${VARS_PREFIX}_VERSION ${${VARS_PREFIX}_MAJOR_VERSION}.${${VARS_PREFIX}_MINOR_VERSION}.${${VARS_PREFIX}_PATCH_VERSION}) diff --git a/README.md b/README.md index c51e66a8f15..236a537a5cf 100644 --- a/README.md +++ b/README.md @@ -17,129 +17,166 @@ iDynTree is written in C++ language, but thanks to [SWIG](http://www.swig.org/) * **[Acknowledgments](#acknowledgments)** ## Installation -iDynTree is mainly developed by members of the [Dynamic Interaction Control Research Line](https://www.iit.it/research/lines/dynamic-interaction-control) at the [Italian Institute of Technology](https://www.iit.it/). For this reason it is usually installed throught the [robotology-superbuild](https://github.com/robotology/robotology-superbuild), an easy way to download, compile and install software on multiple operating systems, using the [CMake](www.cmake.org) build system and its extension [YCM](http://robotology.github.io/ycm). For more informations on the superbuild concept, please check [YCM documentation](http://robotology.github.io/ycm/gh-pages/master/index.html#superbuild). +iDynTree is mainly developed and mantained by the [Dynamic Interaction Control research line](https://www.iit.it/research/lines/dynamic-interaction-control) at the [Italian Institute of Technology](https://www.iit.it/), as part of the [iCub project](http://www.icub.org/) . -If you are not interested in installing all the robotology software it is still possible to install iDynTree without installing the rest of the robotology software. Brief instructions for doing this are provided in the following. +For this reason it is usually installed through the [robotology-superbuild](https://github.com/robotology/robotology-superbuild), an easy way to download, compile and install the robotology software on multiple operating systems, using the [CMake](www.cmake.org) build system and its extension [YCM](http://robotology.github.io/ycm). For more informations on the superbuild concept, please check [YCM documentation](http://robotology.github.io/ycm/gh-pages/master/index.html#superbuild). To get iDynTree when using the `robotology-superbuild`, please enable the `ROBOTOLOGY_ENABLE_DYNAMICS` CMake option of the superbuild. -### Installation instructions -#### Linux -On Debian-based Linux distributions, you can install dependencies using the following command: -~~~bash -sudo apt install libeigen3-dev coinor-libipopt-dev libtinyxml-dev -~~~ +If you are not interested in installing all the robotology software it is still possible to install iDynTree without installing the rest of the robotology software, and please read the rest of the Readme for more info on this. -Compile and install the library: -~~~bash -git clone https://github.com/robotology/idyntree -cd idyntree -mkdir build && cd build -# Use cmake -DCMAKE_INSTALL_PREFIX= to install in a specific location -cmake .. -cmake --build . -cmake --build . --target install -~~~ +### Dependencies +iDynTree requires few external libraries. At the first configuration, the build system of iDynTree enables the use of the dependencies that it finds in the system, +but you can manually make sure that iDynTree searches or ignores a given dependency by enabling or disabling the `IDYNTREE_USES_` CMake options. + +##### Build dependencies +- [CMake](http://www.cmake.org) + +##### Required +- [Eigen](http://eigen.tuxfamily.org) +- [Libxml2](http://xmlsoft.org/) + +##### Optional +- [IPOPT](https://projects.coin-or.org/Ipopt) +- [Qt5](https://www.qt.io/) +- [YARP](https://github.com/robotology/yarp) +- [ICUB](https://github.com/robotology/icub-main) -#### macOS -Using [homebrew](https://brew.sh/), you can install dependencies using the following command: -~~~bash -brew install cmake eigen tinyxml dartsim/dart/ipopt +##### Deprecated +- [Kinematics and Dynamics Library](https://github.com/orocos/orocos_kinematics_dynamics) +- [urdfdom](https://github.com/ros/urdfdom) +- [irrlicht](http://irrlicht.sourceforge.net/) + +#### Install dependencies + +If you need to install also `YARP` and `ICUB`, is is recommended that you use the [`robotology-superbuild`](https://github.com/robotology/robotology-superbuild), but if you want to install them manually please +check the documentation at [ICub Software Installation](http://wiki.icub.org/wiki/ICub_Software_Installation). The rest of the dependencies can be installed using standard operating system package managers. + +##### Windows + +There are two ways of installing the required and optional dependencies of iDynTree in Windows: with binary installers or using [`vcpkg`](https://github.com/Microsoft/vcpkg). + +###### Installers +There are several installers that provide the binary dependencies of iDynTree on Windows. + +In particular you can run the [binary installer of YARP](http://www.yarp.it/download.html#download_windows) to install Eigen3, Qt5 and YARP itself, the [binary installer of ICUB software](http://wiki.icub.org/wiki/Windows:_installation_from_sources#Getting_iCub.27s_dependenceis) to install Ipopt and ICUB, and the [robotology-additional-dependencies installer](https://github.com/robotology-playground/robotology-additional-dependencies) to install Libxml2 . +**Important: make sure that you are installing the 64-bit installers, if you want to compile the robotology-superbuild using the the 64-bit compiler!** +These installers will set automatically all the enviroment variables necessary to make sure that these libraries are found by CMake, and they will modify the PATH enviroment variable to make sure that the libraries can be used when launching the programs that use them. + +###### vcpkg +If you use [`vcpkg`](https://github.com/Microsoft/vcpkg), you can install all the required and optional dependencies of iDynTree using the following command: +~~~ + ./vcpkg install --triplet x64-windows eigen3 qt5 libxml2 ~~~ +Use the `x86-windows` triplet only if you want to compile iDynTree using the 32-bit compiler. +The default way to use the libraries provided by vcpkg in CMake is to use the [vcpkg CMake toolchain](https://github.com/Microsoft/vcpkg/blob/master/docs/users/integration.md#cmake-toolchain-file-recommended-for-open-source-cmake-projects). +If you prefer not to use the vcpkg toolchain, to use the libraries installed by vcpkg, it is necessary to use the `CMAKE_PREFIX_PATH`, `CMAKE_PROGRAM_PATH` and `PATH` environment variables. In particular, if your vcpkg is installed in `${VCPKG_ROOT}`, +you need to add `${VCPKG_ROOT}/installed/x64-windows` and `${VCPKG_ROOT}/installed/x64-windows/debug` to `CMAKE_PREFIX_PATH`, +`${VCPKG_ROOT}/installed/x64-windows/tools` to `CMAKE_PROGRAM_PATH` and `${VCPKG_ROOT}/installed/x64-windows/bin` and `${VCPKG_ROOT}/installed/x64-windows/debug/bin` to `PATH`. -Compile and install the library: -~~~bash -git clone https://github.com/robotology/idyntree -cd idyntree -mkdir build && cd build -# Use cmake -DCMAKE_INSTALL_PREFIX= to install in a specific location -cmake .. -cmake --build . -cmake --build . --target install + +##### macOS +You can install most of the required and optional dependencies of iDynTree using [homebrew](https://brew.sh/) with the following command: +~~~ +brew install eigen qt5 dartsim/dart/ipopt ~~~ -#### Windows -Download IPOPT and Eigen using the YARP and ICUB binary dependency installers, as explained in https://github.com/robotology/robotology-superbuild#system-libraries . - -After that, download and compile the library: -~~~bash -git clone https://github.com/robotology/idyntree -cd idyntree -mkdir build && cd build -# Use cmake -DCMAKE_INSTALL_PREFIX= to install in a specific location -cmake .. -cmake --build . -cmake --build . --target ISTALL + +#### Debian/Ubuntu +You can install most of the required and optional dependencies of iDynTree using the following command: +~~~ +sudo apt-get install libeigen3-dev libxml2-dev coinor-libipopt-dev qtbase5-dev qtdeclarative5-dev qtmultimedia5-dev qml-module-qtquick2 qml-module-qtquick-window2 qml-module-qtmultimedia qml-module-qtquick-dialogs qml-module-qtquick-controls qml-module-qt-labs-folderlistmodel qml-module-qt-labs-settings ~~~ -### C++ usage with CMake -If you are compiling a C++ project using CMake, you can find and use iDynTree using the following cmake code: -~~~cmake +### Build +Once you installed the necessary dependencies, the iDynTree library can be compiled as any CMake based project. + +With `make` facilities: +```bash +$ git clone https://github.com/robotology/idyntree +$ cd idyntree +$ mkdir build && cd build +$ cmake .. +$ make +$ [sudo] make install +``` + +With IDE build tool facilities, such as Visual Studio or Xcode +```bash +$ git clone https://github.com/robotology/idyntree +$ cd idyntree +$ mkdir build && cd build +$ cmake .. +$ cmake --build . --target ALL_BUILD --config Release +$ cmake --build . --target INSTALL --config Release +``` + +If you need more help on how to build CMake-based projects, please check [CGold's First step](https://cgold.readthedocs.io/en/latest/first-step.html) section. + +In the rest of the documentation, `` will indicate the installation prefix in which you installed iDynTree, i.e. the value that you passed as [`CMAKE_INSTALL_PREFIX`](https://cmake.org/cmake/help/latest/variable/CMAKE_INSTALL_PREFIX.html) during the CMake configuration. + + +### Link +Once the library is installed, you can link it using `CMake` with as little effort as writing the following line of code in your project's `CMakeLists.txt`: +```cmake ... -find_package(iDynTree REQUIRED) +find_package(iDynTree 0.MINOR.PATCH REQUIRED) ... -target_link_libraries( ${iDynTree_LIBRARIES}) +target_link_libraries( PRIVATE ${iDynTree_LIBRARIES}) ... -~~~ +``` + +Note that unless you did not use the default value of `CMAKE_INSTALL_PREFIX`, the `` in which you installed iDynTree will need to be appended to the `CMAKE_PREFIX_PATH` enviromental +variable to ensure that `find_package` can find your iDynTree installation. + +See [CMake's reference documentation](https://cmake.org/cmake/help/latest/) if you need more info on the [`find_package`](https://cmake.org/cmake/help/latest/command/find_package.html) or [`target_link_libraries`](https://cmake.org/cmake/help/latest/command/target_link_libraries.html) CMake commands. ### Bindings To compile bindings to iDynTree in several scriping languages, you should enable them using the `IDYNTREE_USES_PYTHON`, `IDYNTREE_USES_LUA`, `IDYNTREE_USES_MATLAB`, `IDYNTREE_USES_OCTAVE` CMake options. -Several examples for using the bindigs are available in https://github.com/robotology-playground/idyntree/blob/master/doc/geometric_classes.md . +Several examples for using the bindings are available in https://github.com/robotology-playground/idyntree/blob/master/doc/geometric_classes.md . Then, properly accessing bindings to iDynTree can require some additional steps. + #### Python You should add to the `PYTHONPATH` enviromental variable the install path of the `iDynTree.py` file. -For a typical installation of the `codyco-superbuild`, this will require adding to the `.bashrc` a line similar to this: ~~~ -export PYTHONPATH=$PYTHONPATH:~/src/codyco-superbuild/build/install/lib/python2.7/dist-packages/ +export PYTHONPATH=$PYTHONPATH:/lib/python2.7/dist-packages/ ~~~ #### Matlab -You should add to Matlab path the `{CMAKE_INSTALL_PREFIX}/mex` directory. By default this directory should be `/usr/local/mex`, or if you used a [YCM](https://github.com/robotology/ycm/) superbuild something like `SUPERBUILD_BUILD_DIRECTORY/install/mex`. -You can modify the installation location for Matlab bindings files using the `IDYNTREE_INSTALL_MATLAB_LIBDIR` and `IDYNTREE_INSTALL_MATLAB_MFILESDIR` CMake options. +You should add to Matlab path the `/mex` directory. +You can modify the relative location for Matlab bindings files in the installation prefix using the `IDYNTREE_INSTALL_MATLAB_LIBDIR` and `IDYNTREE_INSTALL_MATLAB_MFILESDIR` CMake options. #### Octave -You should add to Octave path the `{CMAKE_INSTALL_PREFIX}/octave` directory. By default this directory should be `/usr/local/octave`, or if you used a [YCM](https://github.com/robotology/ycm/) superbuild something like `SUPERBUILD_BUILD_DIRECTORY/install/octave`. -You can modify the installation location for Octave bindings files using the `IDYNTREE_INSTALL_OCTAVE_LIBDIR` and `IDYNTREE_INSTALL_OCTAVE_MFILESDIR` CMake options. +You should add to Octave path the `/octave` directory. +You can modify the relative location for Matlab bindings files in the installation prefix using the`IDYNTREE_INSTALL_OCTAVE_LIBDIR` and `IDYNTREE_INSTALL_OCTAVE_MFILESDIR` CMake options. ##### Matlab/Octave bindings modifications All the other bindings (Python,Lua, ...) are generated by SWIG and compiled on the fly by the user, -by enabling the `IDYNTREE_USES_LANGUAGE` option. The Matlab and Octave bindings are an exception because they +by enabling the `IDYNTREE_USES_` option. The Matlab and Octave bindings are an exception because they rely on an experimental version of Swig, developed for providing Matlab bindings for the [casadi](https://github.com/casadi/casadi/wiki) project. For this reason, usually the Matlab bindigs are not generated by the users, but by iDynTree developers that have a special experimental Swig version installed. The bindings code is then committed to the repository, and the `IDYNTREE_USES_MATLAB` option simply enables *compilation* of the bindings. If you want to regenerate the Matlab bindings, for example because you modified some iDynTree classes, you can install the experimental -version of Swig with Matlab support from https://github.com/robotology-dependencies/swig/ (branch `matlab`) and then enable Matlab bindings generation with the `IDYNTREE_GENERATE_MATLAB` options. +version of Swig with Matlab support at https://github.com/casadi/casadi/wiki/matlab (just follow +the first 4 points in the guide) and then enable Matlab bindings generation with the `IDYNTREE_GENERATE_MATLAB` options. +Currently we are commiting to the repo the matlab bindings generated with this commit of `matlab-swig`: https://github.com/jaeandersson/swig/commit/260ed47c4414e61c66ae84a639707b1fef916ba8 . For more info on how to modify the matlab bindings, see https://github.com/robotology/idyntree/blob/master/doc/dev/faqs.md#how-to-add-wrap-a-new-class-or-function-with-swig . -#### Dependencies -##### Build dependencies -- [CMake](http://www.cmake.org) - -##### Core -- [Eigen](http://eigen.tuxfamily.org) - -##### Optional -- [YARP](https://github.com/robotology/yarp) -- [ICUB](https://github.com/robotology/icub-main) -- [Kinematics and Dynamics Library](https://github.com/orocos/orocos_kinematics_dynamics) -- [urdfdom](https://github.com/ros/urdfdom) -- [IPOPT](https://projects.coin-or.org/Ipopt) - ## Tutorials | Topic | C++ | Matlab | Python | |:------:|:---:|:------:|:------:| -| Use of the [DynamicsComputation class](http://wiki.icub.org/codyco/dox/html/idyntree/html/classiDynTree_1_1HighLevel_1_1DynamicsComputations.html) for computing Jacobians and Dynamics Regressor | [doc/dcTutorialCpp.md](doc/dcTutorialCpp.md) | NA | NA | -| Use of the [ExtWrenchesAndJointTorquesEstimator class](http://wiki.icub.org/codyco/dox/html/idyntree/html/classiDynTree_1_1ExtWrenchesAndJointTorquesEstimator.html) for computing offset for FT sensors | NA | [examples/matlab/SixAxisFTOffsetEstimation/SixAxisFTOffsetEstimation.m](examples/matlab/SixAxisFTOffsetEstimation/SixAxisFTOffsetEstimation.m) | NA | -| How to get the axis of a revolute joint expressed in a arbitary frame using the [KinDynComputations class](http://wiki.icub.org/codyco/dox/html/idyntree/html/classiDynTree_1_1KinDynComputations.html) | NA | [ examples/matlab/GetJointAxesInWorldFrame.m](examples/matlab/GetJointAxesInWorldFrame.m) | NA | +| Use of the [ExtWrenchesAndJointTorquesEstimator class](http://robotology.gitlab.io/docs/idyntree/master/classiDynTree_1_1ExtWrenchesAndJointTorquesEstimator.html) for computing offset for FT sensors | NA | [examples/matlab/SixAxisFTOffsetEstimation/SixAxisFTOffsetEstimation.m](examples/matlab/SixAxisFTOffsetEstimation/SixAxisFTOffsetEstimation.m) | NA | +| How to get the axis of a revolute joint expressed in a arbitary frame using the [KinDynComputations class](http://robotology.gitlab.io/docs/idyntree/master/classiDynTree_1_1KinDynComputations.html) | NA | [ examples/matlab/GetJointAxesInWorldFrame.m](examples/matlab/GetJointAxesInWorldFrame.m) | NA | Are you interested in a tutorial on a specific feature or algorithm? Just [request it on an enhancement issue](https://github.com/robotology/idyntree/issues/new). ## Documentation -The documentation for the complete API of iDynTree is automatically extracted from the C++ code using [Doxygen](www.doxygen.org), -and is available at the URL : [http://wiki.icub.org/codyco/dox/html/idyntree/html/](http://wiki.icub.org/codyco/dox/html/idyntree/html/). +The documentation for the complete API of iDynTree is automatically extracted from the C++ code using [Doxygen](http://www.doxygen.org), +and is available at the URL : [http://robotology.gitlab.io/docs/idyntree/master/](http://robotology.gitlab.io/docs/idyntree/master/). +The documentation generated from the `devel` branch is available at the URL : [http://robotology.gitlab.io/docs/idyntree/devel/](http://robotology.gitlab.io/docs/idyntree/devel/). ## Announcements Announcements on new releases, API changes or other news are done on [`robotology/QA` GitHub repository](https://github.com/robotology/QA). You can watch that repository to get all the iDynTree-related announcements, that will always tagged with the `announcement` tag. @@ -148,7 +185,8 @@ Announcements on new releases, API changes or other news are done on [`robotolog If you want to contribute to iDynTree development, please check the [Developer's FAQ](https://github.com/robotology/idyntree/blob/master/doc/dev/faqs.md). ## Reference paper -A paper describing the algorithms implemented in iDynTree and their use in a real world scenario can be downloaded [here](http://journal.frontiersin.org/article/10.3389/frobt.2015.00006/abstract) . If you're going to use this library for your work, please quote it within any resulting publication: +A paper describing some of the algorithms implemented in iDynTree and their use in a real world scenario can be downloaded [here](http://journal.frontiersin.org/article/10.3389/frobt.2015.00006/abstract) . +If you're going to use this library for your work, please quote it within any resulting publication: ~~~ F. Nori, S. Traversaro, J. Eljaik, F. Romano, A. Del Prete, D. Pucci "iCub whole-body control through force regulation on rigid non-coplanar contacts", Frontiers in Robotics and AI, 2015. ~~~ @@ -168,9 +206,9 @@ The bibtex code for including this citation is provided: ~~~ ## Acknowledgments -The development of iDynTree is supported by the FP7 EU projects [CoDyCo (No. 600716 ICT 2011.2.1 Cognitive -Systems and Robotics)](http://www.codyco.eu/) and [Koroibot (No. 611909 ICT- 2013.2.1 Cognitive Systems and Robotics)](http://koroibot.eu/). -The development is also supported by the [Istituto Italiano di Tecnologia](http://www.iit.it). +The initial development of iDynTree was supported by the FP7 EU projects [CoDyCo (No. 600716 ICT 2011.2.1 Cognitive Systems and Robotics)](http://www.codyco.eu/) and [Koroibot (No. 611909 ICT- 2013.2.1 Cognitive Systems and Robotics)](http://koroibot.eu/). + +The development is now supported by the [Dynamic Interaction Control research line](https://www.iit.it/research/lines/dynamic-interaction-control) at the [Italian Institute of Technology](https://www.iit.it/). ## License iDynTree is licensed under either the GNU Lesser General Public License v3.0 : diff --git a/appveyor.yml b/appveyor.yml index 59c44764916..31b2c3f9c0d 100644 --- a/appveyor.yml +++ b/appveyor.yml @@ -4,13 +4,20 @@ clone_folder: c:\projects\idyntree environment: Eigen3_DIR: C:/Program Files (x86)/Eigen/lib/cmake/eigen3/ + CMAKE_PREFIX_PATH: c:\projects\rad\robotology-additional-dependencies-0.1.0-x86\x86-windows\;c:\projects\rad\robotology-additional-dependencies-0.1.0-x86\x86-windows\debug os: - Visual Studio 2015 - Visual Studio 2017 install: - + # download and install libxml2 + - ps: Start-FileDownload https://github.com/robotology-playground/robotology-additional-dependencies/releases/download/v0.1.0/robotology-additional-dependencies-0.1.0-v14-x86.zip -FileName c:\projects\rad.zip -Timeout 300000 + - ps: Expand-Archive c:\projects\rad.zip -DestinationPath c:\projects\rad + # Check env variables + - cmd: echo CMAKE_PREFIX_PATH %CMAKE_PREFIX_PATH% + - cmd: set PATH=%PATH%;c:\projects\rad\robotology-additional-dependencies-0.1.0-x86\x86-windows\bin;c:\projects\rad\robotology-additional-dependencies-0.1.0-x86\x86-windows\debug\bin + - cmd: echo PATH %PATH% build: build_script: diff --git a/bindings/iDynTree.i b/bindings/iDynTree.i index deb3f3c49e1..06f6853a58d 100644 --- a/bindings/iDynTree.i +++ b/bindings/iDynTree.i @@ -95,10 +95,11 @@ // Sensors related data structures #include "iDynTree/Sensors/Sensors.h" -#include "iDynTree/Sensors/SixAxisFTSensor.h" +#include "iDynTree/Sensors/SixAxisForceTorqueSensor.h" #include "iDynTree/Sensors/AccelerometerSensor.h" #include "iDynTree/Sensors/GyroscopeSensor.h" #include "iDynTree/Sensors/ThreeAxisAngularAccelerometerSensor.h" +#include "iDynTree/Sensors/ThreeAxisForceTorqueContactSensor.h" #include "iDynTree/Sensors/PredictSensorsMeasurements.h" // Model loading from external formats @@ -290,10 +291,11 @@ TEMPLATE_WRAP_MOTION_FORCE(ForceVector3, WRAP_FORCE, SET_NAME_FOR_WRAPPER,,) // Sensors related data structures %include "iDynTree/Sensors/Sensors.h" -%include "iDynTree/Sensors/SixAxisFTSensor.h" +%include "iDynTree/Sensors/SixAxisForceTorqueSensor.h" %include "iDynTree/Sensors/AccelerometerSensor.h" %include "iDynTree/Sensors/GyroscopeSensor.h" %include "iDynTree/Sensors/ThreeAxisAngularAccelerometerSensor.h" +%include "iDynTree/Sensors/ThreeAxisForceTorqueContactSensor.h" %include "iDynTree/Sensors/PredictSensorsMeasurements.h" %include "sensors.i" diff --git a/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m b/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m index f01cf762b33..90686875485 100644 --- a/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m +++ b/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m @@ -7,58 +7,58 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1342, varargin{:}); + tmp = iDynTreeMEX(1345, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1343, self); + iDynTreeMEX(1346, self); self.SwigClear(); end end function varargout = setName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1344, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1347, self, varargin{:}); end function varargout = setLinkSensorTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1345, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1348, self, varargin{:}); end function varargout = setParentLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1346, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1349, self, varargin{:}); end function varargout = setParentLinkIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1347, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1350, self, varargin{:}); end function varargout = getName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1348, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1351, self, varargin{:}); end function varargout = getSensorType(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1349, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1352, self, varargin{:}); end function varargout = getParentLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1350, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1353, self, varargin{:}); end function varargout = getParentLinkIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1351, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1354, self, varargin{:}); end function varargout = getLinkSensorTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1352, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1355, self, varargin{:}); end function varargout = isValid(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1353, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1356, self, varargin{:}); end function varargout = clone(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1354, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1357, self, varargin{:}); end function varargout = updateIndices(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1355, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1358, self, varargin{:}); end function varargout = updateIndeces(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1356, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1359, self, varargin{:}); end function varargout = predictMeasurement(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1357, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1360, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3.m index 6e114205cde..8430d424d88 100644 --- a/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3.m +++ b/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3.m @@ -7,17 +7,17 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(517, varargin{:}); + tmp = iDynTreeMEX(519, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = changePoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(518, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(520, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(519, self); + iDynTreeMEX(521, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3Semantics.m index bb5d4a3ad71..dc333cf4ab7 100644 --- a/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3Semantics.m +++ b/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3Semantics.m @@ -7,24 +7,24 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(513, varargin{:}); + tmp = iDynTreeMEX(515, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = changePoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(514, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(516, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(516, self); + iDynTreeMEX(518, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(515, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(517, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3.m index 9fa480e1ed7..cedcbccb679 100644 --- a/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3.m +++ b/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3.m @@ -7,17 +7,17 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(506, varargin{:}); + tmp = iDynTreeMEX(508, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = exp(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(507, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(509, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(508, self); + iDynTreeMEX(510, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3Semantics.m index d6c9cf13c75..6b8ee377ca5 100644 --- a/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3Semantics.m +++ b/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3Semantics.m @@ -7,14 +7,14 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(504, varargin{:}); + tmp = iDynTreeMEX(506, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(505, self); + iDynTreeMEX(507, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithm.m b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithm.m index 774a1d6df04..481c5eb2c6d 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithm.m +++ b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithm.m @@ -1,3 +1,3 @@ function varargout = ArticulatedBodyAlgorithm(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1259, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1261, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m index 916401746d2..c0f5a31d900 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m +++ b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m @@ -9,28 +9,18 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1237, varargin{:}); + tmp = iDynTreeMEX(1239, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1238, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1240, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1239, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1241, self, varargin{:}); end function varargout = S(self, varargin) - narginchk(1, 2) - if nargin==1 - nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1240, self); - else - nargoutchk(0, 0) - iDynTreeMEX(1241, self, varargin{1}); - end - end - function varargout = U(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) @@ -40,7 +30,7 @@ iDynTreeMEX(1243, self, varargin{1}); end end - function varargout = D(self, varargin) + function varargout = U(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) @@ -50,7 +40,7 @@ iDynTreeMEX(1245, self, varargin{1}); end end - function varargout = u(self, varargin) + function varargout = D(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) @@ -60,7 +50,7 @@ iDynTreeMEX(1247, self, varargin{1}); end end - function varargout = linksVel(self, varargin) + function varargout = u(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) @@ -70,7 +60,7 @@ iDynTreeMEX(1249, self, varargin{1}); end end - function varargout = linksBiasAcceleration(self, varargin) + function varargout = linksVel(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) @@ -80,7 +70,7 @@ iDynTreeMEX(1251, self, varargin{1}); end end - function varargout = linksAccelerations(self, varargin) + function varargout = linksBiasAcceleration(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) @@ -90,7 +80,7 @@ iDynTreeMEX(1253, self, varargin{1}); end end - function varargout = linkABIs(self, varargin) + function varargout = linksAccelerations(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) @@ -100,7 +90,7 @@ iDynTreeMEX(1255, self, varargin{1}); end end - function varargout = linksBiasWrench(self, varargin) + function varargout = linkABIs(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) @@ -110,9 +100,19 @@ iDynTreeMEX(1257, self, varargin{1}); end end + function varargout = linksBiasWrench(self, varargin) + narginchk(1, 2) + if nargin==1 + nargoutchk(0, 1) + varargout{1} = iDynTreeMEX(1258, self); + else + nargoutchk(0, 0) + iDynTreeMEX(1259, self, varargin{1}); + end + end function delete(self) if self.swigPtr - iDynTreeMEX(1258, self); + iDynTreeMEX(1260, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyInertia.m b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyInertia.m index aaa9ce81a53..9147b49f4d6 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyInertia.m +++ b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyInertia.m @@ -9,57 +9,57 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(676, varargin{:}); + tmp = iDynTreeMEX(678, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = getLinearLinearSubmatrix(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(677, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(679, self, varargin{:}); end function varargout = getLinearAngularSubmatrix(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(678, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(680, self, varargin{:}); end function varargout = getAngularAngularSubmatrix(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(679, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(681, self, varargin{:}); end function varargout = applyInverse(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(681, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(683, self, varargin{:}); end function varargout = asMatrix(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(682, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(684, self, varargin{:}); end function varargout = getInverse(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(683, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(685, self, varargin{:}); end function varargout = plus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(684, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(686, self, varargin{:}); end function varargout = minus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(685, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(687, self, varargin{:}); end function varargout = mtimes(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(686, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(688, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(687, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(689, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(690, self); + iDynTreeMEX(692, self); self.SwigClear(); end end end methods(Static) function varargout = combine(varargin) - [varargout{1:nargout}] = iDynTreeMEX(680, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(682, varargin{:}); end function varargout = ABADyadHelper(varargin) - [varargout{1:nargout}] = iDynTreeMEX(688, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(690, varargin{:}); end function varargout = ABADyadHelperLin(varargin) - [varargout{1:nargout}] = iDynTreeMEX(689, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(691, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Axis.m b/bindings/matlab/autogenerated/+iDynTree/Axis.m index 03fab7cbb92..544110f0fef 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Axis.m +++ b/bindings/matlab/autogenerated/+iDynTree/Axis.m @@ -9,62 +9,62 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(628, varargin{:}); + tmp = iDynTreeMEX(630, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = getDirection(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(629, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(631, self, varargin{:}); end function varargout = getOrigin(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(630, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(632, self, varargin{:}); end function varargout = setDirection(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(631, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(633, self, varargin{:}); end function varargout = setOrigin(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(632, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(634, self, varargin{:}); end function varargout = getRotationTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(633, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(635, self, varargin{:}); end function varargout = getRotationTransformDerivative(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(634, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(636, self, varargin{:}); end function varargout = getRotationTwist(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(635, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(637, self, varargin{:}); end function varargout = getRotationSpatialAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(636, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(638, self, varargin{:}); end function varargout = getTranslationTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(637, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(639, self, varargin{:}); end function varargout = getTranslationTransformDerivative(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(638, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(640, self, varargin{:}); end function varargout = getTranslationTwist(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(639, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(641, self, varargin{:}); end function varargout = getTranslationSpatialAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(640, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(642, self, varargin{:}); end function varargout = isParallel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(641, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(643, self, varargin{:}); end function varargout = reverse(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(642, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(644, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(643, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(645, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(644, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(646, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(645, self); + iDynTreeMEX(647, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdyDynamicVariable.m b/bindings/matlab/autogenerated/+iDynTree/BerdyDynamicVariable.m index 9c517d986f4..83a6ed5ca57 100644 --- a/bindings/matlab/autogenerated/+iDynTree/BerdyDynamicVariable.m +++ b/bindings/matlab/autogenerated/+iDynTree/BerdyDynamicVariable.m @@ -7,37 +7,37 @@ narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1517, self); + varargout{1} = iDynTreeMEX(1546, self); else nargoutchk(0, 0) - iDynTreeMEX(1518, self, varargin{1}); + iDynTreeMEX(1547, self, varargin{1}); end end function varargout = id(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1519, self); + varargout{1} = iDynTreeMEX(1548, self); else nargoutchk(0, 0) - iDynTreeMEX(1520, self, varargin{1}); + iDynTreeMEX(1549, self, varargin{1}); end end function varargout = range(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1521, self); + varargout{1} = iDynTreeMEX(1550, self); else nargoutchk(0, 0) - iDynTreeMEX(1522, self, varargin{1}); + iDynTreeMEX(1551, self, varargin{1}); end end function varargout = eq(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1523, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1552, self, varargin{:}); end function varargout = lt(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1524, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1553, self, varargin{:}); end function self = BerdyDynamicVariable(varargin) if nargin==1 && strcmp(class(varargin{1}),'SwigRef') @@ -45,14 +45,14 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1525, varargin{:}); + tmp = iDynTreeMEX(1554, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1526, self); + iDynTreeMEX(1555, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdyHelper.m b/bindings/matlab/autogenerated/+iDynTree/BerdyHelper.m index 0f0885c500c..5c504ec5ab8 100644 --- a/bindings/matlab/autogenerated/+iDynTree/BerdyHelper.m +++ b/bindings/matlab/autogenerated/+iDynTree/BerdyHelper.m @@ -9,104 +9,104 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1527, varargin{:}); + tmp = iDynTreeMEX(1556, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = dynamicTraversal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1528, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1557, self, varargin{:}); end function varargout = model(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1529, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1558, self, varargin{:}); end function varargout = sensors(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1530, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1559, self, varargin{:}); end function varargout = isValid(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1531, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1560, self, varargin{:}); end function varargout = init(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1532, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1561, self, varargin{:}); end function varargout = getOptions(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1533, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1562, self, varargin{:}); end function varargout = getNrOfDynamicVariables(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1534, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1563, self, varargin{:}); end function varargout = getNrOfDynamicEquations(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1535, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1564, self, varargin{:}); end function varargout = getNrOfSensorsMeasurements(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1536, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1565, self, varargin{:}); end function varargout = resizeAndZeroBerdyMatrices(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1537, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1566, self, varargin{:}); end function varargout = getBerdyMatrices(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1538, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1567, self, varargin{:}); end function varargout = getSensorsOrdering(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1539, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1568, self, varargin{:}); end function varargout = getRangeSensorVariable(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1540, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1569, self, varargin{:}); end function varargout = getRangeDOFSensorVariable(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1541, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1570, self, varargin{:}); end function varargout = getRangeJointSensorVariable(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1542, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1571, self, varargin{:}); end function varargout = getRangeLinkSensorVariable(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1543, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1572, self, varargin{:}); end function varargout = getRangeLinkVariable(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1544, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1573, self, varargin{:}); end function varargout = getRangeJointVariable(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1545, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1574, self, varargin{:}); end function varargout = getRangeDOFVariable(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1546, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1575, self, varargin{:}); end function varargout = getDynamicVariablesOrdering(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1547, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1576, self, varargin{:}); end function varargout = serializeDynamicVariables(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1548, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1577, self, varargin{:}); end function varargout = serializeSensorVariables(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1549, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1578, self, varargin{:}); end function varargout = serializeDynamicVariablesComputedFromFixedBaseRNEA(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1550, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1579, self, varargin{:}); end function varargout = extractJointTorquesFromDynamicVariables(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1551, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1580, self, varargin{:}); end function varargout = extractLinkNetExternalWrenchesFromDynamicVariables(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1552, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1581, self, varargin{:}); end function varargout = updateKinematicsFromFloatingBase(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1553, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1582, self, varargin{:}); end function varargout = updateKinematicsFromFixedBase(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1554, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1583, self, varargin{:}); end function varargout = updateKinematicsFromTraversalFixedBase(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1555, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1584, self, varargin{:}); end function varargout = setNetExternalWrenchMeasurementFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1556, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1585, self, varargin{:}); end function varargout = getNetExternalWrenchMeasurementFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1557, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1586, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1558, self); + iDynTreeMEX(1587, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdyOptions.m b/bindings/matlab/autogenerated/+iDynTree/BerdyOptions.m index a4b3c0407bf..656f0dd650b 100644 --- a/bindings/matlab/autogenerated/+iDynTree/BerdyOptions.m +++ b/bindings/matlab/autogenerated/+iDynTree/BerdyOptions.m @@ -9,7 +9,7 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1488, varargin{:}); + tmp = iDynTreeMEX(1517, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end @@ -18,88 +18,88 @@ narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1489, self); + varargout{1} = iDynTreeMEX(1518, self); else nargoutchk(0, 0) - iDynTreeMEX(1490, self, varargin{1}); + iDynTreeMEX(1519, self, varargin{1}); end end function varargout = includeAllNetExternalWrenchesAsDynamicVariables(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1491, self); + varargout{1} = iDynTreeMEX(1520, self); else nargoutchk(0, 0) - iDynTreeMEX(1492, self, varargin{1}); + iDynTreeMEX(1521, self, varargin{1}); end end function varargout = includeAllJointAccelerationsAsSensors(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1493, self); + varargout{1} = iDynTreeMEX(1522, self); else nargoutchk(0, 0) - iDynTreeMEX(1494, self, varargin{1}); + iDynTreeMEX(1523, self, varargin{1}); end end function varargout = includeAllJointTorquesAsSensors(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1495, self); + varargout{1} = iDynTreeMEX(1524, self); else nargoutchk(0, 0) - iDynTreeMEX(1496, self, varargin{1}); + iDynTreeMEX(1525, self, varargin{1}); end end function varargout = includeAllNetExternalWrenchesAsSensors(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1497, self); + varargout{1} = iDynTreeMEX(1526, self); else nargoutchk(0, 0) - iDynTreeMEX(1498, self, varargin{1}); + iDynTreeMEX(1527, self, varargin{1}); end end function varargout = includeFixedBaseExternalWrench(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1499, self); + varargout{1} = iDynTreeMEX(1528, self); else nargoutchk(0, 0) - iDynTreeMEX(1500, self, varargin{1}); + iDynTreeMEX(1529, self, varargin{1}); end end function varargout = jointOnWhichTheInternalWrenchIsMeasured(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1501, self); + varargout{1} = iDynTreeMEX(1530, self); else nargoutchk(0, 0) - iDynTreeMEX(1502, self, varargin{1}); + iDynTreeMEX(1531, self, varargin{1}); end end function varargout = baseLink(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1503, self); + varargout{1} = iDynTreeMEX(1532, self); else nargoutchk(0, 0) - iDynTreeMEX(1504, self, varargin{1}); + iDynTreeMEX(1533, self, varargin{1}); end end function varargout = checkConsistency(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1505, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1534, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1506, self); + iDynTreeMEX(1535, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdySensor.m b/bindings/matlab/autogenerated/+iDynTree/BerdySensor.m index 962ba55d4a9..fbeaa2bad60 100644 --- a/bindings/matlab/autogenerated/+iDynTree/BerdySensor.m +++ b/bindings/matlab/autogenerated/+iDynTree/BerdySensor.m @@ -7,37 +7,37 @@ narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1507, self); + varargout{1} = iDynTreeMEX(1536, self); else nargoutchk(0, 0) - iDynTreeMEX(1508, self, varargin{1}); + iDynTreeMEX(1537, self, varargin{1}); end end function varargout = id(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1509, self); + varargout{1} = iDynTreeMEX(1538, self); else nargoutchk(0, 0) - iDynTreeMEX(1510, self, varargin{1}); + iDynTreeMEX(1539, self, varargin{1}); end end function varargout = range(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1511, self); + varargout{1} = iDynTreeMEX(1540, self); else nargoutchk(0, 0) - iDynTreeMEX(1512, self, varargin{1}); + iDynTreeMEX(1541, self, varargin{1}); end end function varargout = eq(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1513, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1542, self, varargin{:}); end function varargout = lt(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1514, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1543, self, varargin{:}); end function self = BerdySensor(varargin) if nargin==1 && strcmp(class(varargin{1}),'SwigRef') @@ -45,14 +45,14 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1515, varargin{:}); + tmp = iDynTreeMEX(1544, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1516, self); + iDynTreeMEX(1545, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/BerdySparseMAPSolver.m b/bindings/matlab/autogenerated/+iDynTree/BerdySparseMAPSolver.m index 83700978867..2c663b2cb24 100644 --- a/bindings/matlab/autogenerated/+iDynTree/BerdySparseMAPSolver.m +++ b/bindings/matlab/autogenerated/+iDynTree/BerdySparseMAPSolver.m @@ -9,58 +9,58 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1559, varargin{:}); + tmp = iDynTreeMEX(1588, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1560, self); + iDynTreeMEX(1589, self); self.SwigClear(); end end function varargout = setDynamicsConstraintsPriorCovariance(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1561, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1590, self, varargin{:}); end function varargout = setDynamicsRegularizationPriorCovariance(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1562, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1591, self, varargin{:}); end function varargout = setDynamicsRegularizationPriorExpectedValue(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1563, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1592, self, varargin{:}); end function varargout = setMeasurementsPriorCovariance(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1564, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1593, self, varargin{:}); end function varargout = dynamicsConstraintsPriorCovarianceInverse(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1565, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1594, self, varargin{:}); end function varargout = dynamicsRegularizationPriorCovarianceInverse(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1566, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1595, self, varargin{:}); end function varargout = dynamicsRegularizationPriorExpectedValue(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1567, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1596, self, varargin{:}); end function varargout = measurementsPriorCovarianceInverse(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1568, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1597, self, varargin{:}); end function varargout = isValid(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1569, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1598, self, varargin{:}); end function varargout = initialize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1570, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1599, self, varargin{:}); end function varargout = updateEstimateInformationFixedBase(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1571, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1600, self, varargin{:}); end function varargout = updateEstimateInformationFloatingBase(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1572, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1601, self, varargin{:}); end function varargout = doEstimate(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1573, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1602, self, varargin{:}); end function varargout = getLastEstimate(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1574, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1603, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/Box.m b/bindings/matlab/autogenerated/+iDynTree/Box.m index 61f119ae732..d3741130d6f 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Box.m +++ b/bindings/matlab/autogenerated/+iDynTree/Box.m @@ -2,41 +2,41 @@ methods function delete(self) if self.swigPtr - iDynTreeMEX(1085, self); + iDynTreeMEX(1087, self); self.SwigClear(); end end function varargout = clone(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1086, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1088, self, varargin{:}); end function varargout = x(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1087, self); + varargout{1} = iDynTreeMEX(1089, self); else nargoutchk(0, 0) - iDynTreeMEX(1088, self, varargin{1}); + iDynTreeMEX(1090, self, varargin{1}); end end function varargout = y(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1089, self); + varargout{1} = iDynTreeMEX(1091, self); else nargoutchk(0, 0) - iDynTreeMEX(1090, self, varargin{1}); + iDynTreeMEX(1092, self, varargin{1}); end end function varargout = z(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1091, self); + varargout{1} = iDynTreeMEX(1093, self); else nargoutchk(0, 0) - iDynTreeMEX(1092, self, varargin{1}); + iDynTreeMEX(1094, self, varargin{1}); end end function self = Box(varargin) @@ -46,7 +46,7 @@ function delete(self) self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1093, varargin{:}); + tmp = iDynTreeMEX(1095, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end diff --git a/bindings/matlab/autogenerated/+iDynTree/ClassicalAcc.m b/bindings/matlab/autogenerated/+iDynTree/ClassicalAcc.m index 22af0e180ec..89713536db7 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ClassicalAcc.m +++ b/bindings/matlab/autogenerated/+iDynTree/ClassicalAcc.m @@ -7,30 +7,30 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(613, varargin{:}); + tmp = iDynTreeMEX(615, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = changeCoordFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(614, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(616, self, varargin{:}); end function varargout = fromSpatial(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(616, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(618, self, varargin{:}); end function varargout = toSpatial(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(617, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(619, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(618, self); + iDynTreeMEX(620, self); self.SwigClear(); end end end methods(Static) function varargout = Zero(varargin) - [varargout{1:nargout}] = iDynTreeMEX(615, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(617, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/ColorViz.m b/bindings/matlab/autogenerated/+iDynTree/ColorViz.m index 46e00059045..78fcb4dd111 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ColorViz.m +++ b/bindings/matlab/autogenerated/+iDynTree/ColorViz.m @@ -7,40 +7,40 @@ narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1679, self); + varargout{1} = iDynTreeMEX(1710, self); else nargoutchk(0, 0) - iDynTreeMEX(1680, self, varargin{1}); + iDynTreeMEX(1711, self, varargin{1}); end end function varargout = g(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1681, self); + varargout{1} = iDynTreeMEX(1712, self); else nargoutchk(0, 0) - iDynTreeMEX(1682, self, varargin{1}); + iDynTreeMEX(1713, self, varargin{1}); end end function varargout = b(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1683, self); + varargout{1} = iDynTreeMEX(1714, self); else nargoutchk(0, 0) - iDynTreeMEX(1684, self, varargin{1}); + iDynTreeMEX(1715, self, varargin{1}); end end function varargout = a(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1685, self); + varargout{1} = iDynTreeMEX(1716, self); else nargoutchk(0, 0) - iDynTreeMEX(1686, self, varargin{1}); + iDynTreeMEX(1717, self, varargin{1}); end end function self = ColorViz(varargin) @@ -49,14 +49,14 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1687, varargin{:}); + tmp = iDynTreeMEX(1718, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1688, self); + iDynTreeMEX(1719, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/CompositeRigidBodyAlgorithm.m b/bindings/matlab/autogenerated/+iDynTree/CompositeRigidBodyAlgorithm.m index 444ee0b18d5..5ebc6270474 100644 --- a/bindings/matlab/autogenerated/+iDynTree/CompositeRigidBodyAlgorithm.m +++ b/bindings/matlab/autogenerated/+iDynTree/CompositeRigidBodyAlgorithm.m @@ -1,3 +1,3 @@ function varargout = CompositeRigidBodyAlgorithm(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1236, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1238, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentum.m b/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentum.m index 688a27b73f3..56c80610dec 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentum.m +++ b/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentum.m @@ -1,3 +1,3 @@ function varargout = ComputeLinearAndAngularMomentum(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1233, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1235, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentumDerivativeBias.m b/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentumDerivativeBias.m index 8d5d9c44ea5..108fdfdde54 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentumDerivativeBias.m +++ b/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentumDerivativeBias.m @@ -1,3 +1,3 @@ function varargout = ComputeLinearAndAngularMomentumDerivativeBias(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1234, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1236, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/ContactWrench.m b/bindings/matlab/autogenerated/+iDynTree/ContactWrench.m index d0f1bc1a946..6ec6c1d0994 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ContactWrench.m +++ b/bindings/matlab/autogenerated/+iDynTree/ContactWrench.m @@ -4,13 +4,13 @@ this = iDynTreeMEX(3, self); end function varargout = contactId(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1213, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1215, self, varargin{:}); end function varargout = contactPoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1214, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1216, self, varargin{:}); end function varargout = contactWrench(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1215, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1217, self, varargin{:}); end function self = ContactWrench(varargin) if nargin==1 && strcmp(class(varargin{1}),'SwigRef') @@ -18,14 +18,14 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1216, varargin{:}); + tmp = iDynTreeMEX(1218, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1217, self); + iDynTreeMEX(1219, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Cylinder.m b/bindings/matlab/autogenerated/+iDynTree/Cylinder.m index a8df7231c32..552b36a8b6a 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Cylinder.m +++ b/bindings/matlab/autogenerated/+iDynTree/Cylinder.m @@ -2,31 +2,31 @@ methods function delete(self) if self.swigPtr - iDynTreeMEX(1094, self); + iDynTreeMEX(1096, self); self.SwigClear(); end end function varargout = clone(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1095, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1097, self, varargin{:}); end function varargout = length(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1096, self); + varargout{1} = iDynTreeMEX(1098, self); else nargoutchk(0, 0) - iDynTreeMEX(1097, self, varargin{1}); + iDynTreeMEX(1099, self, varargin{1}); end end function varargout = radius(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1098, self); + varargout{1} = iDynTreeMEX(1100, self); else nargoutchk(0, 0) - iDynTreeMEX(1099, self, varargin{1}); + iDynTreeMEX(1101, self, varargin{1}); end end function self = Cylinder(varargin) @@ -36,7 +36,7 @@ function delete(self) self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1100, varargin{:}); + tmp = iDynTreeMEX(1102, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end diff --git a/bindings/matlab/autogenerated/+iDynTree/DOFSpatialForceArray.m b/bindings/matlab/autogenerated/+iDynTree/DOFSpatialForceArray.m index dcaf98c1f64..04c8e35a02b 100644 --- a/bindings/matlab/autogenerated/+iDynTree/DOFSpatialForceArray.m +++ b/bindings/matlab/autogenerated/+iDynTree/DOFSpatialForceArray.m @@ -9,23 +9,23 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1168, varargin{:}); + tmp = iDynTreeMEX(1170, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1169, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1171, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1170, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1172, self, varargin{:}); end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1171, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1173, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1172, self); + iDynTreeMEX(1174, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/DOFSpatialMotionArray.m b/bindings/matlab/autogenerated/+iDynTree/DOFSpatialMotionArray.m index 916a1a04d2f..754c3176527 100644 --- a/bindings/matlab/autogenerated/+iDynTree/DOFSpatialMotionArray.m +++ b/bindings/matlab/autogenerated/+iDynTree/DOFSpatialMotionArray.m @@ -9,23 +9,23 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1173, varargin{:}); + tmp = iDynTreeMEX(1175, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1174, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1176, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1175, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1177, self, varargin{:}); end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1176, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1178, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1177, self); + iDynTreeMEX(1179, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/DOF_INVALID_INDEX.m b/bindings/matlab/autogenerated/+iDynTree/DOF_INVALID_INDEX.m index a19e0efe1c8..e68afe63d43 100644 --- a/bindings/matlab/autogenerated/+iDynTree/DOF_INVALID_INDEX.m +++ b/bindings/matlab/autogenerated/+iDynTree/DOF_INVALID_INDEX.m @@ -2,9 +2,9 @@ narginchk(0,1) if nargin==0 nargoutchk(0,1) - varargout{1} = iDynTreeMEX(822); + varargout{1} = iDynTreeMEX(824); else nargoutchk(0,0) - iDynTreeMEX(823,varargin{1}); + iDynTreeMEX(825,varargin{1}); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/DOF_INVALID_NAME.m b/bindings/matlab/autogenerated/+iDynTree/DOF_INVALID_NAME.m index 920b2d5da20..fd96da658a0 100644 --- a/bindings/matlab/autogenerated/+iDynTree/DOF_INVALID_NAME.m +++ b/bindings/matlab/autogenerated/+iDynTree/DOF_INVALID_NAME.m @@ -2,9 +2,9 @@ narginchk(0,1) if nargin==0 nargoutchk(0,1) - varargout{1} = iDynTreeMEX(824); + varargout{1} = iDynTreeMEX(826); else nargoutchk(0,0) - iDynTreeMEX(825,varargin{1}); + iDynTreeMEX(827,varargin{1}); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Direction.m b/bindings/matlab/autogenerated/+iDynTree/Direction.m index 2bf214ea8ae..f87c97402d9 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Direction.m +++ b/bindings/matlab/autogenerated/+iDynTree/Direction.m @@ -7,39 +7,39 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(619, varargin{:}); + tmp = iDynTreeMEX(621, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = Normalize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(620, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(622, self, varargin{:}); end function varargout = isParallel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(621, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(623, self, varargin{:}); end function varargout = isPerpendicular(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(622, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(624, self, varargin{:}); end function varargout = reverse(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(623, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(625, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(624, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(626, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(625, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(627, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(627, self); + iDynTreeMEX(629, self); self.SwigClear(); end end end methods(Static) function varargout = Default(varargin) - [varargout{1:nargout}] = iDynTreeMEX(626, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(628, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Dummy.m b/bindings/matlab/autogenerated/+iDynTree/Dummy.m index 971110f6bd3..0dc9f171e1c 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Dummy.m +++ b/bindings/matlab/autogenerated/+iDynTree/Dummy.m @@ -9,14 +9,14 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(580, varargin{:}); + tmp = iDynTreeMEX(582, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(581, self); + iDynTreeMEX(583, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/DynamicsComputations.m b/bindings/matlab/autogenerated/+iDynTree/DynamicsComputations.m index 9a3e9d50df0..5ea770c5ad4 100644 --- a/bindings/matlab/autogenerated/+iDynTree/DynamicsComputations.m +++ b/bindings/matlab/autogenerated/+iDynTree/DynamicsComputations.m @@ -9,118 +9,118 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1757, varargin{:}); + tmp = iDynTreeMEX(1788, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1758, self); + iDynTreeMEX(1789, self); self.SwigClear(); end end function varargout = loadRobotModelFromFile(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1759, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1790, self, varargin{:}); end function varargout = loadRobotModelFromString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1760, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1791, self, varargin{:}); end function varargout = isValid(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1761, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1792, self, varargin{:}); end function varargout = getNrOfDegreesOfFreedom(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1762, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1793, self, varargin{:}); end function varargout = getDescriptionOfDegreeOfFreedom(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1763, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1794, self, varargin{:}); end function varargout = getDescriptionOfDegreesOfFreedom(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1764, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1795, self, varargin{:}); end function varargout = getNrOfLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1765, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1796, self, varargin{:}); end function varargout = getNrOfFrames(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1766, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1797, self, varargin{:}); end function varargout = getFloatingBase(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1767, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1798, self, varargin{:}); end function varargout = setFloatingBase(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1768, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1799, self, varargin{:}); end function varargout = setRobotState(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1769, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1800, self, varargin{:}); end function varargout = getWorldBaseTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1770, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1801, self, varargin{:}); end function varargout = getBaseTwist(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1771, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1802, self, varargin{:}); end function varargout = getJointPos(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1772, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1803, self, varargin{:}); end function varargout = getJointVel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1773, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1804, self, varargin{:}); end function varargout = getFrameIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1774, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1805, self, varargin{:}); end function varargout = getFrameName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1775, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1806, self, varargin{:}); end function varargout = getWorldTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1776, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1807, self, varargin{:}); end function varargout = getRelativeTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1777, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1808, self, varargin{:}); end function varargout = getFrameTwist(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1778, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1809, self, varargin{:}); end function varargout = getFrameTwistInWorldOrient(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1779, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1810, self, varargin{:}); end function varargout = getFrameProperSpatialAcceleration(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1780, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1811, self, varargin{:}); end function varargout = getLinkIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1781, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1812, self, varargin{:}); end function varargout = getLinkInertia(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1782, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1813, self, varargin{:}); end function varargout = getJointIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1783, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1814, self, varargin{:}); end function varargout = getJointName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1784, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1815, self, varargin{:}); end function varargout = getJointLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1785, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1816, self, varargin{:}); end function varargout = inverseDynamics(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1786, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1817, self, varargin{:}); end function varargout = getFreeFloatingMassMatrix(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1787, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1818, self, varargin{:}); end function varargout = getFrameJacobian(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1788, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1819, self, varargin{:}); end function varargout = getDynamicsRegressor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1789, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1820, self, varargin{:}); end function varargout = getModelDynamicsParameters(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1790, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1821, self, varargin{:}); end function varargout = getCenterOfMass(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1791, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1822, self, varargin{:}); end function varargout = getCenterOfMassJacobian(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1792, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1823, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorGenerator.m b/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorGenerator.m index addb605cacd..03bb98a415c 100644 --- a/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorGenerator.m +++ b/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorGenerator.m @@ -9,100 +9,100 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1595, varargin{:}); + tmp = iDynTreeMEX(1624, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1596, self); + iDynTreeMEX(1625, self); self.SwigClear(); end end function varargout = loadRobotAndSensorsModelFromFile(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1597, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1626, self, varargin{:}); end function varargout = loadRobotAndSensorsModelFromString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1598, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1627, self, varargin{:}); end function varargout = loadRegressorStructureFromFile(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1599, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1628, self, varargin{:}); end function varargout = loadRegressorStructureFromString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1600, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1629, self, varargin{:}); end function varargout = isValid(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1601, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1630, self, varargin{:}); end function varargout = getNrOfParameters(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1602, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1631, self, varargin{:}); end function varargout = getNrOfOutputs(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1603, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1632, self, varargin{:}); end function varargout = getNrOfDegreesOfFreedom(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1604, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1633, self, varargin{:}); end function varargout = getDescriptionOfParameter(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1605, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1634, self, varargin{:}); end function varargout = getDescriptionOfParameters(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1606, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1635, self, varargin{:}); end function varargout = getDescriptionOfOutput(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1607, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1636, self, varargin{:}); end function varargout = getDescriptionOfOutputs(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1608, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1637, self, varargin{:}); end function varargout = getDescriptionOfDegreeOfFreedom(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1609, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1638, self, varargin{:}); end function varargout = getDescriptionOfDegreesOfFreedom(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1610, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1639, self, varargin{:}); end function varargout = getDescriptionOfLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1611, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1640, self, varargin{:}); end function varargout = getDescriptionOfLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1612, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1641, self, varargin{:}); end function varargout = getNrOfLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1613, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1642, self, varargin{:}); end function varargout = getNrOfFakeLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1614, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1643, self, varargin{:}); end function varargout = getBaseLinkName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1615, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1644, self, varargin{:}); end function varargout = getSensorsModel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1616, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1645, self, varargin{:}); end function varargout = setRobotState(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1617, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1646, self, varargin{:}); end function varargout = getSensorsMeasurements(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1618, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1647, self, varargin{:}); end function varargout = setTorqueSensorMeasurement(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1619, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1648, self, varargin{:}); end function varargout = computeRegressor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1620, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1649, self, varargin{:}); end function varargout = getModelParameters(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1621, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1650, self, varargin{:}); end function varargout = computeFloatingBaseIdentifiableSubspace(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1622, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1651, self, varargin{:}); end function varargout = computeFixedBaseIdentifiableSubspace(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1623, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1652, self, varargin{:}); end function varargout = generate_random_regressors(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1624, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1653, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorParameter.m b/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorParameter.m index b68755a3623..8c2b1947388 100644 --- a/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorParameter.m +++ b/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorParameter.m @@ -7,40 +7,40 @@ narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1575, self); + varargout{1} = iDynTreeMEX(1604, self); else nargoutchk(0, 0) - iDynTreeMEX(1576, self, varargin{1}); + iDynTreeMEX(1605, self, varargin{1}); end end function varargout = elemIndex(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1577, self); + varargout{1} = iDynTreeMEX(1606, self); else nargoutchk(0, 0) - iDynTreeMEX(1578, self, varargin{1}); + iDynTreeMEX(1607, self, varargin{1}); end end function varargout = type(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1579, self); + varargout{1} = iDynTreeMEX(1608, self); else nargoutchk(0, 0) - iDynTreeMEX(1580, self, varargin{1}); + iDynTreeMEX(1609, self, varargin{1}); end end function varargout = lt(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1581, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1610, self, varargin{:}); end function varargout = eq(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1582, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1611, self, varargin{:}); end function varargout = ne(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1583, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1612, self, varargin{:}); end function self = DynamicsRegressorParameter(varargin) if nargin==1 && strcmp(class(varargin{1}),'SwigRef') @@ -48,14 +48,14 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1584, varargin{:}); + tmp = iDynTreeMEX(1613, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1585, self); + iDynTreeMEX(1614, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorParametersList.m b/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorParametersList.m index af9348b803e..0c65a8e0abf 100644 --- a/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorParametersList.m +++ b/bindings/matlab/autogenerated/+iDynTree/DynamicsRegressorParametersList.m @@ -7,26 +7,26 @@ narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1586, self); + varargout{1} = iDynTreeMEX(1615, self); else nargoutchk(0, 0) - iDynTreeMEX(1587, self, varargin{1}); + iDynTreeMEX(1616, self, varargin{1}); end end function varargout = getDescriptionOfParameter(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1588, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1617, self, varargin{:}); end function varargout = addParam(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1589, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1618, self, varargin{:}); end function varargout = addList(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1590, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1619, self, varargin{:}); end function varargout = findParam(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1591, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1620, self, varargin{:}); end function varargout = getNrOfParameters(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1592, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1621, self, varargin{:}); end function self = DynamicsRegressorParametersList(varargin) if nargin==1 && strcmp(class(varargin{1}),'SwigRef') @@ -34,14 +34,14 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1593, varargin{:}); + tmp = iDynTreeMEX(1622, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1594, self); + iDynTreeMEX(1623, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/ExtWrenchesAndJointTorquesEstimator.m b/bindings/matlab/autogenerated/+iDynTree/ExtWrenchesAndJointTorquesEstimator.m index c31baeb0a89..4e27030b6d5 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ExtWrenchesAndJointTorquesEstimator.m +++ b/bindings/matlab/autogenerated/+iDynTree/ExtWrenchesAndJointTorquesEstimator.m @@ -9,52 +9,52 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1460, varargin{:}); + tmp = iDynTreeMEX(1489, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1461, self); + iDynTreeMEX(1490, self); self.SwigClear(); end end function varargout = setModelAndSensors(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1462, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1491, self, varargin{:}); end function varargout = loadModelAndSensorsFromFile(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1463, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1492, self, varargin{:}); end function varargout = loadModelAndSensorsFromFileWithSpecifiedDOFs(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1464, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1493, self, varargin{:}); end function varargout = model(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1465, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1494, self, varargin{:}); end function varargout = sensors(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1466, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1495, self, varargin{:}); end function varargout = submodels(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1467, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1496, self, varargin{:}); end function varargout = updateKinematicsFromFloatingBase(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1468, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1497, self, varargin{:}); end function varargout = updateKinematicsFromFixedBase(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1469, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1498, self, varargin{:}); end function varargout = computeExpectedFTSensorsMeasurements(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1470, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1499, self, varargin{:}); end function varargout = estimateExtWrenchesAndJointTorques(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1471, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1500, self, varargin{:}); end function varargout = checkThatTheModelIsStill(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1472, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1501, self, varargin{:}); end function varargout = estimateLinkNetWrenchesWithoutGravity(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1473, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1502, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/ExternalMesh.m b/bindings/matlab/autogenerated/+iDynTree/ExternalMesh.m index c35782b905f..b358e3a8c01 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ExternalMesh.m +++ b/bindings/matlab/autogenerated/+iDynTree/ExternalMesh.m @@ -2,31 +2,31 @@ methods function delete(self) if self.swigPtr - iDynTreeMEX(1101, self); + iDynTreeMEX(1103, self); self.SwigClear(); end end function varargout = clone(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1102, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1104, self, varargin{:}); end function varargout = filename(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1103, self); + varargout{1} = iDynTreeMEX(1105, self); else nargoutchk(0, 0) - iDynTreeMEX(1104, self, varargin{1}); + iDynTreeMEX(1106, self, varargin{1}); end end function varargout = scale(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1105, self); + varargout{1} = iDynTreeMEX(1107, self); else nargoutchk(0, 0) - iDynTreeMEX(1106, self, varargin{1}); + iDynTreeMEX(1108, self, varargin{1}); end end function self = ExternalMesh(varargin) @@ -36,7 +36,7 @@ function delete(self) self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1107, varargin{:}); + tmp = iDynTreeMEX(1109, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end diff --git a/bindings/matlab/autogenerated/+iDynTree/FRAME_INVALID_INDEX.m b/bindings/matlab/autogenerated/+iDynTree/FRAME_INVALID_INDEX.m index 9059885d0c1..617f3d2c4fe 100644 --- a/bindings/matlab/autogenerated/+iDynTree/FRAME_INVALID_INDEX.m +++ b/bindings/matlab/autogenerated/+iDynTree/FRAME_INVALID_INDEX.m @@ -2,9 +2,9 @@ narginchk(0,1) if nargin==0 nargoutchk(0,1) - varargout{1} = iDynTreeMEX(826); + varargout{1} = iDynTreeMEX(828); else nargoutchk(0,0) - iDynTreeMEX(827,varargin{1}); + iDynTreeMEX(829,varargin{1}); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/FRAME_INVALID_NAME.m b/bindings/matlab/autogenerated/+iDynTree/FRAME_INVALID_NAME.m index 1b9179d6ca3..6bc2b86e4fa 100644 --- a/bindings/matlab/autogenerated/+iDynTree/FRAME_INVALID_NAME.m +++ b/bindings/matlab/autogenerated/+iDynTree/FRAME_INVALID_NAME.m @@ -2,9 +2,9 @@ narginchk(0,1) if nargin==0 nargoutchk(0,1) - varargout{1} = iDynTreeMEX(828); + varargout{1} = iDynTreeMEX(830); else nargoutchk(0,0) - iDynTreeMEX(829,varargin{1}); + iDynTreeMEX(831,varargin{1}); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/FixedJoint.m b/bindings/matlab/autogenerated/+iDynTree/FixedJoint.m index 150d5b247bd..7125c099f8d 100644 --- a/bindings/matlab/autogenerated/+iDynTree/FixedJoint.m +++ b/bindings/matlab/autogenerated/+iDynTree/FixedJoint.m @@ -7,103 +7,103 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(912, varargin{:}); + tmp = iDynTreeMEX(914, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(913, self); + iDynTreeMEX(915, self); self.SwigClear(); end end function varargout = clone(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(914, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(916, self, varargin{:}); end function varargout = getNrOfPosCoords(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(915, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(917, self, varargin{:}); end function varargout = getNrOfDOFs(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(916, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(918, self, varargin{:}); end function varargout = setAttachedLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(917, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(919, self, varargin{:}); end function varargout = setRestTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(918, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(920, self, varargin{:}); end function varargout = getFirstAttachedLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(919, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(921, self, varargin{:}); end function varargout = getSecondAttachedLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(920, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(922, self, varargin{:}); end function varargout = getRestTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(921, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(923, self, varargin{:}); end function varargout = getTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(922, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(924, self, varargin{:}); end function varargout = getTransformDerivative(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(923, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(925, self, varargin{:}); end function varargout = getMotionSubspaceVector(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(924, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(926, self, varargin{:}); end function varargout = computeChildPosVelAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(925, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(927, self, varargin{:}); end function varargout = computeChildVelAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(926, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(928, self, varargin{:}); end function varargout = computeChildVel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(927, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(929, self, varargin{:}); end function varargout = computeChildAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(928, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(930, self, varargin{:}); end function varargout = computeChildBiasAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(929, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(931, self, varargin{:}); end function varargout = computeJointTorque(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(930, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(932, self, varargin{:}); end function varargout = setIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(931, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(933, self, varargin{:}); end function varargout = getIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(932, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(934, self, varargin{:}); end function varargout = setPosCoordsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(933, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(935, self, varargin{:}); end function varargout = getPosCoordsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(934, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(936, self, varargin{:}); end function varargout = setDOFsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(935, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(937, self, varargin{:}); end function varargout = getDOFsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(936, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(938, self, varargin{:}); end function varargout = hasPosLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(937, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(939, self, varargin{:}); end function varargout = enablePosLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(938, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(940, self, varargin{:}); end function varargout = getPosLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(939, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(941, self, varargin{:}); end function varargout = getMinPosLimit(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(940, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(942, self, varargin{:}); end function varargout = getMaxPosLimit(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(941, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(943, self, varargin{:}); end function varargout = setPosLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(942, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(944, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__AngularForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__AngularForceVector3Semantics.m index f0f99dbaeda..8b8f485ee8e 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__AngularForceVector3Semantics.m +++ b/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__AngularForceVector3Semantics.m @@ -7,24 +7,24 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(483, varargin{:}); + tmp = iDynTreeMEX(485, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(486, self); + iDynTreeMEX(488, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(484, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(486, varargin{:}); end function varargout = inverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(485, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(487, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__LinearForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__LinearForceVector3Semantics.m index dabc337b358..6a924fc6038 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__LinearForceVector3Semantics.m +++ b/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__LinearForceVector3Semantics.m @@ -7,24 +7,24 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(479, varargin{:}); + tmp = iDynTreeMEX(481, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(482, self); + iDynTreeMEX(484, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(480, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(482, varargin{:}); end function varargout = inverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(481, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(483, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/ForceVector3__AngularForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/ForceVector3__AngularForceVector3.m index 41371bcba03..05e9d653360 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ForceVector3__AngularForceVector3.m +++ b/bindings/matlab/autogenerated/+iDynTree/ForceVector3__AngularForceVector3.m @@ -7,14 +7,14 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(495, varargin{:}); + tmp = iDynTreeMEX(497, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(496, self); + iDynTreeMEX(498, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/ForceVector3__LinearForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/ForceVector3__LinearForceVector3.m index e1cde6c4061..67fe23145ce 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ForceVector3__LinearForceVector3.m +++ b/bindings/matlab/autogenerated/+iDynTree/ForceVector3__LinearForceVector3.m @@ -7,14 +7,14 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(493, varargin{:}); + tmp = iDynTreeMEX(495, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(494, self); + iDynTreeMEX(496, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardAccKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardAccKinematics.m index 5d2ff4851e6..89db5cfff11 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ForwardAccKinematics.m +++ b/bindings/matlab/autogenerated/+iDynTree/ForwardAccKinematics.m @@ -1,3 +1,3 @@ function varargout = ForwardAccKinematics(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1231, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1233, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardBiasAccKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardBiasAccKinematics.m index be96d7b1954..4b7899c1ea9 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ForwardBiasAccKinematics.m +++ b/bindings/matlab/autogenerated/+iDynTree/ForwardBiasAccKinematics.m @@ -1,3 +1,3 @@ function varargout = ForwardBiasAccKinematics(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1232, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1234, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelAccKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelAccKinematics.m index 4fde9b3505d..dbac75eaf32 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelAccKinematics.m +++ b/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelAccKinematics.m @@ -1,3 +1,3 @@ function varargout = ForwardPosVelAccKinematics(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1229, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1231, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelKinematics.m index 797a596bd00..b98b4230c9f 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelKinematics.m +++ b/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelKinematics.m @@ -1,3 +1,3 @@ function varargout = ForwardPosVelKinematics(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1230, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1232, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardPositionKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardPositionKinematics.m index 48bded507f1..6ed9e541e21 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ForwardPositionKinematics.m +++ b/bindings/matlab/autogenerated/+iDynTree/ForwardPositionKinematics.m @@ -1,3 +1,3 @@ function varargout = ForwardPositionKinematics(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1227, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1229, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardVelAccKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardVelAccKinematics.m index 5a6d66685ae..809f076dcb7 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ForwardVelAccKinematics.m +++ b/bindings/matlab/autogenerated/+iDynTree/ForwardVelAccKinematics.m @@ -1,3 +1,3 @@ function varargout = ForwardVelAccKinematics(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1228, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1230, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/FrameFreeFloatingJacobian.m b/bindings/matlab/autogenerated/+iDynTree/FrameFreeFloatingJacobian.m index 67855b11641..4ce0a353456 100644 --- a/bindings/matlab/autogenerated/+iDynTree/FrameFreeFloatingJacobian.m +++ b/bindings/matlab/autogenerated/+iDynTree/FrameFreeFloatingJacobian.m @@ -7,20 +7,20 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1178, varargin{:}); + tmp = iDynTreeMEX(1180, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1179, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1181, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1180, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1182, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1181, self); + iDynTreeMEX(1183, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingAcc.m b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingAcc.m index 6c0511108ee..231f77f9fcf 100644 --- a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingAcc.m +++ b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingAcc.m @@ -9,26 +9,26 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1207, varargin{:}); + tmp = iDynTreeMEX(1209, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1208, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1210, self, varargin{:}); end function varargout = baseAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1209, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1211, self, varargin{:}); end function varargout = jointAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1210, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1212, self, varargin{:}); end function varargout = getNrOfDOFs(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1211, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1213, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1212, self); + iDynTreeMEX(1214, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingGeneralizedTorques.m b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingGeneralizedTorques.m index 518cf1c04f8..53a67a4f493 100644 --- a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingGeneralizedTorques.m +++ b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingGeneralizedTorques.m @@ -9,26 +9,26 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1195, varargin{:}); + tmp = iDynTreeMEX(1197, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1196, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1198, self, varargin{:}); end function varargout = baseWrench(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1197, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1199, self, varargin{:}); end function varargout = jointTorques(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1198, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1200, self, varargin{:}); end function varargout = getNrOfDOFs(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1199, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1201, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1200, self); + iDynTreeMEX(1202, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingMassMatrix.m b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingMassMatrix.m index 1a6e786f7aa..2f0bb93408f 100644 --- a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingMassMatrix.m +++ b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingMassMatrix.m @@ -7,17 +7,17 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1186, varargin{:}); + tmp = iDynTreeMEX(1188, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1187, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1189, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1188, self); + iDynTreeMEX(1190, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingPos.m b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingPos.m index f0a545b2455..f2f95934dd5 100644 --- a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingPos.m +++ b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingPos.m @@ -9,26 +9,26 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1189, varargin{:}); + tmp = iDynTreeMEX(1191, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1190, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1192, self, varargin{:}); end function varargout = worldBasePos(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1191, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1193, self, varargin{:}); end function varargout = jointPos(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1192, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1194, self, varargin{:}); end function varargout = getNrOfPosCoords(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1193, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1195, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1194, self); + iDynTreeMEX(1196, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingVel.m b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingVel.m index 47a98d63a9e..0a6f84534a8 100644 --- a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingVel.m +++ b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingVel.m @@ -9,26 +9,26 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1201, varargin{:}); + tmp = iDynTreeMEX(1203, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1202, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1204, self, varargin{:}); end function varargout = baseVel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1203, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1205, self, varargin{:}); end function varargout = jointVel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1204, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1206, self, varargin{:}); end function varargout = getNrOfDOFs(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1205, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1207, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1206, self); + iDynTreeMEX(1208, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularForceVector3Semantics.m index ee040dc498a..9703c7f539b 100644 --- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularForceVector3Semantics.m +++ b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularForceVector3Semantics.m @@ -9,45 +9,45 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(420, varargin{:}); + tmp = iDynTreeMEX(422, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = setToUnknown(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(421, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(423, self, varargin{:}); end function varargout = getBody(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(422, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(424, self, varargin{:}); end function varargout = getRefBody(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(423, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(425, self, varargin{:}); end function varargout = getCoordinateFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(424, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(426, self, varargin{:}); end function varargout = isUnknown(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(425, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(427, self, varargin{:}); end function varargout = changeCoordFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(426, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(428, self, varargin{:}); end function varargout = dot(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(429, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(431, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(430, self); + iDynTreeMEX(432, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(427, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(429, varargin{:}); end function varargout = inverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(428, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(430, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularMotionVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularMotionVector3Semantics.m index 555891d1924..3fd2a900142 100644 --- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularMotionVector3Semantics.m +++ b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularMotionVector3Semantics.m @@ -9,45 +9,45 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(398, varargin{:}); + tmp = iDynTreeMEX(400, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = setToUnknown(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(399, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(401, self, varargin{:}); end function varargout = getBody(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(400, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(402, self, varargin{:}); end function varargout = getRefBody(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(401, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(403, self, varargin{:}); end function varargout = getCoordinateFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(402, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(404, self, varargin{:}); end function varargout = isUnknown(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(403, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(405, self, varargin{:}); end function varargout = changeCoordFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(404, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(406, self, varargin{:}); end function varargout = dot(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(407, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(409, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(408, self); + iDynTreeMEX(410, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(405, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(407, varargin{:}); end function varargout = inverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(406, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(408, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearForceVector3Semantics.m index 575a38f72af..3b2c2093c73 100644 --- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearForceVector3Semantics.m +++ b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearForceVector3Semantics.m @@ -9,45 +9,45 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(409, varargin{:}); + tmp = iDynTreeMEX(411, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = setToUnknown(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(410, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(412, self, varargin{:}); end function varargout = getBody(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(411, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(413, self, varargin{:}); end function varargout = getRefBody(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(412, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(414, self, varargin{:}); end function varargout = getCoordinateFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(413, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(415, self, varargin{:}); end function varargout = isUnknown(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(414, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(416, self, varargin{:}); end function varargout = changeCoordFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(415, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(417, self, varargin{:}); end function varargout = dot(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(418, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(420, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(419, self); + iDynTreeMEX(421, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(416, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(418, varargin{:}); end function varargout = inverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(417, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(419, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearMotionVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearMotionVector3Semantics.m index d08d475544f..6d489cff5ca 100644 --- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearMotionVector3Semantics.m +++ b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearMotionVector3Semantics.m @@ -9,45 +9,45 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(387, varargin{:}); + tmp = iDynTreeMEX(389, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = setToUnknown(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(388, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(390, self, varargin{:}); end function varargout = getBody(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(389, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(391, self, varargin{:}); end function varargout = getRefBody(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(390, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(392, self, varargin{:}); end function varargout = getCoordinateFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(391, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(393, self, varargin{:}); end function varargout = isUnknown(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(392, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(394, self, varargin{:}); end function varargout = changeCoordFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(393, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(395, self, varargin{:}); end function varargout = dot(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(396, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(398, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(397, self); + iDynTreeMEX(399, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(394, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(396, varargin{:}); end function varargout = inverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(395, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(397, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularForceVector3.m index 99e9578e02f..df0c4dd3b55 100644 --- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularForceVector3.m +++ b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularForceVector3.m @@ -4,10 +4,10 @@ narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(467, self); + varargout{1} = iDynTreeMEX(469, self); else nargoutchk(0, 0) - iDynTreeMEX(468, self, varargin{1}); + iDynTreeMEX(470, self, varargin{1}); end end function self = GeomVector3__AngularForceVector3(varargin) @@ -17,42 +17,42 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(469, varargin{:}); + tmp = iDynTreeMEX(471, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = setSemantics(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(470, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(472, self, varargin{:}); end function varargout = changeCoordFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(471, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(473, self, varargin{:}); end function varargout = dot(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(474, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(476, self, varargin{:}); end function varargout = plus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(475, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(477, self, varargin{:}); end function varargout = minus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(476, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(478, self, varargin{:}); end function varargout = uminus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(477, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(479, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(478, self); + iDynTreeMEX(480, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(472, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(474, varargin{:}); end function varargout = inverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(473, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(475, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularMotionVector3.m index c94514a0c60..a546e497fce 100644 --- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularMotionVector3.m +++ b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularMotionVector3.m @@ -4,10 +4,10 @@ narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(443, self); + varargout{1} = iDynTreeMEX(445, self); else nargoutchk(0, 0) - iDynTreeMEX(444, self, varargin{1}); + iDynTreeMEX(446, self, varargin{1}); end end function self = GeomVector3__AngularMotionVector3(varargin) @@ -17,42 +17,42 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(445, varargin{:}); + tmp = iDynTreeMEX(447, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = setSemantics(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(446, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(448, self, varargin{:}); end function varargout = changeCoordFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(447, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(449, self, varargin{:}); end function varargout = dot(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(450, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(452, self, varargin{:}); end function varargout = plus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(451, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(453, self, varargin{:}); end function varargout = minus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(452, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(454, self, varargin{:}); end function varargout = uminus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(453, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(455, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(454, self); + iDynTreeMEX(456, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(448, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(450, varargin{:}); end function varargout = inverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(449, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(451, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearForceVector3.m index 8624f7efe10..94760cdcbe6 100644 --- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearForceVector3.m +++ b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearForceVector3.m @@ -4,10 +4,10 @@ narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(455, self); + varargout{1} = iDynTreeMEX(457, self); else nargoutchk(0, 0) - iDynTreeMEX(456, self, varargin{1}); + iDynTreeMEX(458, self, varargin{1}); end end function self = GeomVector3__LinearForceVector3(varargin) @@ -17,42 +17,42 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(457, varargin{:}); + tmp = iDynTreeMEX(459, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = setSemantics(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(458, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(460, self, varargin{:}); end function varargout = changeCoordFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(459, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(461, self, varargin{:}); end function varargout = dot(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(462, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(464, self, varargin{:}); end function varargout = plus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(463, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(465, self, varargin{:}); end function varargout = minus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(464, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(466, self, varargin{:}); end function varargout = uminus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(465, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(467, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(466, self); + iDynTreeMEX(468, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(460, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(462, varargin{:}); end function varargout = inverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(461, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(463, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearMotionVector3.m index 6d3fb5995a6..417a3d71092 100644 --- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearMotionVector3.m +++ b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearMotionVector3.m @@ -4,10 +4,10 @@ narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(431, self); + varargout{1} = iDynTreeMEX(433, self); else nargoutchk(0, 0) - iDynTreeMEX(432, self, varargin{1}); + iDynTreeMEX(434, self, varargin{1}); end end function self = GeomVector3__LinearMotionVector3(varargin) @@ -17,42 +17,42 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(433, varargin{:}); + tmp = iDynTreeMEX(435, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = setSemantics(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(434, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(436, self, varargin{:}); end function varargout = changeCoordFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(435, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(437, self, varargin{:}); end function varargout = dot(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(438, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(440, self, varargin{:}); end function varargout = plus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(439, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(441, self, varargin{:}); end function varargout = minus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(440, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(442, self, varargin{:}); end function varargout = uminus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(441, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(443, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(442, self); + iDynTreeMEX(444, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(436, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(438, varargin{:}); end function varargout = inverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(437, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(439, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/GyroscopeSensor.m b/bindings/matlab/autogenerated/+iDynTree/GyroscopeSensor.m index a0439654c00..30985f57be6 100644 --- a/bindings/matlab/autogenerated/+iDynTree/GyroscopeSensor.m +++ b/bindings/matlab/autogenerated/+iDynTree/GyroscopeSensor.m @@ -7,58 +7,58 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1358, varargin{:}); + tmp = iDynTreeMEX(1361, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1359, self); + iDynTreeMEX(1362, self); self.SwigClear(); end end function varargout = setName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1360, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1363, self, varargin{:}); end function varargout = setLinkSensorTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1361, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1364, self, varargin{:}); end function varargout = setParentLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1362, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1365, self, varargin{:}); end function varargout = setParentLinkIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1363, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1366, self, varargin{:}); end function varargout = getName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1364, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1367, self, varargin{:}); end function varargout = getSensorType(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1365, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1368, self, varargin{:}); end function varargout = getParentLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1366, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1369, self, varargin{:}); end function varargout = getParentLinkIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1367, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1370, self, varargin{:}); end function varargout = getLinkSensorTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1368, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1371, self, varargin{:}); end function varargout = isValid(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1369, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1372, self, varargin{:}); end function varargout = clone(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1370, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1373, self, varargin{:}); end function varargout = updateIndices(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1371, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1374, self, varargin{:}); end function varargout = updateIndeces(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1372, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1375, self, varargin{:}); end function varargout = predictMeasurement(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1373, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1376, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/ICamera.m b/bindings/matlab/autogenerated/+iDynTree/ICamera.m index 8546a95e154..1625fcc72bc 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ICamera.m +++ b/bindings/matlab/autogenerated/+iDynTree/ICamera.m @@ -5,18 +5,18 @@ end function delete(self) if self.swigPtr - iDynTreeMEX(1675, self); + iDynTreeMEX(1706, self); self.SwigClear(); end end function varargout = setPosition(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1676, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1707, self, varargin{:}); end function varargout = setTarget(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1677, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1708, self, varargin{:}); end function varargout = setUpVector(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1678, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1709, self, varargin{:}); end function self = ICamera(varargin) if nargin==1 && strcmp(class(varargin{1}),'SwigRef') diff --git a/bindings/matlab/autogenerated/+iDynTree/IEnvironment.m b/bindings/matlab/autogenerated/+iDynTree/IEnvironment.m index 4c0fba69047..1bf1dab327b 100644 --- a/bindings/matlab/autogenerated/+iDynTree/IEnvironment.m +++ b/bindings/matlab/autogenerated/+iDynTree/IEnvironment.m @@ -5,33 +5,33 @@ end function delete(self) if self.swigPtr - iDynTreeMEX(1703, self); + iDynTreeMEX(1734, self); self.SwigClear(); end end function varargout = getElements(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1704, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1735, self, varargin{:}); end function varargout = setElementVisibility(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1705, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1736, self, varargin{:}); end function varargout = setBackgroundColor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1706, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1737, self, varargin{:}); end function varargout = setAmbientLight(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1707, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1738, self, varargin{:}); end function varargout = getLights(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1708, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1739, self, varargin{:}); end function varargout = addLight(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1709, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1740, self, varargin{:}); end function varargout = lightViz(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1710, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1741, self, varargin{:}); end function varargout = removeLight(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1711, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1742, self, varargin{:}); end function self = IEnvironment(varargin) if nargin==1 && strcmp(class(varargin{1}),'SwigRef') diff --git a/bindings/matlab/autogenerated/+iDynTree/IJetsVisualization.m b/bindings/matlab/autogenerated/+iDynTree/IJetsVisualization.m index bbca4a4eba5..7f2e9b93752 100644 --- a/bindings/matlab/autogenerated/+iDynTree/IJetsVisualization.m +++ b/bindings/matlab/autogenerated/+iDynTree/IJetsVisualization.m @@ -5,30 +5,30 @@ end function delete(self) if self.swigPtr - iDynTreeMEX(1712, self); + iDynTreeMEX(1743, self); self.SwigClear(); end end function varargout = setJetsFrames(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1713, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1744, self, varargin{:}); end function varargout = getNrOfJets(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1714, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1745, self, varargin{:}); end function varargout = getJetDirection(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1715, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1746, self, varargin{:}); end function varargout = setJetDirection(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1716, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1747, self, varargin{:}); end function varargout = setJetColor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1717, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1748, self, varargin{:}); end function varargout = setJetsDimensions(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1718, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1749, self, varargin{:}); end function varargout = setJetsIntensity(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1719, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1750, self, varargin{:}); end function self = IJetsVisualization(varargin) if nargin==1 && strcmp(class(varargin{1}),'SwigRef') diff --git a/bindings/matlab/autogenerated/+iDynTree/IJoint.m b/bindings/matlab/autogenerated/+iDynTree/IJoint.m index 3e860327571..dab0f1fbdb2 100644 --- a/bindings/matlab/autogenerated/+iDynTree/IJoint.m +++ b/bindings/matlab/autogenerated/+iDynTree/IJoint.m @@ -5,108 +5,108 @@ end function delete(self) if self.swigPtr - iDynTreeMEX(878, self); + iDynTreeMEX(880, self); self.SwigClear(); end end function varargout = clone(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(879, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(881, self, varargin{:}); end function varargout = getNrOfPosCoords(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(880, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(882, self, varargin{:}); end function varargout = getNrOfDOFs(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(881, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(883, self, varargin{:}); end function varargout = setAttachedLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(882, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(884, self, varargin{:}); end function varargout = setRestTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(883, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(885, self, varargin{:}); end function varargout = getFirstAttachedLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(884, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(886, self, varargin{:}); end function varargout = getSecondAttachedLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(885, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(887, self, varargin{:}); end function varargout = getRestTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(886, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(888, self, varargin{:}); end function varargout = getTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(887, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(889, self, varargin{:}); end function varargout = getTransformDerivative(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(888, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(890, self, varargin{:}); end function varargout = getMotionSubspaceVector(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(889, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(891, self, varargin{:}); end function varargout = computeChildPosVelAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(890, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(892, self, varargin{:}); end function varargout = computeChildVelAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(891, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(893, self, varargin{:}); end function varargout = computeChildVel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(892, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(894, self, varargin{:}); end function varargout = computeChildAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(893, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(895, self, varargin{:}); end function varargout = computeChildBiasAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(894, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(896, self, varargin{:}); end function varargout = computeJointTorque(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(895, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(897, self, varargin{:}); end function varargout = setIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(896, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(898, self, varargin{:}); end function varargout = getIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(897, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(899, self, varargin{:}); end function varargout = setPosCoordsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(898, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(900, self, varargin{:}); end function varargout = getPosCoordsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(899, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(901, self, varargin{:}); end function varargout = setDOFsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(900, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(902, self, varargin{:}); end function varargout = getDOFsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(901, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(903, self, varargin{:}); end function varargout = hasPosLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(902, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(904, self, varargin{:}); end function varargout = enablePosLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(903, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(905, self, varargin{:}); end function varargout = getPosLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(904, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(906, self, varargin{:}); end function varargout = getMinPosLimit(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(905, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(907, self, varargin{:}); end function varargout = getMaxPosLimit(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(906, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(908, self, varargin{:}); end function varargout = setPosLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(907, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(909, self, varargin{:}); end function varargout = isRevoluteJoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(908, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(910, self, varargin{:}); end function varargout = isFixedJoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(909, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(911, self, varargin{:}); end function varargout = asRevoluteJoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(910, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(912, self, varargin{:}); end function varargout = asFixedJoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(911, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(913, self, varargin{:}); end function self = IJoint(varargin) if nargin==1 && strcmp(class(varargin{1}),'SwigRef') diff --git a/bindings/matlab/autogenerated/+iDynTree/ILight.m b/bindings/matlab/autogenerated/+iDynTree/ILight.m index 2c8727ee79b..408c90c6a2c 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ILight.m +++ b/bindings/matlab/autogenerated/+iDynTree/ILight.m @@ -5,48 +5,48 @@ end function delete(self) if self.swigPtr - iDynTreeMEX(1689, self); + iDynTreeMEX(1720, self); self.SwigClear(); end end function varargout = getName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1690, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1721, self, varargin{:}); end function varargout = setType(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1691, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1722, self, varargin{:}); end function varargout = getType(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1692, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1723, self, varargin{:}); end function varargout = setPosition(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1693, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1724, self, varargin{:}); end function varargout = getPosition(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1694, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1725, self, varargin{:}); end function varargout = setDirection(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1695, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1726, self, varargin{:}); end function varargout = getDirection(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1696, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1727, self, varargin{:}); end function varargout = setAmbientColor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1697, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1728, self, varargin{:}); end function varargout = getAmbientColor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1698, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1729, self, varargin{:}); end function varargout = setSpecularColor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1699, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1730, self, varargin{:}); end function varargout = getSpecularColor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1700, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1731, self, varargin{:}); end function varargout = setDiffuseColor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1701, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1732, self, varargin{:}); end function varargout = getDiffuseColor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1702, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1733, self, varargin{:}); end function self = ILight(varargin) if nargin==1 && strcmp(class(varargin{1}),'SwigRef') diff --git a/bindings/matlab/autogenerated/+iDynTree/IModelVisualization.m b/bindings/matlab/autogenerated/+iDynTree/IModelVisualization.m index 7ad5c3b3950..14dba65ace7 100644 --- a/bindings/matlab/autogenerated/+iDynTree/IModelVisualization.m +++ b/bindings/matlab/autogenerated/+iDynTree/IModelVisualization.m @@ -5,45 +5,45 @@ end function delete(self) if self.swigPtr - iDynTreeMEX(1720, self); + iDynTreeMEX(1751, self); self.SwigClear(); end end function varargout = setPositions(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1721, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1752, self, varargin{:}); end function varargout = setLinkPositions(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1722, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1753, self, varargin{:}); end function varargout = model(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1723, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1754, self, varargin{:}); end function varargout = getInstanceName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1724, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1755, self, varargin{:}); end function varargout = setModelVisibility(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1725, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1756, self, varargin{:}); end function varargout = setModelColor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1726, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1757, self, varargin{:}); end function varargout = resetModelColor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1727, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1758, self, varargin{:}); end function varargout = getLinkNames(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1728, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1759, self, varargin{:}); end function varargout = setLinkVisibility(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1729, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1760, self, varargin{:}); end function varargout = getFeatures(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1730, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1761, self, varargin{:}); end function varargout = setFeatureVisibility(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1731, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1762, self, varargin{:}); end function varargout = jets(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1732, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1763, self, varargin{:}); end function self = IModelVisualization(varargin) if nargin==1 && strcmp(class(varargin{1}),'SwigRef') diff --git a/bindings/matlab/autogenerated/+iDynTree/IndexRange.m b/bindings/matlab/autogenerated/+iDynTree/IndexRange.m index 18574f32ff3..6c0e8e284c3 100644 --- a/bindings/matlab/autogenerated/+iDynTree/IndexRange.m +++ b/bindings/matlab/autogenerated/+iDynTree/IndexRange.m @@ -7,24 +7,24 @@ narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(96, self); + varargout{1} = iDynTreeMEX(98, self); else nargoutchk(0, 0) - iDynTreeMEX(97, self, varargin{1}); + iDynTreeMEX(99, self, varargin{1}); end end function varargout = size(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(98, self); + varargout{1} = iDynTreeMEX(100, self); else nargoutchk(0, 0) - iDynTreeMEX(99, self, varargin{1}); + iDynTreeMEX(101, self, varargin{1}); end end function varargout = isValid(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(100, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(102, self, varargin{:}); end function self = IndexRange(varargin) if nargin==1 && strcmp(class(varargin{1}),'SwigRef') @@ -32,21 +32,21 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(102, varargin{:}); + tmp = iDynTreeMEX(104, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(103, self); + iDynTreeMEX(105, self); self.SwigClear(); end end end methods(Static) function varargout = InvalidRange(varargin) - [varargout{1:nargout}] = iDynTreeMEX(101, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(103, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_INDEX.m b/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_INDEX.m index b7e7cc4aed6..7e8a380ec96 100644 --- a/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_INDEX.m +++ b/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_INDEX.m @@ -2,9 +2,9 @@ narginchk(0,1) if nargin==0 nargoutchk(0,1) - varargout{1} = iDynTreeMEX(818); + varargout{1} = iDynTreeMEX(820); else nargoutchk(0,0) - iDynTreeMEX(819,varargin{1}); + iDynTreeMEX(821,varargin{1}); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_NAME.m b/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_NAME.m index 3c104cfeb9c..b8a7f2a66d1 100644 --- a/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_NAME.m +++ b/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_NAME.m @@ -2,9 +2,9 @@ narginchk(0,1) if nargin==0 nargoutchk(0,1) - varargout{1} = iDynTreeMEX(820); + varargout{1} = iDynTreeMEX(822); else nargoutchk(0,0) - iDynTreeMEX(821,varargin{1}); + iDynTreeMEX(823,varargin{1}); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/JointDOFsDoubleArray.m b/bindings/matlab/autogenerated/+iDynTree/JointDOFsDoubleArray.m index 608342351a2..d4fe3eb5bb7 100644 --- a/bindings/matlab/autogenerated/+iDynTree/JointDOFsDoubleArray.m +++ b/bindings/matlab/autogenerated/+iDynTree/JointDOFsDoubleArray.m @@ -7,20 +7,20 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1164, varargin{:}); + tmp = iDynTreeMEX(1166, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1165, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1167, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1166, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1168, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1167, self); + iDynTreeMEX(1169, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/JointPosDoubleArray.m b/bindings/matlab/autogenerated/+iDynTree/JointPosDoubleArray.m index 1a072cbaf94..5c77608fb9d 100644 --- a/bindings/matlab/autogenerated/+iDynTree/JointPosDoubleArray.m +++ b/bindings/matlab/autogenerated/+iDynTree/JointPosDoubleArray.m @@ -7,20 +7,20 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1160, varargin{:}); + tmp = iDynTreeMEX(1162, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1161, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1163, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1162, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1164, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1163, self); + iDynTreeMEX(1165, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/JointSensor.m b/bindings/matlab/autogenerated/+iDynTree/JointSensor.m index 6b40e199353..58598c7b9e4 100644 --- a/bindings/matlab/autogenerated/+iDynTree/JointSensor.m +++ b/bindings/matlab/autogenerated/+iDynTree/JointSensor.m @@ -2,24 +2,24 @@ methods function delete(self) if self.swigPtr - iDynTreeMEX(1273, self); + iDynTreeMEX(1275, self); self.SwigClear(); end end function varargout = getParentJoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1274, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1276, self, varargin{:}); end function varargout = getParentJointIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1275, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1277, self, varargin{:}); end function varargout = setParentJoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1276, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1278, self, varargin{:}); end function varargout = setParentJointIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1277, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1279, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1278, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1280, self, varargin{:}); end function self = JointSensor(varargin) self@iDynTree.Sensor(SwigRef.Null); diff --git a/bindings/matlab/autogenerated/+iDynTree/KinDynComputations.m b/bindings/matlab/autogenerated/+iDynTree/KinDynComputations.m index 3493f27996e..4358402fe14 100644 --- a/bindings/matlab/autogenerated/+iDynTree/KinDynComputations.m +++ b/bindings/matlab/autogenerated/+iDynTree/KinDynComputations.m @@ -9,160 +9,166 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1625, varargin{:}); + tmp = iDynTreeMEX(1654, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1626, self); + iDynTreeMEX(1655, self); self.SwigClear(); end end function varargout = loadRobotModel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1627, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1656, self, varargin{:}); end function varargout = loadRobotModelFromFile(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1628, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1657, self, varargin{:}); end function varargout = loadRobotModelFromString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1629, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1658, self, varargin{:}); end function varargout = isValid(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1630, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1659, self, varargin{:}); end function varargout = setFrameVelocityRepresentation(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1631, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1660, self, varargin{:}); end function varargout = getFrameVelocityRepresentation(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1632, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1661, self, varargin{:}); end function varargout = getNrOfDegreesOfFreedom(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1633, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1662, self, varargin{:}); end function varargout = getDescriptionOfDegreeOfFreedom(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1634, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1663, self, varargin{:}); end function varargout = getDescriptionOfDegreesOfFreedom(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1635, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1664, self, varargin{:}); end function varargout = getNrOfLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1636, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1665, self, varargin{:}); end function varargout = getNrOfFrames(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1637, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1666, self, varargin{:}); end function varargout = getFloatingBase(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1638, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1667, self, varargin{:}); end function varargout = setFloatingBase(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1639, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1668, self, varargin{:}); end function varargout = model(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1640, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1669, self, varargin{:}); end function varargout = getRobotModel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1641, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1670, self, varargin{:}); + end + function varargout = getRelativeJacobianSparsityPattern(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1671, self, varargin{:}); + end + function varargout = getFrameFreeFloatingJacobianSparsityPattern(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1672, self, varargin{:}); end function varargout = setJointPos(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1642, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1673, self, varargin{:}); end function varargout = setRobotState(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1643, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1674, self, varargin{:}); end function varargout = getRobotState(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1644, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1675, self, varargin{:}); end function varargout = getWorldBaseTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1645, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1676, self, varargin{:}); end function varargout = getBaseTwist(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1646, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1677, self, varargin{:}); end function varargout = getJointPos(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1647, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1678, self, varargin{:}); end function varargout = getJointVel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1648, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1679, self, varargin{:}); end function varargout = getModelVel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1649, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1680, self, varargin{:}); end function varargout = getFrameIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1650, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1681, self, varargin{:}); end function varargout = getFrameName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1651, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1682, self, varargin{:}); end function varargout = getWorldTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1652, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1683, self, varargin{:}); end function varargout = getRelativeTransformExplicit(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1653, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1684, self, varargin{:}); end function varargout = getRelativeTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1654, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1685, self, varargin{:}); end function varargout = getFrameVel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1655, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1686, self, varargin{:}); end function varargout = getFrameFreeFloatingJacobian(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1656, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1687, self, varargin{:}); end function varargout = getRelativeJacobian(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1657, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1688, self, varargin{:}); end function varargout = getRelativeJacobianExplicit(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1658, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1689, self, varargin{:}); end function varargout = getFrameBiasAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1659, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1690, self, varargin{:}); end function varargout = getCenterOfMassPosition(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1660, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1691, self, varargin{:}); end function varargout = getCenterOfMassVelocity(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1661, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1692, self, varargin{:}); end function varargout = getCenterOfMassJacobian(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1662, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1693, self, varargin{:}); end function varargout = getCenterOfMassBiasAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1663, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1694, self, varargin{:}); end function varargout = getAverageVelocity(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1664, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1695, self, varargin{:}); end function varargout = getAverageVelocityJacobian(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1665, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1696, self, varargin{:}); end function varargout = getCentroidalAverageVelocity(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1666, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1697, self, varargin{:}); end function varargout = getCentroidalAverageVelocityJacobian(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1667, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1698, self, varargin{:}); end function varargout = getLinearAngularMomentum(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1668, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1699, self, varargin{:}); end function varargout = getLinearAngularMomentumJacobian(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1669, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1700, self, varargin{:}); end function varargout = getCentroidalTotalMomentum(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1670, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1701, self, varargin{:}); end function varargout = getFreeFloatingMassMatrix(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1671, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1702, self, varargin{:}); end function varargout = inverseDynamics(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1672, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1703, self, varargin{:}); end function varargout = generalizedBiasForces(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1673, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1704, self, varargin{:}); end function varargout = generalizedGravityForces(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1674, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1705, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_INDEX.m b/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_INDEX.m index 70cc1c08171..6ea47d7f112 100644 --- a/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_INDEX.m +++ b/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_INDEX.m @@ -2,9 +2,9 @@ narginchk(0,1) if nargin==0 nargoutchk(0,1) - varargout{1} = iDynTreeMEX(814); + varargout{1} = iDynTreeMEX(816); else nargoutchk(0,0) - iDynTreeMEX(815,varargin{1}); + iDynTreeMEX(817,varargin{1}); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_NAME.m b/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_NAME.m index 3d9e98a5549..bc731921af2 100644 --- a/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_NAME.m +++ b/bindings/matlab/autogenerated/+iDynTree/LINK_INVALID_NAME.m @@ -2,9 +2,9 @@ narginchk(0,1) if nargin==0 nargoutchk(0,1) - varargout{1} = iDynTreeMEX(816); + varargout{1} = iDynTreeMEX(818); else nargoutchk(0,0) - iDynTreeMEX(817,varargin{1}); + iDynTreeMEX(819,varargin{1}); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3.m index 8e346693ccd..98161affe00 100644 --- a/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3.m +++ b/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3.m @@ -7,14 +7,14 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(511, varargin{:}); + tmp = iDynTreeMEX(513, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(512, self); + iDynTreeMEX(514, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3Semantics.m index f6ffff4405a..3c770c6ebc7 100644 --- a/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3Semantics.m +++ b/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3Semantics.m @@ -7,14 +7,14 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(509, varargin{:}); + tmp = iDynTreeMEX(511, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(510, self); + iDynTreeMEX(512, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3.m index 1ed80b82514..8259d4c5904 100644 --- a/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3.m +++ b/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3.m @@ -7,17 +7,17 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(501, varargin{:}); + tmp = iDynTreeMEX(503, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = changePoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(502, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(504, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(503, self); + iDynTreeMEX(505, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3Semantics.m index affcd1a96b6..73780b6fcd8 100644 --- a/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3Semantics.m +++ b/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3Semantics.m @@ -7,24 +7,24 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(497, varargin{:}); + tmp = iDynTreeMEX(499, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = changePoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(498, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(500, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(500, self); + iDynTreeMEX(502, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(499, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(501, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Link.m b/bindings/matlab/autogenerated/+iDynTree/Link.m index 3bb5943aff0..31073a0d60f 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Link.m +++ b/bindings/matlab/autogenerated/+iDynTree/Link.m @@ -9,29 +9,29 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(871, varargin{:}); + tmp = iDynTreeMEX(873, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = inertia(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(872, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(874, self, varargin{:}); end function varargout = setInertia(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(873, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(875, self, varargin{:}); end function varargout = getInertia(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(874, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(876, self, varargin{:}); end function varargout = setIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(875, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(877, self, varargin{:}); end function varargout = getIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(876, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(878, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(877, self); + iDynTreeMEX(879, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkAccArray.m b/bindings/matlab/autogenerated/+iDynTree/LinkAccArray.m index bb06dd2bcb6..ab0ba7587bc 100644 --- a/bindings/matlab/autogenerated/+iDynTree/LinkAccArray.m +++ b/bindings/matlab/autogenerated/+iDynTree/LinkAccArray.m @@ -9,29 +9,29 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(864, varargin{:}); + tmp = iDynTreeMEX(866, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(865, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(867, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(866, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(868, self, varargin{:}); end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(867, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(869, self, varargin{:}); end function varargout = getNrOfLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(868, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(870, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(869, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(871, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(870, self); + iDynTreeMEX(872, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkArticulatedBodyInertias.m b/bindings/matlab/autogenerated/+iDynTree/LinkArticulatedBodyInertias.m index 5c3fee12254..4d6f67bef16 100644 --- a/bindings/matlab/autogenerated/+iDynTree/LinkArticulatedBodyInertias.m +++ b/bindings/matlab/autogenerated/+iDynTree/LinkArticulatedBodyInertias.m @@ -9,23 +9,23 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(852, varargin{:}); + tmp = iDynTreeMEX(854, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(853, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(855, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(854, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(856, self, varargin{:}); end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(855, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(857, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(856, self); + iDynTreeMEX(858, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkContactWrenches.m b/bindings/matlab/autogenerated/+iDynTree/LinkContactWrenches.m index a6cdcd6abd8..0128ae4878d 100644 --- a/bindings/matlab/autogenerated/+iDynTree/LinkContactWrenches.m +++ b/bindings/matlab/autogenerated/+iDynTree/LinkContactWrenches.m @@ -9,35 +9,35 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1218, varargin{:}); + tmp = iDynTreeMEX(1220, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1219, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1221, self, varargin{:}); end function varargout = getNrOfContactsForLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1220, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1222, self, varargin{:}); end function varargout = setNrOfContactsForLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1221, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1223, self, varargin{:}); end function varargout = getNrOfLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1222, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1224, self, varargin{:}); end function varargout = contactWrench(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1223, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1225, self, varargin{:}); end function varargout = computeNetWrenches(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1224, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1226, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1225, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1227, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1226, self); + iDynTreeMEX(1228, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkInertias.m b/bindings/matlab/autogenerated/+iDynTree/LinkInertias.m index 5381f830806..ccd8145e762 100644 --- a/bindings/matlab/autogenerated/+iDynTree/LinkInertias.m +++ b/bindings/matlab/autogenerated/+iDynTree/LinkInertias.m @@ -9,23 +9,23 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(847, varargin{:}); + tmp = iDynTreeMEX(849, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(848, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(850, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(849, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(851, self, varargin{:}); end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(850, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(852, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(851, self); + iDynTreeMEX(853, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkPositions.m b/bindings/matlab/autogenerated/+iDynTree/LinkPositions.m index aaa501fdd21..8420dbb85c5 100644 --- a/bindings/matlab/autogenerated/+iDynTree/LinkPositions.m +++ b/bindings/matlab/autogenerated/+iDynTree/LinkPositions.m @@ -9,29 +9,29 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(832, varargin{:}); + tmp = iDynTreeMEX(834, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(833, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(835, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(834, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(836, self, varargin{:}); end function varargout = getNrOfLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(835, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(837, self, varargin{:}); end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(836, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(838, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(837, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(839, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(838, self); + iDynTreeMEX(840, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkSensor.m b/bindings/matlab/autogenerated/+iDynTree/LinkSensor.m index 03ddf3a0f76..13c882741bc 100644 --- a/bindings/matlab/autogenerated/+iDynTree/LinkSensor.m +++ b/bindings/matlab/autogenerated/+iDynTree/LinkSensor.m @@ -2,30 +2,30 @@ methods function delete(self) if self.swigPtr - iDynTreeMEX(1279, self); + iDynTreeMEX(1281, self); self.SwigClear(); end end function varargout = getParentLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1280, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1282, self, varargin{:}); end function varargout = getParentLinkIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1281, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1283, self, varargin{:}); end function varargout = getLinkSensorTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1282, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1284, self, varargin{:}); end function varargout = setParentLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1283, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1285, self, varargin{:}); end function varargout = setParentLinkIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1284, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1286, self, varargin{:}); end function varargout = setLinkSensorTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1285, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1287, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1286, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1288, self, varargin{:}); end function self = LinkSensor(varargin) self@iDynTree.Sensor(SwigRef.Null); diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkUnknownWrenchContacts.m b/bindings/matlab/autogenerated/+iDynTree/LinkUnknownWrenchContacts.m index 59763f0a6bb..bf62682f04f 100644 --- a/bindings/matlab/autogenerated/+iDynTree/LinkUnknownWrenchContacts.m +++ b/bindings/matlab/autogenerated/+iDynTree/LinkUnknownWrenchContacts.m @@ -9,41 +9,41 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1425, varargin{:}); + tmp = iDynTreeMEX(1454, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = clear(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1426, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1455, self, varargin{:}); end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1427, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1456, self, varargin{:}); end function varargout = getNrOfContactsForLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1428, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1457, self, varargin{:}); end function varargout = setNrOfContactsForLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1429, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1458, self, varargin{:}); end function varargout = addNewContactForLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1430, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1459, self, varargin{:}); end function varargout = addNewContactInFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1431, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1460, self, varargin{:}); end function varargout = addNewUnknownFullWrenchInFrameOrigin(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1432, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1461, self, varargin{:}); end function varargout = contactWrench(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1433, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1462, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1434, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1463, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1435, self); + iDynTreeMEX(1464, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkVelArray.m b/bindings/matlab/autogenerated/+iDynTree/LinkVelArray.m index 19d6791f726..44dee63fcf6 100644 --- a/bindings/matlab/autogenerated/+iDynTree/LinkVelArray.m +++ b/bindings/matlab/autogenerated/+iDynTree/LinkVelArray.m @@ -9,29 +9,29 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(857, varargin{:}); + tmp = iDynTreeMEX(859, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(858, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(860, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(859, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(861, self, varargin{:}); end function varargout = getNrOfLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(860, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(862, self, varargin{:}); end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(861, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(863, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(862, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(864, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(863, self); + iDynTreeMEX(865, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkWrenches.m b/bindings/matlab/autogenerated/+iDynTree/LinkWrenches.m index 1c56703cdcf..0892aecabae 100644 --- a/bindings/matlab/autogenerated/+iDynTree/LinkWrenches.m +++ b/bindings/matlab/autogenerated/+iDynTree/LinkWrenches.m @@ -9,32 +9,32 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(839, varargin{:}); + tmp = iDynTreeMEX(841, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(840, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(842, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(841, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(843, self, varargin{:}); end function varargout = getNrOfLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(842, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(844, self, varargin{:}); end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(843, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(845, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(844, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(846, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(845, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(847, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(846, self); + iDynTreeMEX(848, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Matrix10x16.m b/bindings/matlab/autogenerated/+iDynTree/Matrix10x16.m index 36b08e712dd..b63a338556a 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Matrix10x16.m +++ b/bindings/matlab/autogenerated/+iDynTree/Matrix10x16.m @@ -9,53 +9,53 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(263, varargin{:}); + tmp = iDynTreeMEX(265, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(264, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(266, self, varargin{:}); end function varargout = getVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(265, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(267, self, varargin{:}); end function varargout = setVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(266, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(268, self, varargin{:}); end function varargout = rows(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(267, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(269, self, varargin{:}); end function varargout = cols(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(268, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(270, self, varargin{:}); end function varargout = data(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(269, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(271, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(270, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(272, self, varargin{:}); end function varargout = fillRowMajorBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(271, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(273, self, varargin{:}); end function varargout = fillColMajorBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(272, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(274, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(273, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(275, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(274, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(276, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(275, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(277, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(276, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(278, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(277, self); + iDynTreeMEX(279, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Matrix1x6.m b/bindings/matlab/autogenerated/+iDynTree/Matrix1x6.m index 4b66723c70a..6ebec27fa0b 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Matrix1x6.m +++ b/bindings/matlab/autogenerated/+iDynTree/Matrix1x6.m @@ -9,53 +9,53 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(173, varargin{:}); + tmp = iDynTreeMEX(175, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(174, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(176, self, varargin{:}); end function varargout = getVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(175, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(177, self, varargin{:}); end function varargout = setVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(176, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(178, self, varargin{:}); end function varargout = rows(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(177, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(179, self, varargin{:}); end function varargout = cols(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(178, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(180, self, varargin{:}); end function varargout = data(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(179, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(181, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(180, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(182, self, varargin{:}); end function varargout = fillRowMajorBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(181, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(183, self, varargin{:}); end function varargout = fillColMajorBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(182, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(184, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(183, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(185, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(184, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(186, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(185, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(187, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(186, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(188, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(187, self); + iDynTreeMEX(189, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Matrix2x3.m b/bindings/matlab/autogenerated/+iDynTree/Matrix2x3.m index 314440d10fd..04e7ed00b9b 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Matrix2x3.m +++ b/bindings/matlab/autogenerated/+iDynTree/Matrix2x3.m @@ -9,53 +9,53 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(188, varargin{:}); + tmp = iDynTreeMEX(190, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(189, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(191, self, varargin{:}); end function varargout = getVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(190, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(192, self, varargin{:}); end function varargout = setVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(191, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(193, self, varargin{:}); end function varargout = rows(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(192, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(194, self, varargin{:}); end function varargout = cols(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(193, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(195, self, varargin{:}); end function varargout = data(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(194, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(196, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(195, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(197, self, varargin{:}); end function varargout = fillRowMajorBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(196, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(198, self, varargin{:}); end function varargout = fillColMajorBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(197, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(199, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(198, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(200, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(199, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(201, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(200, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(202, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(201, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(203, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(202, self); + iDynTreeMEX(204, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Matrix3x3.m b/bindings/matlab/autogenerated/+iDynTree/Matrix3x3.m index 76bf765a2c1..1fabd89bd60 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Matrix3x3.m +++ b/bindings/matlab/autogenerated/+iDynTree/Matrix3x3.m @@ -9,53 +9,53 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(203, varargin{:}); + tmp = iDynTreeMEX(205, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(204, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(206, self, varargin{:}); end function varargout = getVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(205, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(207, self, varargin{:}); end function varargout = setVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(206, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(208, self, varargin{:}); end function varargout = rows(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(207, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(209, self, varargin{:}); end function varargout = cols(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(208, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(210, self, varargin{:}); end function varargout = data(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(209, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(211, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(210, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(212, self, varargin{:}); end function varargout = fillRowMajorBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(211, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(213, self, varargin{:}); end function varargout = fillColMajorBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(212, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(214, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(213, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(215, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(214, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(216, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(215, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(217, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(216, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(218, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(217, self); + iDynTreeMEX(219, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Matrix4x4.m b/bindings/matlab/autogenerated/+iDynTree/Matrix4x4.m index c33c39ab856..a6ba88dbc4e 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Matrix4x4.m +++ b/bindings/matlab/autogenerated/+iDynTree/Matrix4x4.m @@ -9,53 +9,53 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(218, varargin{:}); + tmp = iDynTreeMEX(220, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(219, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(221, self, varargin{:}); end function varargout = getVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(220, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(222, self, varargin{:}); end function varargout = setVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(221, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(223, self, varargin{:}); end function varargout = rows(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(222, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(224, self, varargin{:}); end function varargout = cols(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(223, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(225, self, varargin{:}); end function varargout = data(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(224, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(226, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(225, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(227, self, varargin{:}); end function varargout = fillRowMajorBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(226, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(228, self, varargin{:}); end function varargout = fillColMajorBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(227, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(229, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(228, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(230, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(229, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(231, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(230, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(232, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(231, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(233, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(232, self); + iDynTreeMEX(234, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Matrix6x10.m b/bindings/matlab/autogenerated/+iDynTree/Matrix6x10.m index 63110ad8b9a..bfbca162e11 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Matrix6x10.m +++ b/bindings/matlab/autogenerated/+iDynTree/Matrix6x10.m @@ -9,53 +9,53 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(248, varargin{:}); + tmp = iDynTreeMEX(250, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(249, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(251, self, varargin{:}); end function varargout = getVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(250, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(252, self, varargin{:}); end function varargout = setVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(251, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(253, self, varargin{:}); end function varargout = rows(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(252, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(254, self, varargin{:}); end function varargout = cols(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(253, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(255, self, varargin{:}); end function varargout = data(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(254, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(256, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(255, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(257, self, varargin{:}); end function varargout = fillRowMajorBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(256, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(258, self, varargin{:}); end function varargout = fillColMajorBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(257, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(259, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(258, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(260, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(259, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(261, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(260, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(262, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(261, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(263, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(262, self); + iDynTreeMEX(264, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Matrix6x6.m b/bindings/matlab/autogenerated/+iDynTree/Matrix6x6.m index 96bdd0b42be..dd0e450d107 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Matrix6x6.m +++ b/bindings/matlab/autogenerated/+iDynTree/Matrix6x6.m @@ -9,53 +9,53 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(233, varargin{:}); + tmp = iDynTreeMEX(235, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(234, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(236, self, varargin{:}); end function varargout = getVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(235, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(237, self, varargin{:}); end function varargout = setVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(236, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(238, self, varargin{:}); end function varargout = rows(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(237, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(239, self, varargin{:}); end function varargout = cols(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(238, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(240, self, varargin{:}); end function varargout = data(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(239, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(241, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(240, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(242, self, varargin{:}); end function varargout = fillRowMajorBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(241, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(243, self, varargin{:}); end function varargout = fillColMajorBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(242, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(244, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(243, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(245, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(244, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(246, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(245, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(247, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(246, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(248, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(247, self); + iDynTreeMEX(249, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/MatrixDynSize.m b/bindings/matlab/autogenerated/+iDynTree/MatrixDynSize.m index 723364e3a1f..799c0164eb0 100644 --- a/bindings/matlab/autogenerated/+iDynTree/MatrixDynSize.m +++ b/bindings/matlab/autogenerated/+iDynTree/MatrixDynSize.m @@ -9,67 +9,67 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(105, varargin{:}); + tmp = iDynTreeMEX(107, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(106, self); + iDynTreeMEX(108, self); self.SwigClear(); end end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(107, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(109, self, varargin{:}); end function varargout = getVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(108, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(110, self, varargin{:}); end function varargout = setVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(109, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(111, self, varargin{:}); end function varargout = rows(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(110, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(112, self, varargin{:}); end function varargout = cols(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(111, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(113, self, varargin{:}); end function varargout = data(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(112, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(114, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(113, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(115, self, varargin{:}); end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(114, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(116, self, varargin{:}); end function varargout = reserve(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(115, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(117, self, varargin{:}); end function varargout = capacity(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(116, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(118, self, varargin{:}); end function varargout = shrink_to_fit(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(117, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(119, self, varargin{:}); end function varargout = fillRowMajorBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(118, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(120, self, varargin{:}); end function varargout = fillColMajorBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(119, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(121, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(120, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(122, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(121, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(123, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(122, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(124, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(123, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(125, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/Model.m b/bindings/matlab/autogenerated/+iDynTree/Model.m index b686f64a3fb..15d10b47869 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Model.m +++ b/bindings/matlab/autogenerated/+iDynTree/Model.m @@ -9,127 +9,127 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1121, varargin{:}); + tmp = iDynTreeMEX(1123, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = copy(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1122, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1124, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1123, self); + iDynTreeMEX(1125, self); self.SwigClear(); end end function varargout = getNrOfLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1124, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1126, self, varargin{:}); end function varargout = getLinkName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1125, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1127, self, varargin{:}); end function varargout = getLinkIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1126, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1128, self, varargin{:}); end function varargout = isValidLinkIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1127, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1129, self, varargin{:}); end function varargout = getLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1128, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1130, self, varargin{:}); end function varargout = addLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1129, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1131, self, varargin{:}); end function varargout = getNrOfJoints(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1130, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1132, self, varargin{:}); end function varargout = getJointName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1131, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1133, self, varargin{:}); end function varargout = getJointIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1132, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1134, self, varargin{:}); end function varargout = getJoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1133, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1135, self, varargin{:}); end function varargout = isValidJointIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1134, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1136, self, varargin{:}); end function varargout = isLinkNameUsed(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1135, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1137, self, varargin{:}); end function varargout = isJointNameUsed(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1136, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1138, self, varargin{:}); end function varargout = isFrameNameUsed(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1137, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1139, self, varargin{:}); end function varargout = addJoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1138, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1140, self, varargin{:}); end function varargout = addJointAndLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1139, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1141, self, varargin{:}); end function varargout = insertLinkToExistingJointAndAddJointForDisplacedLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1140, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1142, self, varargin{:}); end function varargout = getNrOfPosCoords(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1141, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1143, self, varargin{:}); end function varargout = getNrOfDOFs(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1142, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1144, self, varargin{:}); end function varargout = getNrOfFrames(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1143, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1145, self, varargin{:}); end function varargout = addAdditionalFrameToLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1144, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1146, self, varargin{:}); end function varargout = getFrameName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1145, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1147, self, varargin{:}); end function varargout = getFrameIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1146, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1148, self, varargin{:}); end function varargout = isValidFrameIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1147, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1149, self, varargin{:}); end function varargout = getFrameTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1148, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1150, self, varargin{:}); end function varargout = getFrameLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1149, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1151, self, varargin{:}); end function varargout = getNrOfNeighbors(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1150, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1152, self, varargin{:}); end function varargout = getNeighbor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1151, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1153, self, varargin{:}); end function varargout = setDefaultBaseLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1152, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1154, self, varargin{:}); end function varargout = getDefaultBaseLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1153, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1155, self, varargin{:}); end function varargout = computeFullTreeTraversal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1154, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1156, self, varargin{:}); end function varargout = getInertialParameters(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1155, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1157, self, varargin{:}); end function varargout = updateInertialParameters(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1156, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1158, self, varargin{:}); end function varargout = visualSolidShapes(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1157, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1159, self, varargin{:}); end function varargout = collisionSolidShapes(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1158, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1160, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1159, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1161, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/ModelLoader.m b/bindings/matlab/autogenerated/+iDynTree/ModelLoader.m index 2dd7d8202d0..cb2439638bd 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ModelLoader.m +++ b/bindings/matlab/autogenerated/+iDynTree/ModelLoader.m @@ -9,40 +9,46 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1403, varargin{:}); + tmp = iDynTreeMEX(1430, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end + function delete(self) + if self.swigPtr + iDynTreeMEX(1431, self); + self.SwigClear(); + end + end + function varargout = parsingOptions(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1432, self, varargin{:}); + end + function varargout = setParsingOptions(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1433, self, varargin{:}); + end function varargout = loadModelFromString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1404, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1434, self, varargin{:}); end function varargout = loadModelFromFile(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1405, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1435, self, varargin{:}); end function varargout = loadReducedModelFromFullModel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1406, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1436, self, varargin{:}); end function varargout = loadReducedModelFromString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1407, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1437, self, varargin{:}); end function varargout = loadReducedModelFromFile(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1408, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1438, self, varargin{:}); end function varargout = model(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1409, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1439, self, varargin{:}); end function varargout = sensors(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1410, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1440, self, varargin{:}); end function varargout = isValid(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1411, self, varargin{:}); - end - function delete(self) - if self.swigPtr - iDynTreeMEX(1412, self); - self.SwigClear(); - end + [varargout{1:nargout}] = iDynTreeMEX(1441, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/ModelParserOptions.m b/bindings/matlab/autogenerated/+iDynTree/ModelParserOptions.m new file mode 100644 index 00000000000..a60a36e30ab --- /dev/null +++ b/bindings/matlab/autogenerated/+iDynTree/ModelParserOptions.m @@ -0,0 +1,46 @@ +classdef ModelParserOptions < SwigRef + methods + function this = swig_this(self) + this = iDynTreeMEX(3, self); + end + function varargout = addSensorFramesAsAdditionalFrames(self, varargin) + narginchk(1, 2) + if nargin==1 + nargoutchk(0, 1) + varargout{1} = iDynTreeMEX(1424, self); + else + nargoutchk(0, 0) + iDynTreeMEX(1425, self, varargin{1}); + end + end + function varargout = originalFilename(self, varargin) + narginchk(1, 2) + if nargin==1 + nargoutchk(0, 1) + varargout{1} = iDynTreeMEX(1426, self); + else + nargoutchk(0, 0) + iDynTreeMEX(1427, self, varargin{1}); + end + end + function self = ModelParserOptions(varargin) + if nargin==1 && strcmp(class(varargin{1}),'SwigRef') + if ~isnull(varargin{1}) + self.swigPtr = varargin{1}.swigPtr; + end + else + tmp = iDynTreeMEX(1428, varargin{:}); + self.swigPtr = tmp.swigPtr; + tmp.SwigClear(); + end + end + function delete(self) + if self.swigPtr + iDynTreeMEX(1429, self); + self.SwigClear(); + end + end + end + methods(Static) + end +end diff --git a/bindings/matlab/autogenerated/+iDynTree/ModelSolidShapes.m b/bindings/matlab/autogenerated/+iDynTree/ModelSolidShapes.m index 291062c56d5..9b4da22859c 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ModelSolidShapes.m +++ b/bindings/matlab/autogenerated/+iDynTree/ModelSolidShapes.m @@ -9,34 +9,34 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1108, varargin{:}); + tmp = iDynTreeMEX(1110, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = clear(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1109, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1111, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1110, self); + iDynTreeMEX(1112, self); self.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1111, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1113, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1112, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1114, self, varargin{:}); end function varargout = linkSolidShapes(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1113, self); + varargout{1} = iDynTreeMEX(1115, self); else nargoutchk(0, 0) - iDynTreeMEX(1114, self, varargin{1}); + iDynTreeMEX(1116, self, varargin{1}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/MomentumFreeFloatingJacobian.m b/bindings/matlab/autogenerated/+iDynTree/MomentumFreeFloatingJacobian.m index cda38b6a2ad..47062c62808 100644 --- a/bindings/matlab/autogenerated/+iDynTree/MomentumFreeFloatingJacobian.m +++ b/bindings/matlab/autogenerated/+iDynTree/MomentumFreeFloatingJacobian.m @@ -7,20 +7,20 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1182, varargin{:}); + tmp = iDynTreeMEX(1184, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1183, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1185, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1184, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1186, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(1185, self); + iDynTreeMEX(1187, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/MotionVector3__AngularMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/MotionVector3__AngularMotionVector3.m index 2b04ee54b57..4d3dcbf048d 100644 --- a/bindings/matlab/autogenerated/+iDynTree/MotionVector3__AngularMotionVector3.m +++ b/bindings/matlab/autogenerated/+iDynTree/MotionVector3__AngularMotionVector3.m @@ -7,17 +7,17 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(490, varargin{:}); + tmp = iDynTreeMEX(492, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = cross(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(491, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(493, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(492, self); + iDynTreeMEX(494, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/MotionVector3__LinearMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/MotionVector3__LinearMotionVector3.m index e62548dbb1f..1307e7b77b7 100644 --- a/bindings/matlab/autogenerated/+iDynTree/MotionVector3__LinearMotionVector3.m +++ b/bindings/matlab/autogenerated/+iDynTree/MotionVector3__LinearMotionVector3.m @@ -7,17 +7,17 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(487, varargin{:}); + tmp = iDynTreeMEX(489, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = cross(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(488, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(490, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(489, self); + iDynTreeMEX(491, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl1.m b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl1.m index 732d0c9e3e5..2405c6832f7 100644 --- a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl1.m +++ b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl1.m @@ -2,33 +2,33 @@ methods function delete(self) if self.swigPtr - iDynTreeMEX(943, self); + iDynTreeMEX(945, self); self.SwigClear(); end end function varargout = getNrOfPosCoords(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(944, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(946, self, varargin{:}); end function varargout = getNrOfDOFs(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(945, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(947, self, varargin{:}); end function varargout = setIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(946, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(948, self, varargin{:}); end function varargout = getIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(947, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(949, self, varargin{:}); end function varargout = setPosCoordsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(948, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(950, self, varargin{:}); end function varargout = getPosCoordsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(949, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(951, self, varargin{:}); end function varargout = setDOFsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(950, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(952, self, varargin{:}); end function varargout = getDOFsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(951, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(953, self, varargin{:}); end function self = MovableJointImpl1(varargin) self@iDynTree.IJoint(SwigRef.Null); diff --git a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl2.m b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl2.m index e5d5adcfa61..a4c31655d2f 100644 --- a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl2.m +++ b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl2.m @@ -2,33 +2,33 @@ methods function delete(self) if self.swigPtr - iDynTreeMEX(952, self); + iDynTreeMEX(954, self); self.SwigClear(); end end function varargout = getNrOfPosCoords(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(953, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(955, self, varargin{:}); end function varargout = getNrOfDOFs(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(954, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(956, self, varargin{:}); end function varargout = setIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(955, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(957, self, varargin{:}); end function varargout = getIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(956, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(958, self, varargin{:}); end function varargout = setPosCoordsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(957, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(959, self, varargin{:}); end function varargout = getPosCoordsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(958, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(960, self, varargin{:}); end function varargout = setDOFsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(959, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(961, self, varargin{:}); end function varargout = getDOFsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(960, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(962, self, varargin{:}); end function self = MovableJointImpl2(varargin) self@iDynTree.IJoint(SwigRef.Null); diff --git a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl3.m b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl3.m index 64fce94be1b..b71986ee070 100644 --- a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl3.m +++ b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl3.m @@ -2,33 +2,33 @@ methods function delete(self) if self.swigPtr - iDynTreeMEX(961, self); + iDynTreeMEX(963, self); self.SwigClear(); end end function varargout = getNrOfPosCoords(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(962, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(964, self, varargin{:}); end function varargout = getNrOfDOFs(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(963, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(965, self, varargin{:}); end function varargout = setIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(964, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(966, self, varargin{:}); end function varargout = getIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(965, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(967, self, varargin{:}); end function varargout = setPosCoordsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(966, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(968, self, varargin{:}); end function varargout = getPosCoordsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(967, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(969, self, varargin{:}); end function varargout = setDOFsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(968, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(970, self, varargin{:}); end function varargout = getDOFsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(969, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(971, self, varargin{:}); end function self = MovableJointImpl3(varargin) self@iDynTree.IJoint(SwigRef.Null); diff --git a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl4.m b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl4.m index 699d969681a..dadbd2ae768 100644 --- a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl4.m +++ b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl4.m @@ -2,33 +2,33 @@ methods function delete(self) if self.swigPtr - iDynTreeMEX(970, self); + iDynTreeMEX(972, self); self.SwigClear(); end end function varargout = getNrOfPosCoords(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(971, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(973, self, varargin{:}); end function varargout = getNrOfDOFs(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(972, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(974, self, varargin{:}); end function varargout = setIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(973, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(975, self, varargin{:}); end function varargout = getIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(974, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(976, self, varargin{:}); end function varargout = setPosCoordsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(975, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(977, self, varargin{:}); end function varargout = getPosCoordsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(976, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(978, self, varargin{:}); end function varargout = setDOFsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(977, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(979, self, varargin{:}); end function varargout = getDOFsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(978, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(980, self, varargin{:}); end function self = MovableJointImpl4(varargin) self@iDynTree.IJoint(SwigRef.Null); diff --git a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl5.m b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl5.m index 4553aa52cd3..e0d50469012 100644 --- a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl5.m +++ b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl5.m @@ -2,33 +2,33 @@ methods function delete(self) if self.swigPtr - iDynTreeMEX(979, self); + iDynTreeMEX(981, self); self.SwigClear(); end end function varargout = getNrOfPosCoords(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(980, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(982, self, varargin{:}); end function varargout = getNrOfDOFs(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(981, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(983, self, varargin{:}); end function varargout = setIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(982, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(984, self, varargin{:}); end function varargout = getIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(983, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(985, self, varargin{:}); end function varargout = setPosCoordsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(984, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(986, self, varargin{:}); end function varargout = getPosCoordsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(985, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(987, self, varargin{:}); end function varargout = setDOFsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(986, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(988, self, varargin{:}); end function varargout = getDOFsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(987, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(989, self, varargin{:}); end function self = MovableJointImpl5(varargin) self@iDynTree.IJoint(SwigRef.Null); diff --git a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl6.m b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl6.m index d8739821cdb..9ebace56fb2 100644 --- a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl6.m +++ b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl6.m @@ -2,33 +2,33 @@ methods function delete(self) if self.swigPtr - iDynTreeMEX(988, self); + iDynTreeMEX(990, self); self.SwigClear(); end end function varargout = getNrOfPosCoords(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(989, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(991, self, varargin{:}); end function varargout = getNrOfDOFs(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(990, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(992, self, varargin{:}); end function varargout = setIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(991, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(993, self, varargin{:}); end function varargout = getIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(992, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(994, self, varargin{:}); end function varargout = setPosCoordsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(993, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(995, self, varargin{:}); end function varargout = getPosCoordsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(994, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(996, self, varargin{:}); end function varargout = setDOFsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(995, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(997, self, varargin{:}); end function varargout = getDOFsOffset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(996, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(998, self, varargin{:}); end function self = MovableJointImpl6(varargin) self@iDynTree.IJoint(SwigRef.Null); diff --git a/bindings/matlab/autogenerated/+iDynTree/NR_OF_SENSOR_TYPES.m b/bindings/matlab/autogenerated/+iDynTree/NR_OF_SENSOR_TYPES.m index 08ff103302b..519be756f30 100644 --- a/bindings/matlab/autogenerated/+iDynTree/NR_OF_SENSOR_TYPES.m +++ b/bindings/matlab/autogenerated/+iDynTree/NR_OF_SENSOR_TYPES.m @@ -1,3 +1,3 @@ function v = NR_OF_SENSOR_TYPES() - v = iDynTreeMEX(1260); + v = iDynTreeMEX(1262); end diff --git a/bindings/matlab/autogenerated/+iDynTree/Neighbor.m b/bindings/matlab/autogenerated/+iDynTree/Neighbor.m index 5a6480fb342..fd61ac62e6a 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Neighbor.m +++ b/bindings/matlab/autogenerated/+iDynTree/Neighbor.m @@ -7,20 +7,20 @@ narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1115, self); + varargout{1} = iDynTreeMEX(1117, self); else nargoutchk(0, 0) - iDynTreeMEX(1116, self, varargin{1}); + iDynTreeMEX(1118, self, varargin{1}); end end function varargout = neighborJoint(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1117, self); + varargout{1} = iDynTreeMEX(1119, self); else nargoutchk(0, 0) - iDynTreeMEX(1118, self, varargin{1}); + iDynTreeMEX(1120, self, varargin{1}); end end function self = Neighbor(varargin) @@ -29,14 +29,14 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1119, varargin{:}); + tmp = iDynTreeMEX(1121, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1120, self); + iDynTreeMEX(1122, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Position.m b/bindings/matlab/autogenerated/+iDynTree/Position.m index f9fd4d90860..2786eba710b 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Position.m +++ b/bindings/matlab/autogenerated/+iDynTree/Position.m @@ -7,60 +7,60 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(371, varargin{:}); + tmp = iDynTreeMEX(373, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = getSemantics(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(372, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(374, self, varargin{:}); end function varargout = changePoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(373, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(375, self, varargin{:}); end function varargout = changeRefPoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(374, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(376, self, varargin{:}); end function varargout = changeCoordinateFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(375, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(377, self, varargin{:}); end function varargout = changePointOf(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(378, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(380, self, varargin{:}); end function varargout = plus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(379, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(381, self, varargin{:}); end function varargout = minus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(380, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(382, self, varargin{:}); end function varargout = uminus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(381, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(383, self, varargin{:}); end function varargout = mtimes(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(382, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(384, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(383, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(385, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(384, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(386, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(386, self); + iDynTreeMEX(388, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(376, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(378, varargin{:}); end function varargout = inverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(377, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(379, varargin{:}); end function varargout = Zero(varargin) - [varargout{1:nargout}] = iDynTreeMEX(385, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(387, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/PositionRaw.m b/bindings/matlab/autogenerated/+iDynTree/PositionRaw.m index c2660abc22c..83407204538 100644 --- a/bindings/matlab/autogenerated/+iDynTree/PositionRaw.m +++ b/bindings/matlab/autogenerated/+iDynTree/PositionRaw.m @@ -7,39 +7,39 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(343, varargin{:}); + tmp = iDynTreeMEX(345, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = changePoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(344, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(346, self, varargin{:}); end function varargout = changeRefPoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(345, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(347, self, varargin{:}); end function varargout = changePointOf(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(348, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(350, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(349, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(351, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(350, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(352, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(351, self); + iDynTreeMEX(353, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(346, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(348, varargin{:}); end function varargout = inverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(347, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(349, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/PositionSemantics.m b/bindings/matlab/autogenerated/+iDynTree/PositionSemantics.m index f8142622fcd..f91b30c6cef 100644 --- a/bindings/matlab/autogenerated/+iDynTree/PositionSemantics.m +++ b/bindings/matlab/autogenerated/+iDynTree/PositionSemantics.m @@ -9,69 +9,69 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(352, varargin{:}); + tmp = iDynTreeMEX(354, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = setToUnknown(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(353, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(355, self, varargin{:}); end function varargout = getPoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(354, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(356, self, varargin{:}); end function varargout = getBody(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(355, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(357, self, varargin{:}); end function varargout = getReferencePoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(356, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(358, self, varargin{:}); end function varargout = getRefBody(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(357, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(359, self, varargin{:}); end function varargout = getCoordinateFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(358, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(360, self, varargin{:}); end function varargout = setPoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(359, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(361, self, varargin{:}); end function varargout = setBody(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(360, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(362, self, varargin{:}); end function varargout = setReferencePoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(361, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(363, self, varargin{:}); end function varargout = setRefBody(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(362, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(364, self, varargin{:}); end function varargout = setCoordinateFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(363, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(365, self, varargin{:}); end function varargout = changePoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(364, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(366, self, varargin{:}); end function varargout = changeRefPoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(365, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(367, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(368, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(370, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(369, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(371, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(370, self); + iDynTreeMEX(372, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(366, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(368, varargin{:}); end function varargout = inverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(367, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(369, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/PrismaticJoint.m b/bindings/matlab/autogenerated/+iDynTree/PrismaticJoint.m index 60a247d57e5..aa406563d75 100644 --- a/bindings/matlab/autogenerated/+iDynTree/PrismaticJoint.m +++ b/bindings/matlab/autogenerated/+iDynTree/PrismaticJoint.m @@ -7,85 +7,85 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1022, varargin{:}); + tmp = iDynTreeMEX(1024, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1023, self); + iDynTreeMEX(1025, self); self.SwigClear(); end end function varargout = clone(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1024, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1026, self, varargin{:}); end function varargout = setAttachedLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1025, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1027, self, varargin{:}); end function varargout = setRestTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1026, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1028, self, varargin{:}); end function varargout = setAxis(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1027, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1029, self, varargin{:}); end function varargout = getFirstAttachedLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1028, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1030, self, varargin{:}); end function varargout = getSecondAttachedLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1029, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1031, self, varargin{:}); end function varargout = getAxis(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1030, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1032, self, varargin{:}); end function varargout = getRestTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1031, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1033, self, varargin{:}); end function varargout = getTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1032, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1034, self, varargin{:}); end function varargout = getTransformDerivative(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1033, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1035, self, varargin{:}); end function varargout = getMotionSubspaceVector(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1034, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1036, self, varargin{:}); end function varargout = computeChildPosVelAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1035, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1037, self, varargin{:}); end function varargout = computeChildVel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1036, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1038, self, varargin{:}); end function varargout = computeChildVelAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1037, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1039, self, varargin{:}); end function varargout = computeChildAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1038, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1040, self, varargin{:}); end function varargout = computeChildBiasAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1039, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1041, self, varargin{:}); end function varargout = computeJointTorque(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1040, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1042, self, varargin{:}); end function varargout = hasPosLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1041, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1043, self, varargin{:}); end function varargout = enablePosLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1042, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1044, self, varargin{:}); end function varargout = getPosLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1043, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1045, self, varargin{:}); end function varargout = getMinPosLimit(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1044, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1046, self, varargin{:}); end function varargout = getMaxPosLimit(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1045, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1047, self, varargin{:}); end function varargout = setPosLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1046, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1048, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/RNEADynamicPhase.m b/bindings/matlab/autogenerated/+iDynTree/RNEADynamicPhase.m index a522e90fcdb..6b4125c6390 100644 --- a/bindings/matlab/autogenerated/+iDynTree/RNEADynamicPhase.m +++ b/bindings/matlab/autogenerated/+iDynTree/RNEADynamicPhase.m @@ -1,3 +1,3 @@ function varargout = RNEADynamicPhase(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1235, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1237, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/RevoluteJoint.m b/bindings/matlab/autogenerated/+iDynTree/RevoluteJoint.m index ea075fbe44a..226e51dfff1 100644 --- a/bindings/matlab/autogenerated/+iDynTree/RevoluteJoint.m +++ b/bindings/matlab/autogenerated/+iDynTree/RevoluteJoint.m @@ -7,85 +7,85 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(997, varargin{:}); + tmp = iDynTreeMEX(999, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(998, self); + iDynTreeMEX(1000, self); self.SwigClear(); end end function varargout = clone(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(999, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1001, self, varargin{:}); end function varargout = setAttachedLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1000, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1002, self, varargin{:}); end function varargout = setRestTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1001, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1003, self, varargin{:}); end function varargout = setAxis(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1002, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1004, self, varargin{:}); end function varargout = getFirstAttachedLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1003, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1005, self, varargin{:}); end function varargout = getSecondAttachedLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1004, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1006, self, varargin{:}); end function varargout = getAxis(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1005, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1007, self, varargin{:}); end function varargout = getRestTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1006, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1008, self, varargin{:}); end function varargout = getTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1007, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1009, self, varargin{:}); end function varargout = getTransformDerivative(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1008, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1010, self, varargin{:}); end function varargout = getMotionSubspaceVector(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1009, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1011, self, varargin{:}); end function varargout = computeChildPosVelAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1010, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1012, self, varargin{:}); end function varargout = computeChildVel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1011, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1013, self, varargin{:}); end function varargout = computeChildVelAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1012, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1014, self, varargin{:}); end function varargout = computeChildAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1013, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1015, self, varargin{:}); end function varargout = computeChildBiasAcc(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1014, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1016, self, varargin{:}); end function varargout = computeJointTorque(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1015, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1017, self, varargin{:}); end function varargout = hasPosLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1016, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1018, self, varargin{:}); end function varargout = enablePosLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1017, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1019, self, varargin{:}); end function varargout = getPosLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1018, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1020, self, varargin{:}); end function varargout = getMinPosLimit(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1019, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1021, self, varargin{:}); end function varargout = getMaxPosLimit(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1020, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1022, self, varargin{:}); end function varargout = setPosLimits(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1021, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1023, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/RigidBodyInertiaNonLinearParametrization.m b/bindings/matlab/autogenerated/+iDynTree/RigidBodyInertiaNonLinearParametrization.m index 07b02fba9f2..61d65b350cf 100644 --- a/bindings/matlab/autogenerated/+iDynTree/RigidBodyInertiaNonLinearParametrization.m +++ b/bindings/matlab/autogenerated/+iDynTree/RigidBodyInertiaNonLinearParametrization.m @@ -7,65 +7,65 @@ narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(691, self); + varargout{1} = iDynTreeMEX(693, self); else nargoutchk(0, 0) - iDynTreeMEX(692, self, varargin{1}); + iDynTreeMEX(694, self, varargin{1}); end end function varargout = com(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(693, self); + varargout{1} = iDynTreeMEX(695, self); else nargoutchk(0, 0) - iDynTreeMEX(694, self, varargin{1}); + iDynTreeMEX(696, self, varargin{1}); end end function varargout = link_R_centroidal(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(695, self); + varargout{1} = iDynTreeMEX(697, self); else nargoutchk(0, 0) - iDynTreeMEX(696, self, varargin{1}); + iDynTreeMEX(698, self, varargin{1}); end end function varargout = centralSecondMomentOfMass(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(697, self); + varargout{1} = iDynTreeMEX(699, self); else nargoutchk(0, 0) - iDynTreeMEX(698, self, varargin{1}); + iDynTreeMEX(700, self, varargin{1}); end end function varargout = getLinkCentroidalTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(699, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(701, self, varargin{:}); end function varargout = fromRigidBodyInertia(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(700, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(702, self, varargin{:}); end function varargout = fromInertialParameters(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(701, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(703, self, varargin{:}); end function varargout = toRigidBodyInertia(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(702, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(704, self, varargin{:}); end function varargout = isPhysicallyConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(703, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(705, self, varargin{:}); end function varargout = asVectorWithRotationAsVec(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(704, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(706, self, varargin{:}); end function varargout = fromVectorWithRotationAsVec(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(705, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(707, self, varargin{:}); end function varargout = getGradientWithRotationAsVec(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(706, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(708, self, varargin{:}); end function self = RigidBodyInertiaNonLinearParametrization(varargin) if nargin==1 && strcmp(class(varargin{1}),'SwigRef') @@ -73,14 +73,14 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(707, varargin{:}); + tmp = iDynTreeMEX(709, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(708, self); + iDynTreeMEX(710, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Rotation.m b/bindings/matlab/autogenerated/+iDynTree/Rotation.m index 63f58f8e931..cdcf4e745fe 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Rotation.m +++ b/bindings/matlab/autogenerated/+iDynTree/Rotation.m @@ -7,105 +7,105 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(743, varargin{:}); + tmp = iDynTreeMEX(745, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = getSemantics(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(744, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(746, self, varargin{:}); end function varargout = changeOrientFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(745, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(747, self, varargin{:}); end function varargout = changeRefOrientFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(746, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(748, self, varargin{:}); end function varargout = changeCoordinateFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(747, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(749, self, varargin{:}); end function varargout = changeCoordFrameOf(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(750, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(752, self, varargin{:}); end function varargout = inverse(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(751, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(753, self, varargin{:}); end function varargout = mtimes(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(752, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(754, self, varargin{:}); end function varargout = log(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(753, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(755, self, varargin{:}); end function varargout = fromQuaternion(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(754, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(756, self, varargin{:}); end function varargout = getRPY(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(755, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(757, self, varargin{:}); end function varargout = asRPY(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(756, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(758, self, varargin{:}); end function varargout = getQuaternion(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(757, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(759, self, varargin{:}); end function varargout = asQuaternion(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(758, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(760, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(771, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(773, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(772, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(774, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(773, self); + iDynTreeMEX(775, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(748, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(750, varargin{:}); end function varargout = inverse2(varargin) - [varargout{1:nargout}] = iDynTreeMEX(749, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(751, varargin{:}); end function varargout = RotX(varargin) - [varargout{1:nargout}] = iDynTreeMEX(759, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(761, varargin{:}); end function varargout = RotY(varargin) - [varargout{1:nargout}] = iDynTreeMEX(760, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(762, varargin{:}); end function varargout = RotZ(varargin) - [varargout{1:nargout}] = iDynTreeMEX(761, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(763, varargin{:}); end function varargout = RotAxis(varargin) - [varargout{1:nargout}] = iDynTreeMEX(762, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(764, varargin{:}); end function varargout = RotAxisDerivative(varargin) - [varargout{1:nargout}] = iDynTreeMEX(763, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(765, varargin{:}); end function varargout = RPY(varargin) - [varargout{1:nargout}] = iDynTreeMEX(764, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(766, varargin{:}); end function varargout = RPYRightTrivializedDerivative(varargin) - [varargout{1:nargout}] = iDynTreeMEX(765, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(767, varargin{:}); end function varargout = RPYRightTrivializedDerivativeInverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(766, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(768, varargin{:}); end function varargout = QuaternionRightTrivializedDerivative(varargin) - [varargout{1:nargout}] = iDynTreeMEX(767, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(769, varargin{:}); end function varargout = QuaternionRightTrivializedDerivativeInverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(768, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(770, varargin{:}); end function varargout = Identity(varargin) - [varargout{1:nargout}] = iDynTreeMEX(769, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(771, varargin{:}); end function varargout = RotationFromQuaternion(varargin) - [varargout{1:nargout}] = iDynTreeMEX(770, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(772, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/RotationRaw.m b/bindings/matlab/autogenerated/+iDynTree/RotationRaw.m index 8fe68061266..28e93813888 100644 --- a/bindings/matlab/autogenerated/+iDynTree/RotationRaw.m +++ b/bindings/matlab/autogenerated/+iDynTree/RotationRaw.m @@ -7,54 +7,54 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(709, varargin{:}); + tmp = iDynTreeMEX(711, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = changeOrientFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(710, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(712, self, varargin{:}); end function varargout = changeRefOrientFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(711, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(713, self, varargin{:}); end function varargout = changeCoordFrameOf(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(714, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(716, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(720, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(722, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(721, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(723, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(722, self); + iDynTreeMEX(724, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(712, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(714, varargin{:}); end function varargout = inverse2(varargin) - [varargout{1:nargout}] = iDynTreeMEX(713, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(715, varargin{:}); end function varargout = RotX(varargin) - [varargout{1:nargout}] = iDynTreeMEX(715, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(717, varargin{:}); end function varargout = RotY(varargin) - [varargout{1:nargout}] = iDynTreeMEX(716, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(718, varargin{:}); end function varargout = RotZ(varargin) - [varargout{1:nargout}] = iDynTreeMEX(717, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(719, varargin{:}); end function varargout = RPY(varargin) - [varargout{1:nargout}] = iDynTreeMEX(718, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(720, varargin{:}); end function varargout = Identity(varargin) - [varargout{1:nargout}] = iDynTreeMEX(719, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(721, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/RotationSemantics.m b/bindings/matlab/autogenerated/+iDynTree/RotationSemantics.m index e333aa0b91a..0e5c1d6f6a8 100644 --- a/bindings/matlab/autogenerated/+iDynTree/RotationSemantics.m +++ b/bindings/matlab/autogenerated/+iDynTree/RotationSemantics.m @@ -9,72 +9,72 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(723, varargin{:}); + tmp = iDynTreeMEX(725, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = setToUnknown(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(724, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(726, self, varargin{:}); end function varargout = getOrientationFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(725, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(727, self, varargin{:}); end function varargout = getBody(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(726, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(728, self, varargin{:}); end function varargout = getReferenceOrientationFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(727, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(729, self, varargin{:}); end function varargout = getRefBody(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(728, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(730, self, varargin{:}); end function varargout = getCoordinateFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(729, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(731, self, varargin{:}); end function varargout = setOrientationFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(730, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(732, self, varargin{:}); end function varargout = setBody(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(731, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(733, self, varargin{:}); end function varargout = setReferenceOrientationFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(732, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(734, self, varargin{:}); end function varargout = setRefBody(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(733, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(735, self, varargin{:}); end function varargout = setCoordinateFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(734, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(736, self, varargin{:}); end function varargout = changeOrientFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(735, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(737, self, varargin{:}); end function varargout = changeRefOrientFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(736, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(738, self, varargin{:}); end function varargout = changeCoordFrameOf(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(737, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(739, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(740, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(742, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(741, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(743, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(742, self); + iDynTreeMEX(744, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(738, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(740, varargin{:}); end function varargout = inverse2(varargin) - [varargout{1:nargout}] = iDynTreeMEX(739, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(741, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/RotationalInertiaRaw.m b/bindings/matlab/autogenerated/+iDynTree/RotationalInertiaRaw.m index 360f3663ef4..d4c4f582062 100644 --- a/bindings/matlab/autogenerated/+iDynTree/RotationalInertiaRaw.m +++ b/bindings/matlab/autogenerated/+iDynTree/RotationalInertiaRaw.m @@ -7,21 +7,21 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(646, varargin{:}); + tmp = iDynTreeMEX(648, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(648, self); + iDynTreeMEX(650, self); self.SwigClear(); end end end methods(Static) function varargout = Zero(varargin) - [varargout{1:nargout}] = iDynTreeMEX(647, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(649, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Sensor.m b/bindings/matlab/autogenerated/+iDynTree/Sensor.m index b6d305f00fb..49d263b5de7 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Sensor.m +++ b/bindings/matlab/autogenerated/+iDynTree/Sensor.m @@ -5,33 +5,33 @@ end function delete(self) if self.swigPtr - iDynTreeMEX(1264, self); + iDynTreeMEX(1266, self); self.SwigClear(); end end function varargout = getName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1265, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1267, self, varargin{:}); end function varargout = getSensorType(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1266, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1268, self, varargin{:}); end function varargout = isValid(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1267, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1269, self, varargin{:}); end function varargout = setName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1268, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1270, self, varargin{:}); end function varargout = clone(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1269, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1271, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1270, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1272, self, varargin{:}); end function varargout = updateIndices(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1271, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1273, self, varargin{:}); end function varargout = updateIndeces(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1272, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1274, self, varargin{:}); end function self = Sensor(varargin) if nargin==1 && strcmp(class(varargin{1}),'SwigRef') diff --git a/bindings/matlab/autogenerated/+iDynTree/SensorsList.m b/bindings/matlab/autogenerated/+iDynTree/SensorsList.m index 444ca6e5948..47bf664b406 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SensorsList.m +++ b/bindings/matlab/autogenerated/+iDynTree/SensorsList.m @@ -9,58 +9,61 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1287, varargin{:}); + tmp = iDynTreeMEX(1289, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1288, self); + iDynTreeMEX(1290, self); self.SwigClear(); end end function varargout = addSensor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1289, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1291, self, varargin{:}); end function varargout = setSerialization(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1290, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1292, self, varargin{:}); end function varargout = getSerialization(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1291, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1293, self, varargin{:}); end function varargout = getNrOfSensors(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1292, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1294, self, varargin{:}); end function varargout = getSensorIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1293, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1295, self, varargin{:}); end function varargout = getSizeOfAllSensorsMeasurements(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1294, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1296, self, varargin{:}); end function varargout = getSensor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1295, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1297, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1296, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1298, self, varargin{:}); end function varargout = removeSensor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1297, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1299, self, varargin{:}); end function varargout = removeAllSensorsOfType(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1298, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1300, self, varargin{:}); end function varargout = getSixAxisForceTorqueSensor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1299, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1301, self, varargin{:}); end function varargout = getAccelerometerSensor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1300, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1302, self, varargin{:}); end function varargout = getGyroscopeSensor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1301, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1303, self, varargin{:}); end function varargout = getThreeAxisAngularAccelerometerSensor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1302, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1304, self, varargin{:}); + end + function varargout = getThreeAxisForceTorqueContactSensor(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1305, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/SensorsMeasurements.m b/bindings/matlab/autogenerated/+iDynTree/SensorsMeasurements.m index 2cff966e2ff..b66cbbdb89d 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SensorsMeasurements.m +++ b/bindings/matlab/autogenerated/+iDynTree/SensorsMeasurements.m @@ -9,37 +9,37 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1303, varargin{:}); + tmp = iDynTreeMEX(1306, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1304, self); + iDynTreeMEX(1307, self); self.SwigClear(); end end function varargout = setNrOfSensors(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1305, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1308, self, varargin{:}); end function varargout = getNrOfSensors(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1306, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1309, self, varargin{:}); end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1307, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1310, self, varargin{:}); end function varargout = toVector(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1308, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1311, self, varargin{:}); end function varargout = setMeasurement(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1309, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1312, self, varargin{:}); end function varargout = getMeasurement(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1310, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1313, self, varargin{:}); end function varargout = getSizeOfAllSensorsMeasurements(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1311, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1314, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/SimpleLeggedOdometry.m b/bindings/matlab/autogenerated/+iDynTree/SimpleLeggedOdometry.m index 331f6ec8cb8..3e3e1705b86 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SimpleLeggedOdometry.m +++ b/bindings/matlab/autogenerated/+iDynTree/SimpleLeggedOdometry.m @@ -9,43 +9,43 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1474, varargin{:}); + tmp = iDynTreeMEX(1503, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1475, self); + iDynTreeMEX(1504, self); self.SwigClear(); end end function varargout = setModel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1476, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1505, self, varargin{:}); end function varargout = loadModelFromFile(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1477, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1506, self, varargin{:}); end function varargout = loadModelFromFileWithSpecifiedDOFs(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1478, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1507, self, varargin{:}); end function varargout = model(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1479, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1508, self, varargin{:}); end function varargout = updateKinematics(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1480, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1509, self, varargin{:}); end function varargout = init(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1481, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1510, self, varargin{:}); end function varargout = changeFixedFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1482, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1511, self, varargin{:}); end function varargout = getCurrentFixedLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1483, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1512, self, varargin{:}); end function varargout = getWorldLinkTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1484, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1513, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/SixAxisForceTorqueSensor.m b/bindings/matlab/autogenerated/+iDynTree/SixAxisForceTorqueSensor.m index 68bd1c3ef86..75422efb51e 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SixAxisForceTorqueSensor.m +++ b/bindings/matlab/autogenerated/+iDynTree/SixAxisForceTorqueSensor.m @@ -7,100 +7,100 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1312, varargin{:}); + tmp = iDynTreeMEX(1315, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1313, self); + iDynTreeMEX(1316, self); self.SwigClear(); end end function varargout = setName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1314, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1317, self, varargin{:}); end function varargout = setFirstLinkSensorTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1315, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1318, self, varargin{:}); end function varargout = setSecondLinkSensorTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1316, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1319, self, varargin{:}); end function varargout = getFirstLinkIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1317, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1320, self, varargin{:}); end function varargout = getSecondLinkIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1318, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1321, self, varargin{:}); end function varargout = setFirstLinkName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1319, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1322, self, varargin{:}); end function varargout = setSecondLinkName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1320, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1323, self, varargin{:}); end function varargout = getFirstLinkName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1321, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1324, self, varargin{:}); end function varargout = getSecondLinkName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1322, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1325, self, varargin{:}); end function varargout = setParentJoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1323, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1326, self, varargin{:}); end function varargout = setParentJointIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1324, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1327, self, varargin{:}); end function varargout = setAppliedWrenchLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1325, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1328, self, varargin{:}); end function varargout = getName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1326, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1329, self, varargin{:}); end function varargout = getSensorType(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1327, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1330, self, varargin{:}); end function varargout = getParentJoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1328, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1331, self, varargin{:}); end function varargout = getParentJointIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1329, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1332, self, varargin{:}); end function varargout = isValid(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1330, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1333, self, varargin{:}); end function varargout = clone(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1331, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1334, self, varargin{:}); end function varargout = updateIndices(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1332, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1335, self, varargin{:}); end function varargout = updateIndeces(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1333, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1336, self, varargin{:}); end function varargout = getAppliedWrenchLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1334, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1337, self, varargin{:}); end function varargout = isLinkAttachedToSensor(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1335, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1338, self, varargin{:}); end function varargout = getLinkSensorTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1336, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1339, self, varargin{:}); end function varargout = getWrenchAppliedOnLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1337, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1340, self, varargin{:}); end function varargout = getWrenchAppliedOnLinkMatrix(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1338, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1341, self, varargin{:}); end function varargout = getWrenchAppliedOnLinkInverseMatrix(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1339, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1342, self, varargin{:}); end function varargout = predictMeasurement(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1340, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1343, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1341, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1344, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/SolidShape.m b/bindings/matlab/autogenerated/+iDynTree/SolidShape.m index 798db375a84..82c8e3d9de7 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SolidShape.m +++ b/bindings/matlab/autogenerated/+iDynTree/SolidShape.m @@ -5,66 +5,66 @@ end function delete(self) if self.swigPtr - iDynTreeMEX(1064, self); + iDynTreeMEX(1066, self); self.SwigClear(); end end function varargout = clone(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1065, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1067, self, varargin{:}); end function varargout = name(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1066, self); + varargout{1} = iDynTreeMEX(1068, self); else nargoutchk(0, 0) - iDynTreeMEX(1067, self, varargin{1}); + iDynTreeMEX(1069, self, varargin{1}); end end function varargout = link_H_geometry(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1068, self); + varargout{1} = iDynTreeMEX(1070, self); else nargoutchk(0, 0) - iDynTreeMEX(1069, self, varargin{1}); + iDynTreeMEX(1071, self, varargin{1}); end end function varargout = material(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1070, self); + varargout{1} = iDynTreeMEX(1072, self); else nargoutchk(0, 0) - iDynTreeMEX(1071, self, varargin{1}); + iDynTreeMEX(1073, self, varargin{1}); end end function varargout = isSphere(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1072, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1074, self, varargin{:}); end function varargout = isBox(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1073, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1075, self, varargin{:}); end function varargout = isCylinder(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1074, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1076, self, varargin{:}); end function varargout = isExternalMesh(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1075, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1077, self, varargin{:}); end function varargout = asSphere(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1076, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1078, self, varargin{:}); end function varargout = asBox(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1077, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1079, self, varargin{:}); end function varargout = asCylinder(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1078, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1080, self, varargin{:}); end function varargout = asExternalMesh(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1079, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1081, self, varargin{:}); end function self = SolidShape(varargin) if nargin==1 && strcmp(class(varargin{1}),'SwigRef') diff --git a/bindings/matlab/autogenerated/+iDynTree/SparseMatrixColMajor.m b/bindings/matlab/autogenerated/+iDynTree/SparseMatrixColMajor.m index 954edf5b947..1ab69da0b36 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SparseMatrixColMajor.m +++ b/bindings/matlab/autogenerated/+iDynTree/SparseMatrixColMajor.m @@ -9,58 +9,58 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(140, varargin{:}); + tmp = iDynTreeMEX(142, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(141, self); + iDynTreeMEX(143, self); self.SwigClear(); end end function varargout = numberOfNonZeros(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(142, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(144, self, varargin{:}); end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(143, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(145, self, varargin{:}); end function varargout = reserve(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(144, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(146, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(145, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(147, self, varargin{:}); end function varargout = setFromConstTriplets(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(146, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(148, self, varargin{:}); end function varargout = setFromTriplets(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(147, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(149, self, varargin{:}); end function varargout = getValue(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(148, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(150, self, varargin{:}); end function varargout = setValue(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(149, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(151, self, varargin{:}); end function varargout = rows(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(150, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(152, self, varargin{:}); end function varargout = columns(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(151, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(153, self, varargin{:}); end function varargout = description(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(152, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(154, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(153, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(155, self, varargin{:}); end function varargout = toMatlabDense(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(154, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(156, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(155, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(157, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/SparseMatrixRowMajor.m b/bindings/matlab/autogenerated/+iDynTree/SparseMatrixRowMajor.m index 6125749a6c9..b67de9468fc 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SparseMatrixRowMajor.m +++ b/bindings/matlab/autogenerated/+iDynTree/SparseMatrixRowMajor.m @@ -9,58 +9,58 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(124, varargin{:}); + tmp = iDynTreeMEX(126, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(125, self); + iDynTreeMEX(127, self); self.SwigClear(); end end function varargout = numberOfNonZeros(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(126, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(128, self, varargin{:}); end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(127, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(129, self, varargin{:}); end function varargout = reserve(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(128, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(130, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(129, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(131, self, varargin{:}); end function varargout = setFromConstTriplets(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(130, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(132, self, varargin{:}); end function varargout = setFromTriplets(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(131, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(133, self, varargin{:}); end function varargout = getValue(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(132, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(134, self, varargin{:}); end function varargout = setValue(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(133, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(135, self, varargin{:}); end function varargout = rows(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(134, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(136, self, varargin{:}); end function varargout = columns(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(135, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(137, self, varargin{:}); end function varargout = description(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(136, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(138, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(137, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(139, self, varargin{:}); end function varargout = toMatlabDense(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(138, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(140, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(139, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(141, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialAcc.m b/bindings/matlab/autogenerated/+iDynTree/SpatialAcc.m index 1b1521ce343..908df9d75d5 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SpatialAcc.m +++ b/bindings/matlab/autogenerated/+iDynTree/SpatialAcc.m @@ -7,23 +7,23 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(608, varargin{:}); + tmp = iDynTreeMEX(610, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = plus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(609, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(611, self, varargin{:}); end function varargout = minus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(610, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(612, self, varargin{:}); end function varargout = uminus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(611, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(613, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(612, self); + iDynTreeMEX(614, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialForceVector.m b/bindings/matlab/autogenerated/+iDynTree/SpatialForceVector.m index 4de606fabbc..fd92ad81d9b 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SpatialForceVector.m +++ b/bindings/matlab/autogenerated/+iDynTree/SpatialForceVector.m @@ -7,19 +7,19 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(589, varargin{:}); + tmp = iDynTreeMEX(591, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(590, self); + iDynTreeMEX(592, self); self.SwigClear(); end end function varargout = mtimes(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(591, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(593, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorBase.m b/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorBase.m index e1f7ce36dcd..9e245e6e451 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorBase.m +++ b/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorBase.m @@ -9,87 +9,87 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(555, varargin{:}); + tmp = iDynTreeMEX(557, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = getLinearVec3(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(556, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(558, self, varargin{:}); end function varargout = getAngularVec3(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(557, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(559, self, varargin{:}); end function varargout = setLinearVec3(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(558, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(560, self, varargin{:}); end function varargout = setAngularVec3(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(559, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(561, self, varargin{:}); end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(560, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(562, self, varargin{:}); end function varargout = getVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(561, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(563, self, varargin{:}); end function varargout = setVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(562, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(564, self, varargin{:}); end function varargout = size(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(563, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(565, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(564, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(566, self, varargin{:}); end function varargout = changePoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(565, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(567, self, varargin{:}); end function varargout = changeCoordFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(566, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(568, self, varargin{:}); end function varargout = dot(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(569, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(571, self, varargin{:}); end function varargout = plus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(570, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(572, self, varargin{:}); end function varargout = minus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(571, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(573, self, varargin{:}); end function varargout = uminus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(572, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(574, self, varargin{:}); end function varargout = asVector(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(574, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(576, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(575, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(577, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(576, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(578, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(577, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(579, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(578, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(580, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(579, self); + iDynTreeMEX(581, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(567, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(569, varargin{:}); end function varargout = inverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(568, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(570, varargin{:}); end function varargout = Zero(varargin) - [varargout{1:nargout}] = iDynTreeMEX(573, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(575, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorSemanticsBase.m b/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorSemanticsBase.m index d9db3c65600..fbe96c016a8 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorSemanticsBase.m +++ b/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorSemanticsBase.m @@ -9,23 +9,23 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(525, varargin{:}); + tmp = iDynTreeMEX(527, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = check_linear2angularConsistency(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(526, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(528, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(527, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(529, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(528, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(530, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(529, self); + iDynTreeMEX(531, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialInertia.m b/bindings/matlab/autogenerated/+iDynTree/SpatialInertia.m index bb9739e8173..2501f4ff93d 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SpatialInertia.m +++ b/bindings/matlab/autogenerated/+iDynTree/SpatialInertia.m @@ -7,63 +7,63 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(659, varargin{:}); + tmp = iDynTreeMEX(661, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = asMatrix(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(661, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(663, self, varargin{:}); end function varargout = applyInverse(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(662, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(664, self, varargin{:}); end function varargout = getInverse(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(663, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(665, self, varargin{:}); end function varargout = plus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(664, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(666, self, varargin{:}); end function varargout = mtimes(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(665, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(667, self, varargin{:}); end function varargout = biasWrench(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(666, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(668, self, varargin{:}); end function varargout = biasWrenchDerivative(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(667, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(669, self, varargin{:}); end function varargout = asVector(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(669, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(671, self, varargin{:}); end function varargout = fromVector(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(670, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(672, self, varargin{:}); end function varargout = isPhysicallyConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(671, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(673, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(675, self); + iDynTreeMEX(677, self); self.SwigClear(); end end end methods(Static) function varargout = combine(varargin) - [varargout{1:nargout}] = iDynTreeMEX(660, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(662, varargin{:}); end function varargout = Zero(varargin) - [varargout{1:nargout}] = iDynTreeMEX(668, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(670, varargin{:}); end function varargout = momentumRegressor(varargin) - [varargout{1:nargout}] = iDynTreeMEX(672, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(674, varargin{:}); end function varargout = momentumDerivativeRegressor(varargin) - [varargout{1:nargout}] = iDynTreeMEX(673, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(675, varargin{:}); end function varargout = momentumDerivativeSlotineLiRegressor(varargin) - [varargout{1:nargout}] = iDynTreeMEX(674, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(676, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialInertiaRaw.m b/bindings/matlab/autogenerated/+iDynTree/SpatialInertiaRaw.m index 1611cca84d4..3b2865e8304 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SpatialInertiaRaw.m +++ b/bindings/matlab/autogenerated/+iDynTree/SpatialInertiaRaw.m @@ -9,42 +9,42 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(649, varargin{:}); + tmp = iDynTreeMEX(651, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = fromRotationalInertiaWrtCenterOfMass(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(650, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(652, self, varargin{:}); end function varargout = getMass(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(651, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(653, self, varargin{:}); end function varargout = getCenterOfMass(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(652, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(654, self, varargin{:}); end function varargout = getRotationalInertiaWrtFrameOrigin(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(653, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(655, self, varargin{:}); end function varargout = getRotationalInertiaWrtCenterOfMass(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(654, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(656, self, varargin{:}); end function varargout = multiply(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(656, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(658, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(657, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(659, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(658, self); + iDynTreeMEX(660, self); self.SwigClear(); end end end methods(Static) function varargout = combine(varargin) - [varargout{1:nargout}] = iDynTreeMEX(655, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(657, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialMomentum.m b/bindings/matlab/autogenerated/+iDynTree/SpatialMomentum.m index fdc79f43b21..2bc7e43cec4 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SpatialMomentum.m +++ b/bindings/matlab/autogenerated/+iDynTree/SpatialMomentum.m @@ -7,23 +7,23 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(603, varargin{:}); + tmp = iDynTreeMEX(605, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = plus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(604, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(606, self, varargin{:}); end function varargout = minus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(605, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(607, self, varargin{:}); end function varargout = uminus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(606, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(608, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(607, self); + iDynTreeMEX(609, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVector.m b/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVector.m index a23e8d473dc..0ead9557b54 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVector.m +++ b/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVector.m @@ -7,29 +7,29 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(582, varargin{:}); + tmp = iDynTreeMEX(584, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = mtimes(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(583, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(585, self, varargin{:}); end function varargout = cross(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(584, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(586, self, varargin{:}); end function varargout = asCrossProductMatrix(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(585, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(587, self, varargin{:}); end function varargout = asCrossProductMatrixWrench(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(586, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(588, self, varargin{:}); end function varargout = exp(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(587, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(589, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(588, self); + iDynTreeMEX(590, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorBase.m b/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorBase.m index 06904ded46f..9c4ad230624 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorBase.m +++ b/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorBase.m @@ -9,87 +9,87 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(530, varargin{:}); + tmp = iDynTreeMEX(532, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = getLinearVec3(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(531, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(533, self, varargin{:}); end function varargout = getAngularVec3(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(532, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(534, self, varargin{:}); end function varargout = setLinearVec3(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(533, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(535, self, varargin{:}); end function varargout = setAngularVec3(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(534, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(536, self, varargin{:}); end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(535, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(537, self, varargin{:}); end function varargout = getVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(536, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(538, self, varargin{:}); end function varargout = setVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(537, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(539, self, varargin{:}); end function varargout = size(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(538, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(540, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(539, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(541, self, varargin{:}); end function varargout = changePoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(540, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(542, self, varargin{:}); end function varargout = changeCoordFrame(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(541, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(543, self, varargin{:}); end function varargout = dot(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(544, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(546, self, varargin{:}); end function varargout = plus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(545, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(547, self, varargin{:}); end function varargout = minus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(546, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(548, self, varargin{:}); end function varargout = uminus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(547, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(549, self, varargin{:}); end function varargout = asVector(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(549, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(551, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(550, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(552, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(551, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(553, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(552, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(554, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(553, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(555, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(554, self); + iDynTreeMEX(556, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(542, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(544, varargin{:}); end function varargout = inverse(varargin) - [varargout{1:nargout}] = iDynTreeMEX(543, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(545, varargin{:}); end function varargout = Zero(varargin) - [varargout{1:nargout}] = iDynTreeMEX(548, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(550, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorSemanticsBase.m b/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorSemanticsBase.m index 7aa13e4ecae..07cfbb41346 100644 --- a/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorSemanticsBase.m +++ b/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorSemanticsBase.m @@ -9,23 +9,23 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(520, varargin{:}); + tmp = iDynTreeMEX(522, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = check_linear2angularConsistency(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(521, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(523, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(522, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(524, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(523, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(525, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(524, self); + iDynTreeMEX(526, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Sphere.m b/bindings/matlab/autogenerated/+iDynTree/Sphere.m index 55edf6dcc93..94622eb0b37 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Sphere.m +++ b/bindings/matlab/autogenerated/+iDynTree/Sphere.m @@ -2,21 +2,21 @@ methods function delete(self) if self.swigPtr - iDynTreeMEX(1080, self); + iDynTreeMEX(1082, self); self.SwigClear(); end end function varargout = clone(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1081, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1083, self, varargin{:}); end function varargout = radius(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1082, self); + varargout{1} = iDynTreeMEX(1084, self); else nargoutchk(0, 0) - iDynTreeMEX(1083, self, varargin{1}); + iDynTreeMEX(1085, self, varargin{1}); end end function self = Sphere(varargin) @@ -26,7 +26,7 @@ function delete(self) self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1084, varargin{:}); + tmp = iDynTreeMEX(1086, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end diff --git a/bindings/matlab/autogenerated/+iDynTree/TRAVERSAL_INVALID_INDEX.m b/bindings/matlab/autogenerated/+iDynTree/TRAVERSAL_INVALID_INDEX.m index 547e65392f7..27bb8b797cb 100644 --- a/bindings/matlab/autogenerated/+iDynTree/TRAVERSAL_INVALID_INDEX.m +++ b/bindings/matlab/autogenerated/+iDynTree/TRAVERSAL_INVALID_INDEX.m @@ -2,9 +2,9 @@ narginchk(0,1) if nargin==0 nargoutchk(0,1) - varargout{1} = iDynTreeMEX(830); + varargout{1} = iDynTreeMEX(832); else nargoutchk(0,0) - iDynTreeMEX(831,varargin{1}); + iDynTreeMEX(833,varargin{1}); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/ThreeAxisAngularAccelerometerSensor.m b/bindings/matlab/autogenerated/+iDynTree/ThreeAxisAngularAccelerometerSensor.m index ffe6c70d8fe..2a81b3f616d 100644 --- a/bindings/matlab/autogenerated/+iDynTree/ThreeAxisAngularAccelerometerSensor.m +++ b/bindings/matlab/autogenerated/+iDynTree/ThreeAxisAngularAccelerometerSensor.m @@ -7,55 +7,55 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1374, varargin{:}); + tmp = iDynTreeMEX(1377, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1375, self); + iDynTreeMEX(1378, self); self.SwigClear(); end end function varargout = setName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1376, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1379, self, varargin{:}); end function varargout = setLinkSensorTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1377, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1380, self, varargin{:}); end function varargout = setParentLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1378, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1381, self, varargin{:}); end function varargout = setParentLinkIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1379, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1382, self, varargin{:}); end function varargout = getName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1380, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1383, self, varargin{:}); end function varargout = getSensorType(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1381, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1384, self, varargin{:}); end function varargout = getParentLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1382, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1385, self, varargin{:}); end function varargout = getParentLinkIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1383, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1386, self, varargin{:}); end function varargout = getLinkSensorTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1384, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1387, self, varargin{:}); end function varargout = isValid(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1385, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1388, self, varargin{:}); end function varargout = clone(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1386, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1389, self, varargin{:}); end function varargout = updateIndices(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1387, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1390, self, varargin{:}); end function varargout = predictMeasurement(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1388, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1391, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/ThreeAxisForceTorqueContactSensor.m b/bindings/matlab/autogenerated/+iDynTree/ThreeAxisForceTorqueContactSensor.m new file mode 100644 index 00000000000..6086ba35f0e --- /dev/null +++ b/bindings/matlab/autogenerated/+iDynTree/ThreeAxisForceTorqueContactSensor.m @@ -0,0 +1,72 @@ +classdef ThreeAxisForceTorqueContactSensor < iDynTree.LinkSensor + methods + function self = ThreeAxisForceTorqueContactSensor(varargin) + self@iDynTree.LinkSensor(SwigRef.Null); + if nargin==1 && strcmp(class(varargin{1}),'SwigRef') + if ~isnull(varargin{1}) + self.swigPtr = varargin{1}.swigPtr; + end + else + tmp = iDynTreeMEX(1392, varargin{:}); + self.swigPtr = tmp.swigPtr; + tmp.SwigClear(); + end + end + function delete(self) + if self.swigPtr + iDynTreeMEX(1393, self); + self.SwigClear(); + end + end + function varargout = setName(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1394, self, varargin{:}); + end + function varargout = setLinkSensorTransform(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1395, self, varargin{:}); + end + function varargout = setParentLink(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1396, self, varargin{:}); + end + function varargout = setParentLinkIndex(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1397, self, varargin{:}); + end + function varargout = getName(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1398, self, varargin{:}); + end + function varargout = getSensorType(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1399, self, varargin{:}); + end + function varargout = getParentLink(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1400, self, varargin{:}); + end + function varargout = getParentLinkIndex(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1401, self, varargin{:}); + end + function varargout = getLinkSensorTransform(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1402, self, varargin{:}); + end + function varargout = isValid(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1403, self, varargin{:}); + end + function varargout = clone(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1404, self, varargin{:}); + end + function varargout = updateIndices(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1405, self, varargin{:}); + end + function varargout = setLoadCellLocations(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1406, self, varargin{:}); + end + function varargout = getLoadCellLocations(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1407, self, varargin{:}); + end + function varargout = computeThreeAxisForceTorqueFromLoadCellMeasurements(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1408, self, varargin{:}); + end + function varargout = computeCenterOfPressureFromLoadCellMeasurements(self,varargin) + [varargout{1:nargout}] = iDynTreeMEX(1409, self, varargin{:}); + end + end + methods(Static) + end +end diff --git a/bindings/matlab/autogenerated/+iDynTree/Transform.m b/bindings/matlab/autogenerated/+iDynTree/Transform.m index 5ed7e7ccb16..3da637783e5 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Transform.m +++ b/bindings/matlab/autogenerated/+iDynTree/Transform.m @@ -9,69 +9,69 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(782, varargin{:}); + tmp = iDynTreeMEX(784, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = fromHomogeneousTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(783, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(785, self, varargin{:}); end function varargout = getSemantics(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(784, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(786, self, varargin{:}); end function varargout = getRotation(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(785, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(787, self, varargin{:}); end function varargout = getPosition(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(786, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(788, self, varargin{:}); end function varargout = setRotation(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(787, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(789, self, varargin{:}); end function varargout = setPosition(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(788, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(790, self, varargin{:}); end function varargout = inverse(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(791, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(793, self, varargin{:}); end function varargout = mtimes(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(792, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(794, self, varargin{:}); end function varargout = asHomogeneousTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(794, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(796, self, varargin{:}); end function varargout = asAdjointTransform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(795, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(797, self, varargin{:}); end function varargout = asAdjointTransformWrench(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(796, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(798, self, varargin{:}); end function varargout = log(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(797, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(799, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(798, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(800, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(799, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(801, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(800, self); + iDynTreeMEX(802, self); self.SwigClear(); end end end methods(Static) function varargout = compose(varargin) - [varargout{1:nargout}] = iDynTreeMEX(789, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(791, varargin{:}); end function varargout = inverse2(varargin) - [varargout{1:nargout}] = iDynTreeMEX(790, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(792, varargin{:}); end function varargout = Identity(varargin) - [varargout{1:nargout}] = iDynTreeMEX(793, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(795, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/TransformDerivative.m b/bindings/matlab/autogenerated/+iDynTree/TransformDerivative.m index 6adda09ad50..7f8d1deb6ec 100644 --- a/bindings/matlab/autogenerated/+iDynTree/TransformDerivative.m +++ b/bindings/matlab/autogenerated/+iDynTree/TransformDerivative.m @@ -9,51 +9,51 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(801, varargin{:}); + tmp = iDynTreeMEX(803, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(802, self); + iDynTreeMEX(804, self); self.SwigClear(); end end function varargout = getRotationDerivative(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(803, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(805, self, varargin{:}); end function varargout = getPositionDerivative(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(804, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(806, self, varargin{:}); end function varargout = setRotationDerivative(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(805, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(807, self, varargin{:}); end function varargout = setPositionDerivative(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(806, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(808, self, varargin{:}); end function varargout = asHomogeneousTransformDerivative(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(808, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(810, self, varargin{:}); end function varargout = asAdjointTransformDerivative(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(809, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(811, self, varargin{:}); end function varargout = asAdjointTransformWrenchDerivative(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(810, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(812, self, varargin{:}); end function varargout = mtimes(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(811, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(813, self, varargin{:}); end function varargout = derivativeOfInverse(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(812, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(814, self, varargin{:}); end function varargout = transform(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(813, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(815, self, varargin{:}); end end methods(Static) function varargout = Zero(varargin) - [varargout{1:nargout}] = iDynTreeMEX(807, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(809, varargin{:}); end end end diff --git a/bindings/matlab/autogenerated/+iDynTree/TransformSemantics.m b/bindings/matlab/autogenerated/+iDynTree/TransformSemantics.m index be6ddca6a83..8b11819f16d 100644 --- a/bindings/matlab/autogenerated/+iDynTree/TransformSemantics.m +++ b/bindings/matlab/autogenerated/+iDynTree/TransformSemantics.m @@ -9,32 +9,32 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(774, varargin{:}); + tmp = iDynTreeMEX(776, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = getRotationSemantics(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(775, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(777, self, varargin{:}); end function varargout = getPositionSemantics(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(776, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(778, self, varargin{:}); end function varargout = setRotationSemantics(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(777, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(779, self, varargin{:}); end function varargout = setPositionSemantics(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(778, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(780, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(779, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(781, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(780, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(782, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(781, self); + iDynTreeMEX(783, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Traversal.m b/bindings/matlab/autogenerated/+iDynTree/Traversal.m index abdfc946274..53181de3fa5 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Traversal.m +++ b/bindings/matlab/autogenerated/+iDynTree/Traversal.m @@ -9,61 +9,61 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1047, varargin{:}); + tmp = iDynTreeMEX(1049, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1048, self); + iDynTreeMEX(1050, self); self.SwigClear(); end end function varargout = getNrOfVisitedLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1049, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1051, self, varargin{:}); end function varargout = getLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1050, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1052, self, varargin{:}); end function varargout = getBaseLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1051, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1053, self, varargin{:}); end function varargout = getParentLink(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1052, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1054, self, varargin{:}); end function varargout = getParentJoint(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1053, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1055, self, varargin{:}); end function varargout = getParentLinkFromLinkIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1054, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1056, self, varargin{:}); end function varargout = getParentJointFromLinkIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1055, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1057, self, varargin{:}); end function varargout = getTraversalIndexFromLinkIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1056, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1058, self, varargin{:}); end function varargout = reset(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1057, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1059, self, varargin{:}); end function varargout = addTraversalBase(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1058, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1060, self, varargin{:}); end function varargout = addTraversalElement(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1059, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1061, self, varargin{:}); end function varargout = isParentOf(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1060, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1062, self, varargin{:}); end function varargout = getChildLinkIndexFromJointIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1061, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1063, self, varargin{:}); end function varargout = getParentLinkIndexFromJointIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1062, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1064, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1063, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1065, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/Twist.m b/bindings/matlab/autogenerated/+iDynTree/Twist.m index 19ef2f59a6d..616f0a5fec0 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Twist.m +++ b/bindings/matlab/autogenerated/+iDynTree/Twist.m @@ -7,26 +7,26 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(592, varargin{:}); + tmp = iDynTreeMEX(594, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = plus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(593, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(595, self, varargin{:}); end function varargout = minus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(594, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(596, self, varargin{:}); end function varargout = uminus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(595, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(597, self, varargin{:}); end function varargout = mtimes(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(596, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(598, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(597, self); + iDynTreeMEX(599, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/URDFParserOptions.m b/bindings/matlab/autogenerated/+iDynTree/URDFParserOptions.m index 226d1969bae..6980aa7d167 100644 --- a/bindings/matlab/autogenerated/+iDynTree/URDFParserOptions.m +++ b/bindings/matlab/autogenerated/+iDynTree/URDFParserOptions.m @@ -7,20 +7,20 @@ narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1391, self); + varargout{1} = iDynTreeMEX(1412, self); else nargoutchk(0, 0) - iDynTreeMEX(1392, self, varargin{1}); + iDynTreeMEX(1413, self, varargin{1}); end end function varargout = originalFilename(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1393, self); + varargout{1} = iDynTreeMEX(1414, self); else nargoutchk(0, 0) - iDynTreeMEX(1394, self, varargin{1}); + iDynTreeMEX(1415, self, varargin{1}); end end function self = URDFParserOptions(varargin) @@ -29,14 +29,14 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1395, varargin{:}); + tmp = iDynTreeMEX(1416, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1396, self); + iDynTreeMEX(1417, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/UnknownWrenchContact.m b/bindings/matlab/autogenerated/+iDynTree/UnknownWrenchContact.m index 348382501b9..82245024d20 100644 --- a/bindings/matlab/autogenerated/+iDynTree/UnknownWrenchContact.m +++ b/bindings/matlab/autogenerated/+iDynTree/UnknownWrenchContact.m @@ -9,7 +9,7 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1413, varargin{:}); + tmp = iDynTreeMEX(1442, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end @@ -18,55 +18,55 @@ narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1414, self); + varargout{1} = iDynTreeMEX(1443, self); else nargoutchk(0, 0) - iDynTreeMEX(1415, self, varargin{1}); + iDynTreeMEX(1444, self, varargin{1}); end end function varargout = contactPoint(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1416, self); + varargout{1} = iDynTreeMEX(1445, self); else nargoutchk(0, 0) - iDynTreeMEX(1417, self, varargin{1}); + iDynTreeMEX(1446, self, varargin{1}); end end function varargout = forceDirection(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1418, self); + varargout{1} = iDynTreeMEX(1447, self); else nargoutchk(0, 0) - iDynTreeMEX(1419, self, varargin{1}); + iDynTreeMEX(1448, self, varargin{1}); end end function varargout = knownWrench(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1420, self); + varargout{1} = iDynTreeMEX(1449, self); else nargoutchk(0, 0) - iDynTreeMEX(1421, self, varargin{1}); + iDynTreeMEX(1450, self, varargin{1}); end end function varargout = contactId(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1422, self); + varargout{1} = iDynTreeMEX(1451, self); else nargoutchk(0, 0) - iDynTreeMEX(1423, self, varargin{1}); + iDynTreeMEX(1452, self, varargin{1}); end end function delete(self) if self.swigPtr - iDynTreeMEX(1424, self); + iDynTreeMEX(1453, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Vector10.m b/bindings/matlab/autogenerated/+iDynTree/Vector10.m index e2e383ed13f..0a19c31caa6 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Vector10.m +++ b/bindings/matlab/autogenerated/+iDynTree/Vector10.m @@ -9,47 +9,47 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(317, varargin{:}); + tmp = iDynTreeMEX(319, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(318, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(320, self, varargin{:}); end function varargout = getVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(319, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(321, self, varargin{:}); end function varargout = setVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(320, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(322, self, varargin{:}); end function varargout = size(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(321, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(323, self, varargin{:}); end function varargout = data(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(322, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(324, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(323, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(325, self, varargin{:}); end function varargout = fillBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(324, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(326, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(325, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(327, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(326, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(328, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(327, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(329, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(328, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(330, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(329, self); + iDynTreeMEX(331, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Vector16.m b/bindings/matlab/autogenerated/+iDynTree/Vector16.m index 397495d682a..abe65ce0b70 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Vector16.m +++ b/bindings/matlab/autogenerated/+iDynTree/Vector16.m @@ -9,47 +9,47 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(330, varargin{:}); + tmp = iDynTreeMEX(332, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(331, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(333, self, varargin{:}); end function varargout = getVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(332, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(334, self, varargin{:}); end function varargout = setVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(333, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(335, self, varargin{:}); end function varargout = size(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(334, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(336, self, varargin{:}); end function varargout = data(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(335, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(337, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(336, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(338, self, varargin{:}); end function varargout = fillBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(337, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(339, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(338, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(340, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(339, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(341, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(340, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(342, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(341, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(343, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(342, self); + iDynTreeMEX(344, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Vector3.m b/bindings/matlab/autogenerated/+iDynTree/Vector3.m index 0ab5998cb5a..c83ad7f1637 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Vector3.m +++ b/bindings/matlab/autogenerated/+iDynTree/Vector3.m @@ -9,47 +9,47 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(278, varargin{:}); + tmp = iDynTreeMEX(280, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(279, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(281, self, varargin{:}); end function varargout = getVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(280, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(282, self, varargin{:}); end function varargout = setVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(281, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(283, self, varargin{:}); end function varargout = size(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(282, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(284, self, varargin{:}); end function varargout = data(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(283, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(285, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(284, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(286, self, varargin{:}); end function varargout = fillBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(285, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(287, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(286, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(288, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(287, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(289, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(288, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(290, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(289, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(291, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(290, self); + iDynTreeMEX(292, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Vector4.m b/bindings/matlab/autogenerated/+iDynTree/Vector4.m index b375f09b632..da88c592f2f 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Vector4.m +++ b/bindings/matlab/autogenerated/+iDynTree/Vector4.m @@ -9,47 +9,47 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(291, varargin{:}); + tmp = iDynTreeMEX(293, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(292, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(294, self, varargin{:}); end function varargout = getVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(293, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(295, self, varargin{:}); end function varargout = setVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(294, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(296, self, varargin{:}); end function varargout = size(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(295, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(297, self, varargin{:}); end function varargout = data(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(296, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(298, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(297, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(299, self, varargin{:}); end function varargout = fillBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(298, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(300, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(299, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(301, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(300, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(302, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(301, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(303, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(302, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(304, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(303, self); + iDynTreeMEX(305, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Vector6.m b/bindings/matlab/autogenerated/+iDynTree/Vector6.m index 972662338b2..f211e5f8871 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Vector6.m +++ b/bindings/matlab/autogenerated/+iDynTree/Vector6.m @@ -9,47 +9,47 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(304, varargin{:}); + tmp = iDynTreeMEX(306, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(305, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(307, self, varargin{:}); end function varargout = getVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(306, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(308, self, varargin{:}); end function varargout = setVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(307, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(309, self, varargin{:}); end function varargout = size(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(308, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(310, self, varargin{:}); end function varargout = data(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(309, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(311, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(310, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(312, self, varargin{:}); end function varargout = fillBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(311, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(313, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(312, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(314, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(313, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(315, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(314, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(316, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(315, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(317, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(316, self); + iDynTreeMEX(318, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/VectorDynSize.m b/bindings/matlab/autogenerated/+iDynTree/VectorDynSize.m index 88b250b4a6c..728e3457992 100644 --- a/bindings/matlab/autogenerated/+iDynTree/VectorDynSize.m +++ b/bindings/matlab/autogenerated/+iDynTree/VectorDynSize.m @@ -9,61 +9,61 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(156, varargin{:}); + tmp = iDynTreeMEX(158, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(157, self); + iDynTreeMEX(159, self); self.SwigClear(); end end function varargout = paren(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(158, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(160, self, varargin{:}); end function varargout = getVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(159, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(161, self, varargin{:}); end function varargout = setVal(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(160, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(162, self, varargin{:}); end function varargout = size(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(161, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(163, self, varargin{:}); end function varargout = data(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(162, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(164, self, varargin{:}); end function varargout = zero(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(163, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(165, self, varargin{:}); end function varargout = reserve(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(164, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(166, self, varargin{:}); end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(165, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(167, self, varargin{:}); end function varargout = shrink_to_fit(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(166, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(168, self, varargin{:}); end function varargout = capacity(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(167, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(169, self, varargin{:}); end function varargout = fillBuffer(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(168, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(170, self, varargin{:}); end function varargout = toString(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(169, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(171, self, varargin{:}); end function varargout = display(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(170, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(172, self, varargin{:}); end function varargout = toMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(171, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(173, self, varargin{:}); end function varargout = fromMatlab(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(172, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(174, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/Visualizer.m b/bindings/matlab/autogenerated/+iDynTree/Visualizer.m index 9d9d32f260b..86a3a9635f9 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Visualizer.m +++ b/bindings/matlab/autogenerated/+iDynTree/Visualizer.m @@ -9,52 +9,52 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1743, varargin{:}); + tmp = iDynTreeMEX(1774, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1744, self); + iDynTreeMEX(1775, self); self.SwigClear(); end end function varargout = init(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1745, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1776, self, varargin{:}); end function varargout = getNrOfVisualizedModels(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1746, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1777, self, varargin{:}); end function varargout = getModelInstanceName(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1747, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1778, self, varargin{:}); end function varargout = getModelInstanceIndex(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1748, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1779, self, varargin{:}); end function varargout = addModel(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1749, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1780, self, varargin{:}); end function varargout = modelViz(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1750, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1781, self, varargin{:}); end function varargout = camera(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1751, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1782, self, varargin{:}); end function varargout = enviroment(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1752, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1783, self, varargin{:}); end function varargout = run(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1753, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1784, self, varargin{:}); end function varargout = draw(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1754, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1785, self, varargin{:}); end function varargout = drawToFile(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1755, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1786, self, varargin{:}); end function varargout = close(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1756, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1787, self, varargin{:}); end end methods(Static) diff --git a/bindings/matlab/autogenerated/+iDynTree/VisualizerOptions.m b/bindings/matlab/autogenerated/+iDynTree/VisualizerOptions.m index 9b35e6e4ef7..ac5e23ff260 100644 --- a/bindings/matlab/autogenerated/+iDynTree/VisualizerOptions.m +++ b/bindings/matlab/autogenerated/+iDynTree/VisualizerOptions.m @@ -7,40 +7,40 @@ narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1733, self); + varargout{1} = iDynTreeMEX(1764, self); else nargoutchk(0, 0) - iDynTreeMEX(1734, self, varargin{1}); + iDynTreeMEX(1765, self, varargin{1}); end end function varargout = winWidth(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1735, self); + varargout{1} = iDynTreeMEX(1766, self); else nargoutchk(0, 0) - iDynTreeMEX(1736, self, varargin{1}); + iDynTreeMEX(1767, self, varargin{1}); end end function varargout = winHeight(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1737, self); + varargout{1} = iDynTreeMEX(1768, self); else nargoutchk(0, 0) - iDynTreeMEX(1738, self, varargin{1}); + iDynTreeMEX(1769, self, varargin{1}); end end function varargout = rootFrameArrowsDimension(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1739, self); + varargout{1} = iDynTreeMEX(1770, self); else nargoutchk(0, 0) - iDynTreeMEX(1740, self, varargin{1}); + iDynTreeMEX(1771, self, varargin{1}); end end function self = VisualizerOptions(varargin) @@ -49,14 +49,14 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1741, varargin{:}); + tmp = iDynTreeMEX(1772, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function delete(self) if self.swigPtr - iDynTreeMEX(1742, self); + iDynTreeMEX(1773, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/Wrench.m b/bindings/matlab/autogenerated/+iDynTree/Wrench.m index 149337f3f52..ab4afaec2d7 100644 --- a/bindings/matlab/autogenerated/+iDynTree/Wrench.m +++ b/bindings/matlab/autogenerated/+iDynTree/Wrench.m @@ -7,23 +7,23 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(598, varargin{:}); + tmp = iDynTreeMEX(600, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = plus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(599, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(601, self, varargin{:}); end function varargout = minus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(600, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(602, self, varargin{:}); end function varargout = uminus(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(601, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(603, self, varargin{:}); end function delete(self) if self.swigPtr - iDynTreeMEX(602, self); + iDynTreeMEX(604, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/checkDoublesAreEqual.m b/bindings/matlab/autogenerated/+iDynTree/checkDoublesAreEqual.m index 6a997120568..ca7b9fca882 100644 --- a/bindings/matlab/autogenerated/+iDynTree/checkDoublesAreEqual.m +++ b/bindings/matlab/autogenerated/+iDynTree/checkDoublesAreEqual.m @@ -1,3 +1,3 @@ function varargout = checkDoublesAreEqual(varargin) - [varargout{1:nargout}] = iDynTreeMEX(104, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(106, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/computeLinkNetWrenchesWithoutGravity.m b/bindings/matlab/autogenerated/+iDynTree/computeLinkNetWrenchesWithoutGravity.m index 3169842a2c3..d16724b91d6 100644 --- a/bindings/matlab/autogenerated/+iDynTree/computeLinkNetWrenchesWithoutGravity.m +++ b/bindings/matlab/autogenerated/+iDynTree/computeLinkNetWrenchesWithoutGravity.m @@ -1,3 +1,3 @@ function varargout = computeLinkNetWrenchesWithoutGravity(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1458, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1487, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDF.m b/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDF.m index f641a0d9b8c..ff531d9b9af 100644 --- a/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDF.m +++ b/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDF.m @@ -1,3 +1,3 @@ function varargout = dofsListFromURDF(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1399, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1420, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDFString.m b/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDFString.m index eba31956605..b6595c36351 100644 --- a/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDFString.m +++ b/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDFString.m @@ -1,3 +1,3 @@ function varargout = dofsListFromURDFString(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1400, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1421, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelAccKinematics.m b/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelAccKinematics.m index 26a58dff310..5153107146e 100644 --- a/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelAccKinematics.m +++ b/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelAccKinematics.m @@ -1,3 +1,3 @@ function varargout = dynamicsEstimationForwardVelAccKinematics(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1456, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1485, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelKinematics.m b/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelKinematics.m index b150d2a2f5a..ffeaa718463 100644 --- a/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelKinematics.m +++ b/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelKinematics.m @@ -1,3 +1,3 @@ function varargout = dynamicsEstimationForwardVelKinematics(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1457, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1486, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenches.m b/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenches.m index 8883aebea53..e6c4645f0c9 100644 --- a/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenches.m +++ b/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenches.m @@ -1,3 +1,3 @@ function varargout = estimateExternalWrenches(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1455, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1484, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesBuffers.m b/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesBuffers.m index a5cee6537fa..8469d852d10 100644 --- a/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesBuffers.m +++ b/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesBuffers.m @@ -9,86 +9,86 @@ self.swigPtr = varargin{1}.swigPtr; end else - tmp = iDynTreeMEX(1436, varargin{:}); + tmp = iDynTreeMEX(1465, varargin{:}); self.swigPtr = tmp.swigPtr; tmp.SwigClear(); end end function varargout = resize(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1437, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1466, self, varargin{:}); end function varargout = getNrOfSubModels(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1438, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1467, self, varargin{:}); end function varargout = getNrOfLinks(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1439, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1468, self, varargin{:}); end function varargout = isConsistent(self,varargin) - [varargout{1:nargout}] = iDynTreeMEX(1440, self, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1469, self, varargin{:}); end function varargout = A(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1441, self); + varargout{1} = iDynTreeMEX(1470, self); else nargoutchk(0, 0) - iDynTreeMEX(1442, self, varargin{1}); + iDynTreeMEX(1471, self, varargin{1}); end end function varargout = x(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1443, self); + varargout{1} = iDynTreeMEX(1472, self); else nargoutchk(0, 0) - iDynTreeMEX(1444, self, varargin{1}); + iDynTreeMEX(1473, self, varargin{1}); end end function varargout = b(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1445, self); + varargout{1} = iDynTreeMEX(1474, self); else nargoutchk(0, 0) - iDynTreeMEX(1446, self, varargin{1}); + iDynTreeMEX(1475, self, varargin{1}); end end function varargout = pinvA(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1447, self); + varargout{1} = iDynTreeMEX(1476, self); else nargoutchk(0, 0) - iDynTreeMEX(1448, self, varargin{1}); + iDynTreeMEX(1477, self, varargin{1}); end end function varargout = b_contacts_subtree(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1449, self); + varargout{1} = iDynTreeMEX(1478, self); else nargoutchk(0, 0) - iDynTreeMEX(1450, self, varargin{1}); + iDynTreeMEX(1479, self, varargin{1}); end end function varargout = subModelBase_H_link(self, varargin) narginchk(1, 2) if nargin==1 nargoutchk(0, 1) - varargout{1} = iDynTreeMEX(1451, self); + varargout{1} = iDynTreeMEX(1480, self); else nargoutchk(0, 0) - iDynTreeMEX(1452, self, varargin{1}); + iDynTreeMEX(1481, self, varargin{1}); end end function delete(self) if self.swigPtr - iDynTreeMEX(1453, self); + iDynTreeMEX(1482, self); self.SwigClear(); end end diff --git a/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesWithoutInternalFT.m b/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesWithoutInternalFT.m index 8e51a3f0407..d06ee1765fa 100644 --- a/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesWithoutInternalFT.m +++ b/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesWithoutInternalFT.m @@ -1,3 +1,3 @@ function varargout = estimateExternalWrenchesWithoutInternalFT(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1454, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1483, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/estimateLinkContactWrenchesFromLinkNetExternalWrenches.m b/bindings/matlab/autogenerated/+iDynTree/estimateLinkContactWrenchesFromLinkNetExternalWrenches.m index c1b42496abe..0d81af400ee 100644 --- a/bindings/matlab/autogenerated/+iDynTree/estimateLinkContactWrenchesFromLinkNetExternalWrenches.m +++ b/bindings/matlab/autogenerated/+iDynTree/estimateLinkContactWrenchesFromLinkNetExternalWrenches.m @@ -1,3 +1,3 @@ function varargout = estimateLinkContactWrenchesFromLinkNetExternalWrenches(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1459, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1488, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/getSensorTypeSize.m b/bindings/matlab/autogenerated/+iDynTree/getSensorTypeSize.m index b466bd071e8..fa5cf00322d 100644 --- a/bindings/matlab/autogenerated/+iDynTree/getSensorTypeSize.m +++ b/bindings/matlab/autogenerated/+iDynTree/getSensorTypeSize.m @@ -1,3 +1,3 @@ function varargout = getSensorTypeSize(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1263, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1265, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/isDOFBerdyDynamicVariable.m b/bindings/matlab/autogenerated/+iDynTree/isDOFBerdyDynamicVariable.m index 23555a92925..bc4c2e3f494 100644 --- a/bindings/matlab/autogenerated/+iDynTree/isDOFBerdyDynamicVariable.m +++ b/bindings/matlab/autogenerated/+iDynTree/isDOFBerdyDynamicVariable.m @@ -1,3 +1,3 @@ function varargout = isDOFBerdyDynamicVariable(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1487, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1516, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/isJointBerdyDynamicVariable.m b/bindings/matlab/autogenerated/+iDynTree/isJointBerdyDynamicVariable.m index 067c748d4ad..50bb441a27d 100644 --- a/bindings/matlab/autogenerated/+iDynTree/isJointBerdyDynamicVariable.m +++ b/bindings/matlab/autogenerated/+iDynTree/isJointBerdyDynamicVariable.m @@ -1,3 +1,3 @@ function varargout = isJointBerdyDynamicVariable(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1486, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1515, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/isJointSensor.m b/bindings/matlab/autogenerated/+iDynTree/isJointSensor.m index 587f3ba5f82..a81cc39cb0b 100644 --- a/bindings/matlab/autogenerated/+iDynTree/isJointSensor.m +++ b/bindings/matlab/autogenerated/+iDynTree/isJointSensor.m @@ -1,3 +1,3 @@ function varargout = isJointSensor(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1262, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1264, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/isLinkBerdyDynamicVariable.m b/bindings/matlab/autogenerated/+iDynTree/isLinkBerdyDynamicVariable.m index 3d6b87dce34..0f89dfe14c1 100644 --- a/bindings/matlab/autogenerated/+iDynTree/isLinkBerdyDynamicVariable.m +++ b/bindings/matlab/autogenerated/+iDynTree/isLinkBerdyDynamicVariable.m @@ -1,3 +1,3 @@ function varargout = isLinkBerdyDynamicVariable(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1485, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1514, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/isLinkSensor.m b/bindings/matlab/autogenerated/+iDynTree/isLinkSensor.m index 135607aed4f..bfcce4d6b31 100644 --- a/bindings/matlab/autogenerated/+iDynTree/isLinkSensor.m +++ b/bindings/matlab/autogenerated/+iDynTree/isLinkSensor.m @@ -1,3 +1,3 @@ function varargout = isLinkSensor(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1261, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1263, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/modelFromURDF.m b/bindings/matlab/autogenerated/+iDynTree/modelFromURDF.m index c1eb8846121..55d51b0ee27 100644 --- a/bindings/matlab/autogenerated/+iDynTree/modelFromURDF.m +++ b/bindings/matlab/autogenerated/+iDynTree/modelFromURDF.m @@ -1,3 +1,3 @@ function varargout = modelFromURDF(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1397, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1418, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/modelFromURDFString.m b/bindings/matlab/autogenerated/+iDynTree/modelFromURDFString.m index 08bd47b27e8..85c1860cae4 100644 --- a/bindings/matlab/autogenerated/+iDynTree/modelFromURDFString.m +++ b/bindings/matlab/autogenerated/+iDynTree/modelFromURDFString.m @@ -1,3 +1,3 @@ function varargout = modelFromURDFString(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1398, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1419, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurements.m b/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurements.m index bf939695e6f..48a5d7535b5 100644 --- a/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurements.m +++ b/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurements.m @@ -1,3 +1,3 @@ function varargout = predictSensorsMeasurements(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1389, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1410, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurementsFromRawBuffers.m b/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurementsFromRawBuffers.m index 0f661d0a78b..b5c0a927ed0 100644 --- a/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurementsFromRawBuffers.m +++ b/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurementsFromRawBuffers.m @@ -1,3 +1,3 @@ function varargout = predictSensorsMeasurementsFromRawBuffers(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1390, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1411, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/reportDebug.m b/bindings/matlab/autogenerated/+iDynTree/reportDebug.m new file mode 100644 index 00000000000..50c33948525 --- /dev/null +++ b/bindings/matlab/autogenerated/+iDynTree/reportDebug.m @@ -0,0 +1,3 @@ +function varargout = reportDebug(varargin) + [varargout{1:nargout}] = iDynTreeMEX(97, varargin{:}); +end diff --git a/bindings/matlab/autogenerated/+iDynTree/reportInfo.m b/bindings/matlab/autogenerated/+iDynTree/reportInfo.m new file mode 100644 index 00000000000..c76932d642e --- /dev/null +++ b/bindings/matlab/autogenerated/+iDynTree/reportInfo.m @@ -0,0 +1,3 @@ +function varargout = reportInfo(varargin) + [varargout{1:nargout}] = iDynTreeMEX(96, varargin{:}); +end diff --git a/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDF.m b/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDF.m index 9f4afebaf3b..f372bc89fa0 100644 --- a/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDF.m +++ b/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDF.m @@ -1,3 +1,3 @@ function varargout = sensorsFromURDF(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1401, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1422, varargin{:}); end diff --git a/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDFString.m b/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDFString.m index 5eee70b25e4..328b3a85a26 100644 --- a/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDFString.m +++ b/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDFString.m @@ -1,3 +1,3 @@ function varargout = sensorsFromURDFString(varargin) - [varargout{1:nargout}] = iDynTreeMEX(1402, varargin{:}); + [varargout{1:nargout}] = iDynTreeMEX(1423, varargin{:}); end diff --git a/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx b/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx index 514293e0464..81cf7334fed 100644 --- a/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx +++ b/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx @@ -1229,177 +1229,182 @@ namespace swig { #define SWIGTYPE_p_allocator_type swig_types[17] #define SWIGTYPE_p_char swig_types[18] #define SWIGTYPE_p_const_iterator swig_types[19] -#define SWIGTYPE_p_const_typed_iterator swig_types[20] -#define SWIGTYPE_p_difference_type swig_types[21] -#define SWIGTYPE_p_double swig_types[22] -#define SWIGTYPE_p_iDynTree__AccelerometerSensor swig_types[23] -#define SWIGTYPE_p_iDynTree__AngularForceVector3 swig_types[24] -#define SWIGTYPE_p_iDynTree__AngularForceVector3Semantics swig_types[25] -#define SWIGTYPE_p_iDynTree__AngularMotionVector3 swig_types[26] -#define SWIGTYPE_p_iDynTree__AngularMotionVector3Semantics swig_types[27] -#define SWIGTYPE_p_iDynTree__ArticulatedBodyAlgorithmInternalBuffers swig_types[28] -#define SWIGTYPE_p_iDynTree__ArticulatedBodyInertia swig_types[29] -#define SWIGTYPE_p_iDynTree__Axis swig_types[30] -#define SWIGTYPE_p_iDynTree__BerdyDynamicVariable swig_types[31] -#define SWIGTYPE_p_iDynTree__BerdyHelper swig_types[32] -#define SWIGTYPE_p_iDynTree__BerdyOptions swig_types[33] -#define SWIGTYPE_p_iDynTree__BerdySensor swig_types[34] -#define SWIGTYPE_p_iDynTree__BerdySparseMAPSolver swig_types[35] -#define SWIGTYPE_p_iDynTree__Box swig_types[36] -#define SWIGTYPE_p_iDynTree__ClassicalAcc swig_types[37] -#define SWIGTYPE_p_iDynTree__ColorViz swig_types[38] -#define SWIGTYPE_p_iDynTree__ContactWrench swig_types[39] -#define SWIGTYPE_p_iDynTree__Cylinder swig_types[40] -#define SWIGTYPE_p_iDynTree__DOFSpatialForceArray swig_types[41] -#define SWIGTYPE_p_iDynTree__DOFSpatialMotionArray swig_types[42] -#define SWIGTYPE_p_iDynTree__Direction swig_types[43] -#define SWIGTYPE_p_iDynTree__Dummy swig_types[44] -#define SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator swig_types[45] -#define SWIGTYPE_p_iDynTree__ExternalMesh swig_types[46] -#define SWIGTYPE_p_iDynTree__FixedJoint swig_types[47] -#define SWIGTYPE_p_iDynTree__ForceVector3SemanticsT_iDynTree__AngularForceVector3Semantics_t swig_types[48] -#define SWIGTYPE_p_iDynTree__ForceVector3SemanticsT_iDynTree__LinearForceVector3Semantics_t swig_types[49] -#define SWIGTYPE_p_iDynTree__ForceVector3T_iDynTree__AngularForceVector3_t swig_types[50] -#define SWIGTYPE_p_iDynTree__ForceVector3T_iDynTree__LinearForceVector3_t swig_types[51] -#define SWIGTYPE_p_iDynTree__FrameFreeFloatingJacobian swig_types[52] -#define SWIGTYPE_p_iDynTree__FreeFloatingAcc swig_types[53] -#define SWIGTYPE_p_iDynTree__FreeFloatingGeneralizedTorques swig_types[54] -#define SWIGTYPE_p_iDynTree__FreeFloatingMassMatrix swig_types[55] -#define SWIGTYPE_p_iDynTree__FreeFloatingPos swig_types[56] -#define SWIGTYPE_p_iDynTree__FreeFloatingVel swig_types[57] -#define SWIGTYPE_p_iDynTree__GeomVector3SemanticsT_iDynTree__AngularForceVector3Semantics_t swig_types[58] -#define SWIGTYPE_p_iDynTree__GeomVector3SemanticsT_iDynTree__AngularMotionVector3Semantics_t swig_types[59] -#define SWIGTYPE_p_iDynTree__GeomVector3SemanticsT_iDynTree__LinearForceVector3Semantics_t swig_types[60] -#define SWIGTYPE_p_iDynTree__GeomVector3SemanticsT_iDynTree__LinearMotionVector3Semantics_t swig_types[61] -#define SWIGTYPE_p_iDynTree__GeomVector3T_iDynTree__AngularForceVector3_t swig_types[62] -#define SWIGTYPE_p_iDynTree__GeomVector3T_iDynTree__AngularMotionVector3_t swig_types[63] -#define SWIGTYPE_p_iDynTree__GeomVector3T_iDynTree__LinearForceVector3_t swig_types[64] -#define SWIGTYPE_p_iDynTree__GeomVector3T_iDynTree__LinearMotionVector3_t swig_types[65] -#define SWIGTYPE_p_iDynTree__GyroscopeSensor swig_types[66] -#define SWIGTYPE_p_iDynTree__HighLevel__DynamicsComputations swig_types[67] -#define SWIGTYPE_p_iDynTree__ICamera swig_types[68] -#define SWIGTYPE_p_iDynTree__IEnvironment swig_types[69] -#define SWIGTYPE_p_iDynTree__IJetsVisualization swig_types[70] -#define SWIGTYPE_p_iDynTree__IJoint swig_types[71] -#define SWIGTYPE_p_iDynTree__ILight swig_types[72] -#define SWIGTYPE_p_iDynTree__IModelVisualization swig_types[73] -#define SWIGTYPE_p_iDynTree__IndexRange swig_types[74] -#define SWIGTYPE_p_iDynTree__JointDOFsDoubleArray swig_types[75] -#define SWIGTYPE_p_iDynTree__JointPosDoubleArray swig_types[76] -#define SWIGTYPE_p_iDynTree__JointSensor swig_types[77] -#define SWIGTYPE_p_iDynTree__KinDynComputations swig_types[78] -#define SWIGTYPE_p_iDynTree__LinearForceVector3 swig_types[79] -#define SWIGTYPE_p_iDynTree__LinearForceVector3Semantics swig_types[80] -#define SWIGTYPE_p_iDynTree__LinearMotionVector3 swig_types[81] -#define SWIGTYPE_p_iDynTree__LinearMotionVector3Semantics swig_types[82] -#define SWIGTYPE_p_iDynTree__Link swig_types[83] -#define SWIGTYPE_p_iDynTree__LinkAccArray swig_types[84] -#define SWIGTYPE_p_iDynTree__LinkArticulatedBodyInertias swig_types[85] -#define SWIGTYPE_p_iDynTree__LinkContactWrenches swig_types[86] -#define SWIGTYPE_p_iDynTree__LinkInertias swig_types[87] -#define SWIGTYPE_p_iDynTree__LinkPositions swig_types[88] -#define SWIGTYPE_p_iDynTree__LinkSensor swig_types[89] -#define SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts swig_types[90] -#define SWIGTYPE_p_iDynTree__LinkVelArray swig_types[91] -#define SWIGTYPE_p_iDynTree__LinkWrenches swig_types[92] -#define SWIGTYPE_p_iDynTree__MatrixDynSize swig_types[93] -#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_10_16_t swig_types[94] -#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_1_6_t swig_types[95] -#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_2_3_t swig_types[96] -#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_3_3_t swig_types[97] -#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_3_4_t swig_types[98] -#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_4_3_t swig_types[99] -#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_4_4_t swig_types[100] -#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_10_t swig_types[101] -#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_1_t swig_types[102] -#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_6_t swig_types[103] -#define SWIGTYPE_p_iDynTree__Model swig_types[104] -#define SWIGTYPE_p_iDynTree__ModelLoader swig_types[105] -#define SWIGTYPE_p_iDynTree__ModelSolidShapes swig_types[106] -#define SWIGTYPE_p_iDynTree__MomentumFreeFloatingJacobian swig_types[107] -#define SWIGTYPE_p_iDynTree__MotionVector3T_iDynTree__AngularMotionVector3_t swig_types[108] -#define SWIGTYPE_p_iDynTree__MotionVector3T_iDynTree__LinearMotionVector3_t swig_types[109] -#define SWIGTYPE_p_iDynTree__MovableJointImplT_1_1_t swig_types[110] -#define SWIGTYPE_p_iDynTree__MovableJointImplT_2_2_t swig_types[111] -#define SWIGTYPE_p_iDynTree__MovableJointImplT_3_3_t swig_types[112] -#define SWIGTYPE_p_iDynTree__MovableJointImplT_4_4_t swig_types[113] -#define SWIGTYPE_p_iDynTree__MovableJointImplT_5_5_t swig_types[114] -#define SWIGTYPE_p_iDynTree__MovableJointImplT_6_6_t swig_types[115] -#define SWIGTYPE_p_iDynTree__Neighbor swig_types[116] -#define SWIGTYPE_p_iDynTree__Position swig_types[117] -#define SWIGTYPE_p_iDynTree__PositionRaw swig_types[118] -#define SWIGTYPE_p_iDynTree__PositionSemantics swig_types[119] -#define SWIGTYPE_p_iDynTree__PrismaticJoint swig_types[120] -#define SWIGTYPE_p_iDynTree__Regressors__DynamicsRegressorGenerator swig_types[121] -#define SWIGTYPE_p_iDynTree__Regressors__DynamicsRegressorParameter swig_types[122] -#define SWIGTYPE_p_iDynTree__Regressors__DynamicsRegressorParametersList swig_types[123] -#define SWIGTYPE_p_iDynTree__RevoluteJoint swig_types[124] -#define SWIGTYPE_p_iDynTree__RigidBodyInertiaNonLinearParametrization swig_types[125] -#define SWIGTYPE_p_iDynTree__Rotation swig_types[126] -#define SWIGTYPE_p_iDynTree__RotationRaw swig_types[127] -#define SWIGTYPE_p_iDynTree__RotationSemantics swig_types[128] -#define SWIGTYPE_p_iDynTree__RotationalInertiaRaw swig_types[129] -#define SWIGTYPE_p_iDynTree__Sensor swig_types[130] -#define SWIGTYPE_p_iDynTree__SensorsList swig_types[131] -#define SWIGTYPE_p_iDynTree__SensorsMeasurements swig_types[132] -#define SWIGTYPE_p_iDynTree__SimpleLeggedOdometry swig_types[133] -#define SWIGTYPE_p_iDynTree__SixAxisForceTorqueSensor swig_types[134] -#define SWIGTYPE_p_iDynTree__SolidShape swig_types[135] -#define SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t swig_types[136] -#define SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__RowMajor_t swig_types[137] -#define SWIGTYPE_p_iDynTree__SpatialAcc swig_types[138] -#define SWIGTYPE_p_iDynTree__SpatialForceVector swig_types[139] -#define SWIGTYPE_p_iDynTree__SpatialInertia swig_types[140] -#define SWIGTYPE_p_iDynTree__SpatialInertiaRaw swig_types[141] -#define SWIGTYPE_p_iDynTree__SpatialMomentum swig_types[142] -#define SWIGTYPE_p_iDynTree__SpatialMotionVector swig_types[143] -#define SWIGTYPE_p_iDynTree__SpatialVectorSemanticsT_iDynTree__LinearForceVector3Semantics_iDynTree__AngularForceVector3Semantics_t swig_types[144] -#define SWIGTYPE_p_iDynTree__SpatialVectorSemanticsT_iDynTree__LinearMotionVector3Semantics_iDynTree__AngularMotionVector3Semantics_t swig_types[145] -#define SWIGTYPE_p_iDynTree__SpatialVectorT_iDynTree__SpatialForceVector_t swig_types[146] -#define SWIGTYPE_p_iDynTree__SpatialVectorT_iDynTree__SpatialMotionVector_t swig_types[147] -#define SWIGTYPE_p_iDynTree__Sphere swig_types[148] -#define SWIGTYPE_p_iDynTree__SubModelDecomposition swig_types[149] -#define SWIGTYPE_p_iDynTree__ThreeAxisAngularAccelerometerSensor swig_types[150] -#define SWIGTYPE_p_iDynTree__Transform swig_types[151] -#define SWIGTYPE_p_iDynTree__TransformDerivative swig_types[152] -#define SWIGTYPE_p_iDynTree__TransformSemantics swig_types[153] -#define SWIGTYPE_p_iDynTree__Traversal swig_types[154] -#define SWIGTYPE_p_iDynTree__Triplets swig_types[155] -#define SWIGTYPE_p_iDynTree__Twist swig_types[156] -#define SWIGTYPE_p_iDynTree__URDFParserOptions swig_types[157] -#define SWIGTYPE_p_iDynTree__UnknownWrenchContact swig_types[158] -#define SWIGTYPE_p_iDynTree__VectorDynSize swig_types[159] -#define SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t swig_types[160] -#define SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t swig_types[161] -#define SWIGTYPE_p_iDynTree__VectorFixSizeT_2_t swig_types[162] -#define SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t swig_types[163] -#define SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t swig_types[164] -#define SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t swig_types[165] -#define SWIGTYPE_p_iDynTree__Visualizer swig_types[166] -#define SWIGTYPE_p_iDynTree__VisualizerOptions swig_types[167] -#define SWIGTYPE_p_iDynTree__Wrench swig_types[168] -#define SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers swig_types[169] -#define SWIGTYPE_p_int swig_types[170] -#define SWIGTYPE_p_iterator swig_types[171] -#define SWIGTYPE_p_size_type swig_types[172] -#define SWIGTYPE_p_std__allocatorT_iDynTree__BerdyDynamicVariable_t swig_types[173] -#define SWIGTYPE_p_std__allocatorT_iDynTree__BerdySensor_t swig_types[174] -#define SWIGTYPE_p_std__allocatorT_std__string_t swig_types[175] -#define SWIGTYPE_p_std__vectorT_iDynTree__BerdyDynamicVariable_std__allocatorT_iDynTree__BerdyDynamicVariable_t_t swig_types[176] -#define SWIGTYPE_p_std__vectorT_iDynTree__BerdySensor_std__allocatorT_iDynTree__BerdySensor_t_t swig_types[177] -#define SWIGTYPE_p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t swig_types[178] -#define SWIGTYPE_p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_std__allocatorT_iDynTree__Regressors__DynamicsRegressorParameter_t_t swig_types[179] -#define SWIGTYPE_p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t swig_types[180] -#define SWIGTYPE_p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__allocatorT_iDynTree__VectorFixSizeT_6_t_t_t swig_types[181] -#define SWIGTYPE_p_std__vectorT_std__string_std__allocatorT_std__string_t_t swig_types[182] -#define SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t swig_types[183] -#define SWIGTYPE_p_swig__MatlabSwigIterator swig_types[184] -#define SWIGTYPE_p_typed_iterator swig_types[185] -#define SWIGTYPE_p_unsigned_int swig_types[186] -#define SWIGTYPE_p_unsigned_long swig_types[187] -#define SWIGTYPE_p_value_type swig_types[188] -static swig_type_info *swig_types[190]; -static swig_module_info swig_module = {swig_types, 189, 0, 0, 0, 0}; +#define SWIGTYPE_p_const_pointer swig_types[20] +#define SWIGTYPE_p_const_typed_iterator swig_types[21] +#define SWIGTYPE_p_difference_type swig_types[22] +#define SWIGTYPE_p_double swig_types[23] +#define SWIGTYPE_p_iDynTree__AccelerometerSensor swig_types[24] +#define SWIGTYPE_p_iDynTree__AngularForceVector3 swig_types[25] +#define SWIGTYPE_p_iDynTree__AngularForceVector3Semantics swig_types[26] +#define SWIGTYPE_p_iDynTree__AngularMotionVector3 swig_types[27] +#define SWIGTYPE_p_iDynTree__AngularMotionVector3Semantics swig_types[28] +#define SWIGTYPE_p_iDynTree__ArticulatedBodyAlgorithmInternalBuffers swig_types[29] +#define SWIGTYPE_p_iDynTree__ArticulatedBodyInertia swig_types[30] +#define SWIGTYPE_p_iDynTree__Axis swig_types[31] +#define SWIGTYPE_p_iDynTree__BerdyDynamicVariable swig_types[32] +#define SWIGTYPE_p_iDynTree__BerdyHelper swig_types[33] +#define SWIGTYPE_p_iDynTree__BerdyOptions swig_types[34] +#define SWIGTYPE_p_iDynTree__BerdySensor swig_types[35] +#define SWIGTYPE_p_iDynTree__BerdySparseMAPSolver swig_types[36] +#define SWIGTYPE_p_iDynTree__Box swig_types[37] +#define SWIGTYPE_p_iDynTree__ClassicalAcc swig_types[38] +#define SWIGTYPE_p_iDynTree__ColorViz swig_types[39] +#define SWIGTYPE_p_iDynTree__ContactWrench swig_types[40] +#define SWIGTYPE_p_iDynTree__Cylinder swig_types[41] +#define SWIGTYPE_p_iDynTree__DOFSpatialForceArray swig_types[42] +#define SWIGTYPE_p_iDynTree__DOFSpatialMotionArray swig_types[43] +#define SWIGTYPE_p_iDynTree__Direction swig_types[44] +#define SWIGTYPE_p_iDynTree__Dummy swig_types[45] +#define SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator swig_types[46] +#define SWIGTYPE_p_iDynTree__ExternalMesh swig_types[47] +#define SWIGTYPE_p_iDynTree__FixedJoint swig_types[48] +#define SWIGTYPE_p_iDynTree__ForceVector3SemanticsT_iDynTree__AngularForceVector3Semantics_t swig_types[49] +#define SWIGTYPE_p_iDynTree__ForceVector3SemanticsT_iDynTree__LinearForceVector3Semantics_t swig_types[50] +#define SWIGTYPE_p_iDynTree__ForceVector3T_iDynTree__AngularForceVector3_t swig_types[51] +#define SWIGTYPE_p_iDynTree__ForceVector3T_iDynTree__LinearForceVector3_t swig_types[52] +#define SWIGTYPE_p_iDynTree__FrameFreeFloatingJacobian swig_types[53] +#define SWIGTYPE_p_iDynTree__FreeFloatingAcc swig_types[54] +#define SWIGTYPE_p_iDynTree__FreeFloatingGeneralizedTorques swig_types[55] +#define SWIGTYPE_p_iDynTree__FreeFloatingMassMatrix swig_types[56] +#define SWIGTYPE_p_iDynTree__FreeFloatingPos swig_types[57] +#define SWIGTYPE_p_iDynTree__FreeFloatingVel swig_types[58] +#define SWIGTYPE_p_iDynTree__GeomVector3SemanticsT_iDynTree__AngularForceVector3Semantics_t swig_types[59] +#define SWIGTYPE_p_iDynTree__GeomVector3SemanticsT_iDynTree__AngularMotionVector3Semantics_t swig_types[60] +#define SWIGTYPE_p_iDynTree__GeomVector3SemanticsT_iDynTree__LinearForceVector3Semantics_t swig_types[61] +#define SWIGTYPE_p_iDynTree__GeomVector3SemanticsT_iDynTree__LinearMotionVector3Semantics_t swig_types[62] +#define SWIGTYPE_p_iDynTree__GeomVector3T_iDynTree__AngularForceVector3_t swig_types[63] +#define SWIGTYPE_p_iDynTree__GeomVector3T_iDynTree__AngularMotionVector3_t swig_types[64] +#define SWIGTYPE_p_iDynTree__GeomVector3T_iDynTree__LinearForceVector3_t swig_types[65] +#define SWIGTYPE_p_iDynTree__GeomVector3T_iDynTree__LinearMotionVector3_t swig_types[66] +#define SWIGTYPE_p_iDynTree__GyroscopeSensor swig_types[67] +#define SWIGTYPE_p_iDynTree__HighLevel__DynamicsComputations swig_types[68] +#define SWIGTYPE_p_iDynTree__ICamera swig_types[69] +#define SWIGTYPE_p_iDynTree__IEnvironment swig_types[70] +#define SWIGTYPE_p_iDynTree__IJetsVisualization swig_types[71] +#define SWIGTYPE_p_iDynTree__IJoint swig_types[72] +#define SWIGTYPE_p_iDynTree__ILight swig_types[73] +#define SWIGTYPE_p_iDynTree__IModelVisualization swig_types[74] +#define SWIGTYPE_p_iDynTree__IndexRange swig_types[75] +#define SWIGTYPE_p_iDynTree__JointDOFsDoubleArray swig_types[76] +#define SWIGTYPE_p_iDynTree__JointPosDoubleArray swig_types[77] +#define SWIGTYPE_p_iDynTree__JointSensor swig_types[78] +#define SWIGTYPE_p_iDynTree__KinDynComputations swig_types[79] +#define SWIGTYPE_p_iDynTree__LinearForceVector3 swig_types[80] +#define SWIGTYPE_p_iDynTree__LinearForceVector3Semantics swig_types[81] +#define SWIGTYPE_p_iDynTree__LinearMotionVector3 swig_types[82] +#define SWIGTYPE_p_iDynTree__LinearMotionVector3Semantics swig_types[83] +#define SWIGTYPE_p_iDynTree__Link swig_types[84] +#define SWIGTYPE_p_iDynTree__LinkAccArray swig_types[85] +#define SWIGTYPE_p_iDynTree__LinkArticulatedBodyInertias swig_types[86] +#define SWIGTYPE_p_iDynTree__LinkContactWrenches swig_types[87] +#define SWIGTYPE_p_iDynTree__LinkInertias swig_types[88] +#define SWIGTYPE_p_iDynTree__LinkPositions swig_types[89] +#define SWIGTYPE_p_iDynTree__LinkSensor swig_types[90] +#define SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts swig_types[91] +#define SWIGTYPE_p_iDynTree__LinkVelArray swig_types[92] +#define SWIGTYPE_p_iDynTree__LinkWrenches swig_types[93] +#define SWIGTYPE_p_iDynTree__MatrixDynSize swig_types[94] +#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_10_16_t swig_types[95] +#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_1_6_t swig_types[96] +#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_2_3_t swig_types[97] +#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_3_3_t swig_types[98] +#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_3_4_t swig_types[99] +#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_4_3_t swig_types[100] +#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_4_4_t swig_types[101] +#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_10_t swig_types[102] +#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_1_t swig_types[103] +#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_6_t swig_types[104] +#define SWIGTYPE_p_iDynTree__Model swig_types[105] +#define SWIGTYPE_p_iDynTree__ModelLoader swig_types[106] +#define SWIGTYPE_p_iDynTree__ModelParserOptions swig_types[107] +#define SWIGTYPE_p_iDynTree__ModelSolidShapes swig_types[108] +#define SWIGTYPE_p_iDynTree__MomentumFreeFloatingJacobian swig_types[109] +#define SWIGTYPE_p_iDynTree__MotionVector3T_iDynTree__AngularMotionVector3_t swig_types[110] +#define SWIGTYPE_p_iDynTree__MotionVector3T_iDynTree__LinearMotionVector3_t swig_types[111] +#define SWIGTYPE_p_iDynTree__MovableJointImplT_1_1_t swig_types[112] +#define SWIGTYPE_p_iDynTree__MovableJointImplT_2_2_t swig_types[113] +#define SWIGTYPE_p_iDynTree__MovableJointImplT_3_3_t swig_types[114] +#define SWIGTYPE_p_iDynTree__MovableJointImplT_4_4_t swig_types[115] +#define SWIGTYPE_p_iDynTree__MovableJointImplT_5_5_t swig_types[116] +#define SWIGTYPE_p_iDynTree__MovableJointImplT_6_6_t swig_types[117] +#define SWIGTYPE_p_iDynTree__Neighbor swig_types[118] +#define SWIGTYPE_p_iDynTree__Position swig_types[119] +#define SWIGTYPE_p_iDynTree__PositionRaw swig_types[120] +#define SWIGTYPE_p_iDynTree__PositionSemantics swig_types[121] +#define SWIGTYPE_p_iDynTree__PrismaticJoint swig_types[122] +#define SWIGTYPE_p_iDynTree__Regressors__DynamicsRegressorGenerator swig_types[123] +#define SWIGTYPE_p_iDynTree__Regressors__DynamicsRegressorParameter swig_types[124] +#define SWIGTYPE_p_iDynTree__Regressors__DynamicsRegressorParametersList swig_types[125] +#define SWIGTYPE_p_iDynTree__RevoluteJoint swig_types[126] +#define SWIGTYPE_p_iDynTree__RigidBodyInertiaNonLinearParametrization swig_types[127] +#define SWIGTYPE_p_iDynTree__Rotation swig_types[128] +#define SWIGTYPE_p_iDynTree__RotationRaw swig_types[129] +#define SWIGTYPE_p_iDynTree__RotationSemantics swig_types[130] +#define SWIGTYPE_p_iDynTree__RotationalInertiaRaw swig_types[131] +#define SWIGTYPE_p_iDynTree__Sensor swig_types[132] +#define SWIGTYPE_p_iDynTree__SensorsList swig_types[133] +#define SWIGTYPE_p_iDynTree__SensorsMeasurements swig_types[134] +#define SWIGTYPE_p_iDynTree__SimpleLeggedOdometry swig_types[135] +#define SWIGTYPE_p_iDynTree__SixAxisForceTorqueSensor swig_types[136] +#define SWIGTYPE_p_iDynTree__SolidShape swig_types[137] +#define SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t swig_types[138] +#define SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__RowMajor_t swig_types[139] +#define SWIGTYPE_p_iDynTree__SpatialAcc swig_types[140] +#define SWIGTYPE_p_iDynTree__SpatialForceVector swig_types[141] +#define SWIGTYPE_p_iDynTree__SpatialInertia swig_types[142] +#define SWIGTYPE_p_iDynTree__SpatialInertiaRaw swig_types[143] +#define SWIGTYPE_p_iDynTree__SpatialMomentum swig_types[144] +#define SWIGTYPE_p_iDynTree__SpatialMotionVector swig_types[145] +#define SWIGTYPE_p_iDynTree__SpatialVectorSemanticsT_iDynTree__LinearForceVector3Semantics_iDynTree__AngularForceVector3Semantics_t swig_types[146] +#define SWIGTYPE_p_iDynTree__SpatialVectorSemanticsT_iDynTree__LinearMotionVector3Semantics_iDynTree__AngularMotionVector3Semantics_t swig_types[147] +#define SWIGTYPE_p_iDynTree__SpatialVectorT_iDynTree__SpatialForceVector_t swig_types[148] +#define SWIGTYPE_p_iDynTree__SpatialVectorT_iDynTree__SpatialMotionVector_t swig_types[149] +#define SWIGTYPE_p_iDynTree__Sphere swig_types[150] +#define SWIGTYPE_p_iDynTree__SubModelDecomposition swig_types[151] +#define SWIGTYPE_p_iDynTree__ThreeAxisAngularAccelerometerSensor swig_types[152] +#define SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor swig_types[153] +#define SWIGTYPE_p_iDynTree__Transform swig_types[154] +#define SWIGTYPE_p_iDynTree__TransformDerivative swig_types[155] +#define SWIGTYPE_p_iDynTree__TransformSemantics swig_types[156] +#define SWIGTYPE_p_iDynTree__Traversal swig_types[157] +#define SWIGTYPE_p_iDynTree__Triplets swig_types[158] +#define SWIGTYPE_p_iDynTree__Twist swig_types[159] +#define SWIGTYPE_p_iDynTree__URDFParserOptions swig_types[160] +#define SWIGTYPE_p_iDynTree__UnknownWrenchContact swig_types[161] +#define SWIGTYPE_p_iDynTree__VectorDynSize swig_types[162] +#define SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t swig_types[163] +#define SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t swig_types[164] +#define SWIGTYPE_p_iDynTree__VectorFixSizeT_2_t swig_types[165] +#define SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t swig_types[166] +#define SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t swig_types[167] +#define SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t swig_types[168] +#define SWIGTYPE_p_iDynTree__Visualizer swig_types[169] +#define SWIGTYPE_p_iDynTree__VisualizerOptions swig_types[170] +#define SWIGTYPE_p_iDynTree__Wrench swig_types[171] +#define SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers swig_types[172] +#define SWIGTYPE_p_int swig_types[173] +#define SWIGTYPE_p_iterator swig_types[174] +#define SWIGTYPE_p_pointer swig_types[175] +#define SWIGTYPE_p_size_type swig_types[176] +#define SWIGTYPE_p_std__allocatorT_iDynTree__BerdyDynamicVariable_t swig_types[177] +#define SWIGTYPE_p_std__allocatorT_iDynTree__BerdySensor_t swig_types[178] +#define SWIGTYPE_p_std__allocatorT_std__string_t swig_types[179] +#define SWIGTYPE_p_std__vectorT_iDynTree__BerdyDynamicVariable_std__allocatorT_iDynTree__BerdyDynamicVariable_t_t swig_types[180] +#define SWIGTYPE_p_std__vectorT_iDynTree__BerdySensor_std__allocatorT_iDynTree__BerdySensor_t_t swig_types[181] +#define SWIGTYPE_p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t swig_types[182] +#define SWIGTYPE_p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t swig_types[183] +#define SWIGTYPE_p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_std__allocatorT_iDynTree__Regressors__DynamicsRegressorParameter_t_t swig_types[184] +#define SWIGTYPE_p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t swig_types[185] +#define SWIGTYPE_p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__allocatorT_iDynTree__VectorFixSizeT_6_t_t_t swig_types[186] +#define SWIGTYPE_p_std__vectorT_std__string_std__allocatorT_std__string_t_t swig_types[187] +#define SWIGTYPE_p_std__vectorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t_t swig_types[188] +#define SWIGTYPE_p_swig__MatlabSwigIterator swig_types[189] +#define SWIGTYPE_p_typed_iterator swig_types[190] +#define SWIGTYPE_p_unsigned_int swig_types[191] +#define SWIGTYPE_p_unsigned_long swig_types[192] +#define SWIGTYPE_p_value_type swig_types[193] +static swig_type_info *swig_types[195]; +static swig_module_info swig_module = {swig_types, 194, 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) @@ -2942,10 +2947,11 @@ SWIGINTERN void std_vector_Sl_std_string_Sg__insert__SWIG_1(std::vector< std::st // Sensors related data structures #include "iDynTree/Sensors/Sensors.h" -#include "iDynTree/Sensors/SixAxisFTSensor.h" +#include "iDynTree/Sensors/SixAxisForceTorqueSensor.h" #include "iDynTree/Sensors/AccelerometerSensor.h" #include "iDynTree/Sensors/GyroscopeSensor.h" #include "iDynTree/Sensors/ThreeAxisAngularAccelerometerSensor.h" +#include "iDynTree/Sensors/ThreeAxisForceTorqueContactSensor.h" #include "iDynTree/Sensors/PredictSensorsMeasurements.h" // Model loading from external formats @@ -3052,6 +3058,9 @@ SWIGINTERN std::vector< iDynTree::BerdyDynamicVariable >::iterator std_vector_Sl SWIGINTERN std::vector< iDynTree::BerdyDynamicVariable >::iterator std_vector_Sl_iDynTree_BerdyDynamicVariable_Sg__insert__SWIG_0(std::vector< iDynTree::BerdyDynamicVariable > *self,std::vector< iDynTree::BerdyDynamicVariable >::iterator pos,std::vector< iDynTree::BerdyDynamicVariable >::value_type const &x){ return self->insert(pos, x); } SWIGINTERN void std_vector_Sl_iDynTree_BerdyDynamicVariable_Sg__insert__SWIG_1(std::vector< iDynTree::BerdyDynamicVariable > *self,std::vector< iDynTree::BerdyDynamicVariable >::iterator pos,std::vector< iDynTree::BerdyDynamicVariable >::size_type n,std::vector< iDynTree::BerdyDynamicVariable >::value_type const &x){ self->insert(pos, n, x); } + + + SWIGINTERNINLINE mxArray* SWIG_From_int (int value) { @@ -3127,7 +3136,7 @@ SWIGINTERN void iDynTree_MatrixDynSize_fromMatlab(iDynTree::MatrixDynSize *self, if (mxIsSparse(in)) { - /*@SWIG:/home/fandradechavez/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/ + /*@SWIG:/home/straversaro/src/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/ //getting pointer to sparse structure mwIndex* ir = mxGetIr(in); mwIndex* jc = mxGetJc(in); @@ -3393,7 +3402,7 @@ SWIGINTERN void iDynTree_VectorDynSize_fromMatlab(iDynTree::VectorDynSize *self, if (mxIsSparse(in)) { - /*@SWIG:/home/fandradechavez/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/ + /*@SWIG:/home/straversaro/src/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/ //getting pointer to sparse structure mwIndex* ir = mxGetIr(in); mwIndex* jc = mxGetJc(in); @@ -3455,7 +3464,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_1_Sc_6_Sg__fromMatlab(iDynTree::Matrix { if (mxIsSparse(in)) { - /*@SWIG:/home/fandradechavez/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/ + /*@SWIG:/home/straversaro/src/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/ //getting pointer to sparse structure mwIndex* ir = mxGetIr(in); mwIndex* jc = mxGetJc(in); @@ -3518,7 +3527,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_2_Sc_3_Sg__fromMatlab(iDynTree::Matrix { if (mxIsSparse(in)) { - /*@SWIG:/home/fandradechavez/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/ + /*@SWIG:/home/straversaro/src/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/ //getting pointer to sparse structure mwIndex* ir = mxGetIr(in); mwIndex* jc = mxGetJc(in); @@ -3581,7 +3590,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_3_Sc_3_Sg__fromMatlab(iDynTree::Matrix { if (mxIsSparse(in)) { - /*@SWIG:/home/fandradechavez/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/ + /*@SWIG:/home/straversaro/src/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/ //getting pointer to sparse structure mwIndex* ir = mxGetIr(in); mwIndex* jc = mxGetJc(in); @@ -3644,7 +3653,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_4_Sc_4_Sg__fromMatlab(iDynTree::Matrix { if (mxIsSparse(in)) { - /*@SWIG:/home/fandradechavez/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/ + /*@SWIG:/home/straversaro/src/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/ //getting pointer to sparse structure mwIndex* ir = mxGetIr(in); mwIndex* jc = mxGetJc(in); @@ -3707,7 +3716,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_6_Sc_6_Sg__fromMatlab(iDynTree::Matrix { if (mxIsSparse(in)) { - /*@SWIG:/home/fandradechavez/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/ + /*@SWIG:/home/straversaro/src/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/ //getting pointer to sparse structure mwIndex* ir = mxGetIr(in); mwIndex* jc = mxGetJc(in); @@ -3770,7 +3779,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_6_Sc_10_Sg__fromMatlab(iDynTree::Matri { if (mxIsSparse(in)) { - /*@SWIG:/home/fandradechavez/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/ + /*@SWIG:/home/straversaro/src/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/ //getting pointer to sparse structure mwIndex* ir = mxGetIr(in); mwIndex* jc = mxGetJc(in); @@ -3833,7 +3842,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_10_Sc_16_Sg__fromMatlab(iDynTree::Matr { if (mxIsSparse(in)) { - /*@SWIG:/home/fandradechavez/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/ + /*@SWIG:/home/straversaro/src/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/ //getting pointer to sparse structure mwIndex* ir = mxGetIr(in); mwIndex* jc = mxGetJc(in); @@ -3897,7 +3906,7 @@ SWIGINTERN void iDynTree_VectorFixSize_Sl_3_Sg__fromMatlab(iDynTree::VectorFixSi { if (mxIsSparse(in)) { - /*@SWIG:/home/fandradechavez/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/ + /*@SWIG:/home/straversaro/src/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/ //getting pointer to sparse structure mwIndex* ir = mxGetIr(in); mwIndex* jc = mxGetJc(in); @@ -3963,7 +3972,7 @@ SWIGINTERN void iDynTree_VectorFixSize_Sl_4_Sg__fromMatlab(iDynTree::VectorFixSi { if (mxIsSparse(in)) { - /*@SWIG:/home/fandradechavez/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/ + /*@SWIG:/home/straversaro/src/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/ //getting pointer to sparse structure mwIndex* ir = mxGetIr(in); mwIndex* jc = mxGetJc(in); @@ -4029,7 +4038,7 @@ SWIGINTERN void iDynTree_VectorFixSize_Sl_6_Sg__fromMatlab(iDynTree::VectorFixSi { if (mxIsSparse(in)) { - /*@SWIG:/home/fandradechavez/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/ + /*@SWIG:/home/straversaro/src/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/ //getting pointer to sparse structure mwIndex* ir = mxGetIr(in); mwIndex* jc = mxGetJc(in); @@ -4095,7 +4104,7 @@ SWIGINTERN void iDynTree_VectorFixSize_Sl_10_Sg__fromMatlab(iDynTree::VectorFixS { if (mxIsSparse(in)) { - /*@SWIG:/home/fandradechavez/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/ + /*@SWIG:/home/straversaro/src/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/ //getting pointer to sparse structure mwIndex* ir = mxGetIr(in); mwIndex* jc = mxGetJc(in); @@ -4161,7 +4170,7 @@ SWIGINTERN void iDynTree_VectorFixSize_Sl_16_Sg__fromMatlab(iDynTree::VectorFixS { if (mxIsSparse(in)) { - /*@SWIG:/home/fandradechavez/dev/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/ + /*@SWIG:/home/straversaro/src/robotology-superbuild/robotology/iDynTree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/ //getting pointer to sparse structure mwIndex* ir = mxGetIr(in); mwIndex* jc = mxGetJc(in); @@ -4317,6 +4326,11 @@ SWIGINTERN iDynTree::ThreeAxisAngularAccelerometerSensor *iDynTree_SensorsList_g static_cast(self->getSensor(iDynTree::THREE_AXIS_ANGULAR_ACCELEROMETER,sensor_index)); return p; } +SWIGINTERN iDynTree::ThreeAxisForceTorqueContactSensor *iDynTree_SensorsList_getThreeAxisForceTorqueContactSensor(iDynTree::SensorsList const *self,int sensor_index){ + iDynTree::ThreeAxisForceTorqueContactSensor* p = + static_cast(self->getSensor(iDynTree::THREE_AXIS_FORCE_TORQUE_CONTACT,sensor_index)); + return p; + } #include @@ -8673,6 +8687,102 @@ int _wrap_delete_BerdyDynamicVariables(int resc, mxArray *resv[], int argc, mxAr } +int _wrap_reportInfo(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + char *arg1 = (char *) 0 ; + char *arg2 = (char *) 0 ; + char *arg3 = (char *) 0 ; + int res1 ; + char *buf1 = 0 ; + int alloc1 = 0 ; + int res2 ; + char *buf2 = 0 ; + int alloc2 = 0 ; + int res3 ; + char *buf3 = 0 ; + int alloc3 = 0 ; + mxArray * _out; + + if (!SWIG_check_num_args("reportInfo",argc,3,3,0)) { + SWIG_fail; + } + res1 = SWIG_AsCharPtrAndSize(argv[0], &buf1, NULL, &alloc1); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "reportInfo" "', argument " "1"" of type '" "char const *""'"); + } + arg1 = reinterpret_cast< char * >(buf1); + res2 = SWIG_AsCharPtrAndSize(argv[1], &buf2, NULL, &alloc2); + if (!SWIG_IsOK(res2)) { + SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "reportInfo" "', argument " "2"" of type '" "char const *""'"); + } + arg2 = reinterpret_cast< char * >(buf2); + res3 = SWIG_AsCharPtrAndSize(argv[2], &buf3, NULL, &alloc3); + if (!SWIG_IsOK(res3)) { + SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "reportInfo" "', argument " "3"" of type '" "char const *""'"); + } + arg3 = reinterpret_cast< char * >(buf3); + iDynTree::reportInfo((char const *)arg1,(char const *)arg2,(char const *)arg3); + _out = (mxArray*)0; + if (_out) --resc, *resv++ = _out; + if (alloc1 == SWIG_NEWOBJ) delete[] buf1; + if (alloc2 == SWIG_NEWOBJ) delete[] buf2; + if (alloc3 == SWIG_NEWOBJ) delete[] buf3; + return 0; +fail: + if (alloc1 == SWIG_NEWOBJ) delete[] buf1; + if (alloc2 == SWIG_NEWOBJ) delete[] buf2; + if (alloc3 == SWIG_NEWOBJ) delete[] buf3; + return 1; +} + + +int _wrap_reportDebug(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + char *arg1 = (char *) 0 ; + char *arg2 = (char *) 0 ; + char *arg3 = (char *) 0 ; + int res1 ; + char *buf1 = 0 ; + int alloc1 = 0 ; + int res2 ; + char *buf2 = 0 ; + int alloc2 = 0 ; + int res3 ; + char *buf3 = 0 ; + int alloc3 = 0 ; + mxArray * _out; + + if (!SWIG_check_num_args("reportDebug",argc,3,3,0)) { + SWIG_fail; + } + res1 = SWIG_AsCharPtrAndSize(argv[0], &buf1, NULL, &alloc1); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "reportDebug" "', argument " "1"" of type '" "char const *""'"); + } + arg1 = reinterpret_cast< char * >(buf1); + res2 = SWIG_AsCharPtrAndSize(argv[1], &buf2, NULL, &alloc2); + if (!SWIG_IsOK(res2)) { + SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "reportDebug" "', argument " "2"" of type '" "char const *""'"); + } + arg2 = reinterpret_cast< char * >(buf2); + res3 = SWIG_AsCharPtrAndSize(argv[2], &buf3, NULL, &alloc3); + if (!SWIG_IsOK(res3)) { + SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "reportDebug" "', argument " "3"" of type '" "char const *""'"); + } + arg3 = reinterpret_cast< char * >(buf3); + iDynTree::reportDebug((char const *)arg1,(char const *)arg2,(char const *)arg3); + _out = (mxArray*)0; + if (_out) --resc, *resv++ = _out; + if (alloc1 == SWIG_NEWOBJ) delete[] buf1; + if (alloc2 == SWIG_NEWOBJ) delete[] buf2; + if (alloc3 == SWIG_NEWOBJ) delete[] buf3; + return 0; +fail: + if (alloc1 == SWIG_NEWOBJ) delete[] buf1; + if (alloc2 == SWIG_NEWOBJ) delete[] buf2; + if (alloc3 == SWIG_NEWOBJ) delete[] buf3; + return 1; +} + + int _wrap_IndexRange_offset_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) { iDynTree::IndexRange *arg1 = (iDynTree::IndexRange *) 0 ; std::ptrdiff_t arg2 ; @@ -62624,6 +62734,38 @@ int _wrap_SensorsList_getThreeAxisAngularAccelerometerSensor(int resc, mxArray * } +int _wrap_SensorsList_getThreeAxisForceTorqueContactSensor(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::SensorsList *arg1 = (iDynTree::SensorsList *) 0 ; + int arg2 ; + void *argp1 = 0 ; + int res1 = 0 ; + int val2 ; + int ecode2 = 0 ; + mxArray * _out; + iDynTree::ThreeAxisForceTorqueContactSensor *result = 0 ; + + if (!SWIG_check_num_args("SensorsList_getThreeAxisForceTorqueContactSensor",argc,2,2,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SensorsList, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SensorsList_getThreeAxisForceTorqueContactSensor" "', argument " "1"" of type '" "iDynTree::SensorsList const *""'"); + } + arg1 = reinterpret_cast< iDynTree::SensorsList * >(argp1); + ecode2 = SWIG_AsVal_int(argv[1], &val2); + if (!SWIG_IsOK(ecode2)) { + SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SensorsList_getThreeAxisForceTorqueContactSensor" "', argument " "2"" of type '" "int""'"); + } + arg2 = static_cast< int >(val2); + result = (iDynTree::ThreeAxisForceTorqueContactSensor *)iDynTree_SensorsList_getThreeAxisForceTorqueContactSensor((iDynTree::SensorsList const *)arg1,arg2); + _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + int _wrap_new_SensorsMeasurements__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) { mxArray * _out; iDynTree::SensorsMeasurements *result = 0 ; @@ -66241,6 +66383,577 @@ int _wrap_ThreeAxisAngularAccelerometerSensor_predictMeasurement(int resc, mxArr } +int _wrap_new_ThreeAxisForceTorqueContactSensor__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + mxArray * _out; + iDynTree::ThreeAxisForceTorqueContactSensor *result = 0 ; + + if (!SWIG_check_num_args("new_ThreeAxisForceTorqueContactSensor",argc,0,0,0)) { + SWIG_fail; + } + (void)argv; + result = (iDynTree::ThreeAxisForceTorqueContactSensor *)new iDynTree::ThreeAxisForceTorqueContactSensor(); + _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 1 | 0 ); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_new_ThreeAxisForceTorqueContactSensor__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = 0 ; + void *argp1 ; + int res1 = 0 ; + mxArray * _out; + iDynTree::ThreeAxisForceTorqueContactSensor *result = 0 ; + + if (!SWIG_check_num_args("new_ThreeAxisForceTorqueContactSensor",argc,1,1,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_ThreeAxisForceTorqueContactSensor" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor const &""'"); + } + if (!argp1) { + SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_ThreeAxisForceTorqueContactSensor" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor const &""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + result = (iDynTree::ThreeAxisForceTorqueContactSensor *)new iDynTree::ThreeAxisForceTorqueContactSensor((iDynTree::ThreeAxisForceTorqueContactSensor const &)*arg1); + _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 1 | 0 ); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_new_ThreeAxisForceTorqueContactSensor(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + if (argc == 0) { + return _wrap_new_ThreeAxisForceTorqueContactSensor__SWIG_0(resc,resv,argc,argv); + } + if (argc == 1) { + int _v; + void *vptr = 0; + int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0); + _v = SWIG_CheckState(res); + if (_v) { + return _wrap_new_ThreeAxisForceTorqueContactSensor__SWIG_1(resc,resv,argc,argv); + } + } + + SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_ThreeAxisForceTorqueContactSensor'." + " Possible C/C++ prototypes are:\n" + " iDynTree::ThreeAxisForceTorqueContactSensor::ThreeAxisForceTorqueContactSensor()\n" + " iDynTree::ThreeAxisForceTorqueContactSensor::ThreeAxisForceTorqueContactSensor(iDynTree::ThreeAxisForceTorqueContactSensor const &)\n"); + return 1; +} + + +int _wrap_delete_ThreeAxisForceTorqueContactSensor(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + mxArray * _out; + + int is_owned; + if (!SWIG_check_num_args("delete_ThreeAxisForceTorqueContactSensor",argc,1,1,0)) { + SWIG_fail; + } + is_owned = SWIG_Matlab_isOwned(argv[0]); + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, SWIG_POINTER_DISOWN | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ThreeAxisForceTorqueContactSensor" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + if (is_owned) { + delete arg1; + } + _out = (mxArray*)0; + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ThreeAxisForceTorqueContactSensor_setName(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + std::string *arg2 = 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + int res2 = SWIG_OLDOBJ ; + mxArray * _out; + bool result; + + if (!SWIG_check_num_args("ThreeAxisForceTorqueContactSensor_setName",argc,2,2,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisForceTorqueContactSensor_setName" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + { + std::string *ptr = (std::string *)0; + res2 = SWIG_AsPtr_std_string(argv[1], &ptr); + if (!SWIG_IsOK(res2)) { + SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ThreeAxisForceTorqueContactSensor_setName" "', argument " "2"" of type '" "std::string const &""'"); + } + if (!ptr) { + SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ThreeAxisForceTorqueContactSensor_setName" "', argument " "2"" of type '" "std::string const &""'"); + } + arg2 = ptr; + } + result = (bool)(arg1)->setName((std::string const &)*arg2); + _out = SWIG_From_bool(static_cast< bool >(result)); + if (_out) --resc, *resv++ = _out; + if (SWIG_IsNewObj(res2)) delete arg2; + return 0; +fail: + if (SWIG_IsNewObj(res2)) delete arg2; + return 1; +} + + +int _wrap_ThreeAxisForceTorqueContactSensor_setLinkSensorTransform(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + iDynTree::Transform *arg2 = 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + void *argp2 ; + int res2 = 0 ; + mxArray * _out; + bool result; + + if (!SWIG_check_num_args("ThreeAxisForceTorqueContactSensor_setLinkSensorTransform",argc,2,2,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisForceTorqueContactSensor_setLinkSensorTransform" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Transform, 0 ); + if (!SWIG_IsOK(res2)) { + SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ThreeAxisForceTorqueContactSensor_setLinkSensorTransform" "', argument " "2"" of type '" "iDynTree::Transform const &""'"); + } + if (!argp2) { + SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ThreeAxisForceTorqueContactSensor_setLinkSensorTransform" "', argument " "2"" of type '" "iDynTree::Transform const &""'"); + } + arg2 = reinterpret_cast< iDynTree::Transform * >(argp2); + result = (bool)(arg1)->setLinkSensorTransform((iDynTree::Transform const &)*arg2); + _out = SWIG_From_bool(static_cast< bool >(result)); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ThreeAxisForceTorqueContactSensor_setParentLink(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + std::string *arg2 = 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + int res2 = SWIG_OLDOBJ ; + mxArray * _out; + bool result; + + if (!SWIG_check_num_args("ThreeAxisForceTorqueContactSensor_setParentLink",argc,2,2,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisForceTorqueContactSensor_setParentLink" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + { + std::string *ptr = (std::string *)0; + res2 = SWIG_AsPtr_std_string(argv[1], &ptr); + if (!SWIG_IsOK(res2)) { + SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ThreeAxisForceTorqueContactSensor_setParentLink" "', argument " "2"" of type '" "std::string const &""'"); + } + if (!ptr) { + SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ThreeAxisForceTorqueContactSensor_setParentLink" "', argument " "2"" of type '" "std::string const &""'"); + } + arg2 = ptr; + } + result = (bool)(arg1)->setParentLink((std::string const &)*arg2); + _out = SWIG_From_bool(static_cast< bool >(result)); + if (_out) --resc, *resv++ = _out; + if (SWIG_IsNewObj(res2)) delete arg2; + return 0; +fail: + if (SWIG_IsNewObj(res2)) delete arg2; + return 1; +} + + +int _wrap_ThreeAxisForceTorqueContactSensor_setParentLinkIndex(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + iDynTree::LinkIndex *arg2 = 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + iDynTree::LinkIndex temp2 ; + int val2 ; + int ecode2 = 0 ; + mxArray * _out; + bool result; + + if (!SWIG_check_num_args("ThreeAxisForceTorqueContactSensor_setParentLinkIndex",argc,2,2,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisForceTorqueContactSensor_setParentLinkIndex" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + ecode2 = SWIG_AsVal_int(argv[1], &val2); + if (!SWIG_IsOK(ecode2)) { + SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "ThreeAxisForceTorqueContactSensor_setParentLinkIndex" "', argument " "2"" of type '" "iDynTree::LinkIndex""'"); + } + temp2 = static_cast< iDynTree::LinkIndex >(val2); + arg2 = &temp2; + result = (bool)(arg1)->setParentLinkIndex((iDynTree::LinkIndex const &)*arg2); + _out = SWIG_From_bool(static_cast< bool >(result)); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ThreeAxisForceTorqueContactSensor_getName(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + mxArray * _out; + std::string result; + + if (!SWIG_check_num_args("ThreeAxisForceTorqueContactSensor_getName",argc,1,1,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisForceTorqueContactSensor_getName" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor const *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + result = ((iDynTree::ThreeAxisForceTorqueContactSensor const *)arg1)->getName(); + _out = SWIG_From_std_string(static_cast< std::string >(result)); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ThreeAxisForceTorqueContactSensor_getSensorType(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + mxArray * _out; + iDynTree::SensorType result; + + if (!SWIG_check_num_args("ThreeAxisForceTorqueContactSensor_getSensorType",argc,1,1,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisForceTorqueContactSensor_getSensorType" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor const *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + result = (iDynTree::SensorType)((iDynTree::ThreeAxisForceTorqueContactSensor const *)arg1)->getSensorType(); + _out = SWIG_From_int(static_cast< int >(result)); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ThreeAxisForceTorqueContactSensor_getParentLink(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + mxArray * _out; + std::string result; + + if (!SWIG_check_num_args("ThreeAxisForceTorqueContactSensor_getParentLink",argc,1,1,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisForceTorqueContactSensor_getParentLink" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor const *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + result = ((iDynTree::ThreeAxisForceTorqueContactSensor const *)arg1)->getParentLink(); + _out = SWIG_From_std_string(static_cast< std::string >(result)); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ThreeAxisForceTorqueContactSensor_getParentLinkIndex(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + mxArray * _out; + iDynTree::LinkIndex result; + + if (!SWIG_check_num_args("ThreeAxisForceTorqueContactSensor_getParentLinkIndex",argc,1,1,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisForceTorqueContactSensor_getParentLinkIndex" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor const *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + result = (iDynTree::LinkIndex)((iDynTree::ThreeAxisForceTorqueContactSensor const *)arg1)->getParentLinkIndex(); + _out = SWIG_From_int(static_cast< int >(result)); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ThreeAxisForceTorqueContactSensor_getLinkSensorTransform(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + mxArray * _out; + iDynTree::Transform result; + + if (!SWIG_check_num_args("ThreeAxisForceTorqueContactSensor_getLinkSensorTransform",argc,1,1,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisForceTorqueContactSensor_getLinkSensorTransform" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor const *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + result = ((iDynTree::ThreeAxisForceTorqueContactSensor const *)arg1)->getLinkSensorTransform(); + _out = SWIG_NewPointerObj((new iDynTree::Transform(static_cast< const iDynTree::Transform& >(result))), SWIGTYPE_p_iDynTree__Transform, SWIG_POINTER_OWN | 0 ); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ThreeAxisForceTorqueContactSensor_isValid(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + mxArray * _out; + bool result; + + if (!SWIG_check_num_args("ThreeAxisForceTorqueContactSensor_isValid",argc,1,1,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisForceTorqueContactSensor_isValid" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor const *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + result = (bool)((iDynTree::ThreeAxisForceTorqueContactSensor const *)arg1)->isValid(); + _out = SWIG_From_bool(static_cast< bool >(result)); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ThreeAxisForceTorqueContactSensor_clone(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + mxArray * _out; + iDynTree::Sensor *result = 0 ; + + if (!SWIG_check_num_args("ThreeAxisForceTorqueContactSensor_clone",argc,1,1,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisForceTorqueContactSensor_clone" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor const *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + result = (iDynTree::Sensor *)((iDynTree::ThreeAxisForceTorqueContactSensor const *)arg1)->clone(); + _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Sensor, 0 | 0 ); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ThreeAxisForceTorqueContactSensor_updateIndices(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + iDynTree::Model *arg2 = 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + void *argp2 ; + int res2 = 0 ; + mxArray * _out; + bool result; + + if (!SWIG_check_num_args("ThreeAxisForceTorqueContactSensor_updateIndices",argc,2,2,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisForceTorqueContactSensor_updateIndices" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model, 0 ); + if (!SWIG_IsOK(res2)) { + SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ThreeAxisForceTorqueContactSensor_updateIndices" "', argument " "2"" of type '" "iDynTree::Model const &""'"); + } + if (!argp2) { + SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ThreeAxisForceTorqueContactSensor_updateIndices" "', argument " "2"" of type '" "iDynTree::Model const &""'"); + } + arg2 = reinterpret_cast< iDynTree::Model * >(argp2); + result = (bool)(arg1)->updateIndices((iDynTree::Model const &)*arg2); + _out = SWIG_From_bool(static_cast< bool >(result)); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ThreeAxisForceTorqueContactSensor_setLoadCellLocations(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + std::vector< iDynTree::Position,std::allocator< iDynTree::Position > > *arg2 = 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + void *argp2 = 0 ; + int res2 = 0 ; + mxArray * _out; + + if (!SWIG_check_num_args("ThreeAxisForceTorqueContactSensor_setLoadCellLocations",argc,2,2,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisForceTorqueContactSensor_setLoadCellLocations" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t, 0 ); + if (!SWIG_IsOK(res2)) { + SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ThreeAxisForceTorqueContactSensor_setLoadCellLocations" "', argument " "2"" of type '" "std::vector< iDynTree::Position,std::allocator< iDynTree::Position > > &""'"); + } + if (!argp2) { + SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ThreeAxisForceTorqueContactSensor_setLoadCellLocations" "', argument " "2"" of type '" "std::vector< iDynTree::Position,std::allocator< iDynTree::Position > > &""'"); + } + arg2 = reinterpret_cast< std::vector< iDynTree::Position,std::allocator< iDynTree::Position > > * >(argp2); + (arg1)->setLoadCellLocations(*arg2); + _out = (mxArray*)0; + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ThreeAxisForceTorqueContactSensor_getLoadCellLocations(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + mxArray * _out; + SwigValueWrapper< std::vector< iDynTree::Position,std::allocator< iDynTree::Position > > > result; + + if (!SWIG_check_num_args("ThreeAxisForceTorqueContactSensor_getLoadCellLocations",argc,1,1,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisForceTorqueContactSensor_getLoadCellLocations" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor const *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + result = ((iDynTree::ThreeAxisForceTorqueContactSensor const *)arg1)->getLoadCellLocations(); + _out = SWIG_NewPointerObj((new std::vector< iDynTree::Position,std::allocator< iDynTree::Position > >(static_cast< const std::vector< iDynTree::Position,std::allocator< iDynTree::Position > >& >(result))), SWIGTYPE_p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t, SWIG_POINTER_OWN | 0 ); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ThreeAxisForceTorqueContactSensor_computeThreeAxisForceTorqueFromLoadCellMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + iDynTree::VectorDynSize *arg2 = 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + void *argp2 = 0 ; + int res2 = 0 ; + mxArray * _out; + iDynTree::Vector3 result; + + if (!SWIG_check_num_args("ThreeAxisForceTorqueContactSensor_computeThreeAxisForceTorqueFromLoadCellMeasurements",argc,2,2,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisForceTorqueContactSensor_computeThreeAxisForceTorqueFromLoadCellMeasurements" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor const *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize, 0 ); + if (!SWIG_IsOK(res2)) { + SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ThreeAxisForceTorqueContactSensor_computeThreeAxisForceTorqueFromLoadCellMeasurements" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); + } + if (!argp2) { + SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ThreeAxisForceTorqueContactSensor_computeThreeAxisForceTorqueFromLoadCellMeasurements" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); + } + arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2); + result = ((iDynTree::ThreeAxisForceTorqueContactSensor const *)arg1)->computeThreeAxisForceTorqueFromLoadCellMeasurements(*arg2); + _out = SWIG_NewPointerObj((new iDynTree::Vector3(static_cast< const iDynTree::Vector3& >(result))), SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, SWIG_POINTER_OWN | 0 ); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ThreeAxisForceTorqueContactSensor_computeCenterOfPressureFromLoadCellMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ThreeAxisForceTorqueContactSensor *arg1 = (iDynTree::ThreeAxisForceTorqueContactSensor *) 0 ; + iDynTree::VectorDynSize *arg2 = 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + void *argp2 = 0 ; + int res2 = 0 ; + mxArray * _out; + iDynTree::Position result; + + if (!SWIG_check_num_args("ThreeAxisForceTorqueContactSensor_computeCenterOfPressureFromLoadCellMeasurements",argc,2,2,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisForceTorqueContactSensor_computeCenterOfPressureFromLoadCellMeasurements" "', argument " "1"" of type '" "iDynTree::ThreeAxisForceTorqueContactSensor const *""'"); + } + arg1 = reinterpret_cast< iDynTree::ThreeAxisForceTorqueContactSensor * >(argp1); + res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize, 0 ); + if (!SWIG_IsOK(res2)) { + SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ThreeAxisForceTorqueContactSensor_computeCenterOfPressureFromLoadCellMeasurements" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); + } + if (!argp2) { + SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ThreeAxisForceTorqueContactSensor_computeCenterOfPressureFromLoadCellMeasurements" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); + } + arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2); + result = ((iDynTree::ThreeAxisForceTorqueContactSensor const *)arg1)->computeCenterOfPressureFromLoadCellMeasurements(*arg2); + _out = SWIG_NewPointerObj((new iDynTree::Position(static_cast< const iDynTree::Position& >(result))), SWIGTYPE_p_iDynTree__Position, SWIG_POINTER_OWN | 0 ); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + int _wrap_predictSensorsMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) { iDynTree::Model *arg1 = 0 ; iDynTree::SensorsList *arg2 = 0 ; @@ -67310,6 +68023,167 @@ int _wrap_sensorsFromURDFString(int resc, mxArray *resv[], int argc, mxArray *ar } +int _wrap_ModelParserOptions_addSensorFramesAsAdditionalFrames_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ModelParserOptions *arg1 = (iDynTree::ModelParserOptions *) 0 ; + bool arg2 ; + void *argp1 = 0 ; + int res1 = 0 ; + bool val2 ; + int ecode2 = 0 ; + mxArray * _out; + + if (!SWIG_check_num_args("ModelParserOptions_addSensorFramesAsAdditionalFrames_set",argc,2,2,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelParserOptions, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelParserOptions_addSensorFramesAsAdditionalFrames_set" "', argument " "1"" of type '" "iDynTree::ModelParserOptions *""'"); + } + arg1 = reinterpret_cast< iDynTree::ModelParserOptions * >(argp1); + ecode2 = SWIG_AsVal_bool(argv[1], &val2); + if (!SWIG_IsOK(ecode2)) { + SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "ModelParserOptions_addSensorFramesAsAdditionalFrames_set" "', argument " "2"" of type '" "bool""'"); + } + arg2 = static_cast< bool >(val2); + if (arg1) (arg1)->addSensorFramesAsAdditionalFrames = arg2; + _out = (mxArray*)0; + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ModelParserOptions_addSensorFramesAsAdditionalFrames_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ModelParserOptions *arg1 = (iDynTree::ModelParserOptions *) 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + mxArray * _out; + bool result; + + if (!SWIG_check_num_args("ModelParserOptions_addSensorFramesAsAdditionalFrames_get",argc,1,1,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelParserOptions, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelParserOptions_addSensorFramesAsAdditionalFrames_get" "', argument " "1"" of type '" "iDynTree::ModelParserOptions *""'"); + } + arg1 = reinterpret_cast< iDynTree::ModelParserOptions * >(argp1); + result = (bool) ((arg1)->addSensorFramesAsAdditionalFrames); + _out = SWIG_From_bool(static_cast< bool >(result)); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ModelParserOptions_originalFilename_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ModelParserOptions *arg1 = (iDynTree::ModelParserOptions *) 0 ; + std::string *arg2 = 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + int res2 = SWIG_OLDOBJ ; + mxArray * _out; + + if (!SWIG_check_num_args("ModelParserOptions_originalFilename_set",argc,2,2,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelParserOptions, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelParserOptions_originalFilename_set" "', argument " "1"" of type '" "iDynTree::ModelParserOptions *""'"); + } + arg1 = reinterpret_cast< iDynTree::ModelParserOptions * >(argp1); + { + std::string *ptr = (std::string *)0; + res2 = SWIG_AsPtr_std_string(argv[1], &ptr); + if (!SWIG_IsOK(res2)) { + SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelParserOptions_originalFilename_set" "', argument " "2"" of type '" "std::string const &""'"); + } + if (!ptr) { + SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelParserOptions_originalFilename_set" "', argument " "2"" of type '" "std::string const &""'"); + } + arg2 = ptr; + } + if (arg1) (arg1)->originalFilename = *arg2; + _out = (mxArray*)0; + if (_out) --resc, *resv++ = _out; + if (SWIG_IsNewObj(res2)) delete arg2; + return 0; +fail: + if (SWIG_IsNewObj(res2)) delete arg2; + return 1; +} + + +int _wrap_ModelParserOptions_originalFilename_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ModelParserOptions *arg1 = (iDynTree::ModelParserOptions *) 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + mxArray * _out; + std::string *result = 0 ; + + if (!SWIG_check_num_args("ModelParserOptions_originalFilename_get",argc,1,1,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelParserOptions, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelParserOptions_originalFilename_get" "', argument " "1"" of type '" "iDynTree::ModelParserOptions *""'"); + } + arg1 = reinterpret_cast< iDynTree::ModelParserOptions * >(argp1); + result = (std::string *) & ((arg1)->originalFilename); + _out = SWIG_From_std_string(static_cast< std::string >(*result)); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_new_ModelParserOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + mxArray * _out; + iDynTree::ModelParserOptions *result = 0 ; + + if (!SWIG_check_num_args("new_ModelParserOptions",argc,0,0,0)) { + SWIG_fail; + } + (void)argv; + result = (iDynTree::ModelParserOptions *)new iDynTree::ModelParserOptions(); + _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ModelParserOptions, 1 | 0 ); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_delete_ModelParserOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ModelParserOptions *arg1 = (iDynTree::ModelParserOptions *) 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + mxArray * _out; + + int is_owned; + if (!SWIG_check_num_args("delete_ModelParserOptions",argc,1,1,0)) { + SWIG_fail; + } + is_owned = SWIG_Matlab_isOwned(argv[0]); + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelParserOptions, SWIG_POINTER_DISOWN | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ModelParserOptions" "', argument " "1"" of type '" "iDynTree::ModelParserOptions *""'"); + } + arg1 = reinterpret_cast< iDynTree::ModelParserOptions * >(argp1); + if (is_owned) { + delete arg1; + } + _out = (mxArray*)0; + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + int _wrap_new_ModelLoader(int resc, mxArray *resv[], int argc, mxArray *argv[]) { mxArray * _out; iDynTree::ModelLoader *result = 0 ; @@ -67327,6 +68201,91 @@ int _wrap_new_ModelLoader(int resc, mxArray *resv[], int argc, mxArray *argv[]) } +int _wrap_delete_ModelLoader(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + mxArray * _out; + + int is_owned; + if (!SWIG_check_num_args("delete_ModelLoader",argc,1,1,0)) { + SWIG_fail; + } + is_owned = SWIG_Matlab_isOwned(argv[0]); + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, SWIG_POINTER_DISOWN | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ModelLoader" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); + } + arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1); + if (is_owned) { + delete arg1; + } + _out = (mxArray*)0; + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ModelLoader_parsingOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + mxArray * _out; + iDynTree::ModelParserOptions *result = 0 ; + + if (!SWIG_check_num_args("ModelLoader_parsingOptions",argc,1,1,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelLoader_parsingOptions" "', argument " "1"" of type '" "iDynTree::ModelLoader const *""'"); + } + arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1); + result = (iDynTree::ModelParserOptions *) &((iDynTree::ModelLoader const *)arg1)->parsingOptions(); + _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ModelParserOptions, 0 | 0 ); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_ModelLoader_setParsingOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ; + iDynTree::ModelParserOptions *arg2 = 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + void *argp2 ; + int res2 = 0 ; + mxArray * _out; + + if (!SWIG_check_num_args("ModelLoader_setParsingOptions",argc,2,2,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelLoader_setParsingOptions" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); + } + arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1); + res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__ModelParserOptions, 0 ); + if (!SWIG_IsOK(res2)) { + SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelLoader_setParsingOptions" "', argument " "2"" of type '" "iDynTree::ModelParserOptions const &""'"); + } + if (!argp2) { + SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_setParsingOptions" "', argument " "2"" of type '" "iDynTree::ModelParserOptions const &""'"); + } + arg2 = reinterpret_cast< iDynTree::ModelParserOptions * >(argp2); + (arg1)->setParsingOptions((iDynTree::ModelParserOptions const &)*arg2); + _out = (mxArray*)0; + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + int _wrap_ModelLoader_loadModelFromString__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) { iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ; std::string *arg2 = 0 ; @@ -68137,33 +69096,6 @@ int _wrap_ModelLoader_isValid(int resc, mxArray *resv[], int argc, mxArray *argv } -int _wrap_delete_ModelLoader(int resc, mxArray *resv[], int argc, mxArray *argv[]) { - iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ; - void *argp1 = 0 ; - int res1 = 0 ; - mxArray * _out; - - int is_owned; - if (!SWIG_check_num_args("delete_ModelLoader",argc,1,1,0)) { - SWIG_fail; - } - is_owned = SWIG_Matlab_isOwned(argv[0]); - res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, SWIG_POINTER_DISOWN | 0 ); - if (!SWIG_IsOK(res1)) { - SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ModelLoader" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); - } - arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1); - if (is_owned) { - delete arg1; - } - _out = (mxArray*)0; - if (_out) --resc, *resv++ = _out; - return 0; -fail: - return 1; -} - - int _wrap_new_UnknownWrenchContact__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) { mxArray * _out; iDynTree::UnknownWrenchContact *result = 0 ; @@ -79659,6 +80591,100 @@ int _wrap_KinDynComputations_getRobotModel(int resc, mxArray *resv[], int argc, } +int _wrap_KinDynComputations_getRelativeJacobianSparsityPattern(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ; + iDynTree::FrameIndex arg2 ; + iDynTree::FrameIndex arg3 ; + iDynTree::MatrixDynSize *arg4 = 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + int val2 ; + int ecode2 = 0 ; + int val3 ; + int ecode3 = 0 ; + void *argp4 = 0 ; + int res4 = 0 ; + mxArray * _out; + bool result; + + if (!SWIG_check_num_args("KinDynComputations_getRelativeJacobianSparsityPattern",argc,4,4,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getRelativeJacobianSparsityPattern" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); + } + arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1); + ecode2 = SWIG_AsVal_int(argv[1], &val2); + if (!SWIG_IsOK(ecode2)) { + SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getRelativeJacobianSparsityPattern" "', argument " "2"" of type '" "iDynTree::FrameIndex""'"); + } + arg2 = static_cast< iDynTree::FrameIndex >(val2); + ecode3 = SWIG_AsVal_int(argv[2], &val3); + if (!SWIG_IsOK(ecode3)) { + SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "KinDynComputations_getRelativeJacobianSparsityPattern" "', argument " "3"" of type '" "iDynTree::FrameIndex""'"); + } + arg3 = static_cast< iDynTree::FrameIndex >(val3); + res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__MatrixDynSize, 0 ); + if (!SWIG_IsOK(res4)) { + SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getRelativeJacobianSparsityPattern" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); + } + if (!argp4) { + SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeJacobianSparsityPattern" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); + } + arg4 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp4); + result = (bool)((iDynTree::KinDynComputations const *)arg1)->getRelativeJacobianSparsityPattern(arg2,arg3,*arg4); + _out = SWIG_From_bool(static_cast< bool >(result)); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + +int _wrap_KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern(int resc, mxArray *resv[], int argc, mxArray *argv[]) { + iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ; + iDynTree::FrameIndex arg2 ; + iDynTree::MatrixDynSize *arg3 = 0 ; + void *argp1 = 0 ; + int res1 = 0 ; + int val2 ; + int ecode2 = 0 ; + void *argp3 = 0 ; + int res3 = 0 ; + mxArray * _out; + bool result; + + if (!SWIG_check_num_args("KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern",argc,3,3,0)) { + SWIG_fail; + } + res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 | 0 ); + if (!SWIG_IsOK(res1)) { + SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); + } + arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1); + ecode2 = SWIG_AsVal_int(argv[1], &val2); + if (!SWIG_IsOK(ecode2)) { + SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern" "', argument " "2"" of type '" "iDynTree::FrameIndex""'"); + } + arg2 = static_cast< iDynTree::FrameIndex >(val2); + res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__MatrixDynSize, 0 ); + if (!SWIG_IsOK(res3)) { + SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); + } + if (!argp3) { + SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); + } + arg3 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp3); + result = (bool)((iDynTree::KinDynComputations const *)arg1)->getFrameFreeFloatingJacobianSparsityPattern(arg2,*arg3); + _out = SWIG_From_bool(static_cast< bool >(result)); + if (_out) --resc, *resv++ = _out; + return 0; +fail: + return 1; +} + + int _wrap_KinDynComputations_setJointPos(int resc, mxArray *resv[], int argc, mxArray *argv[]) { iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ; iDynTree::VectorDynSize *arg2 = 0 ; @@ -86765,6 +87791,9 @@ static void *_p_iDynTree__AccelerometerSensorTo_p_iDynTree__Sensor(void *x, int static void *_p_iDynTree__ThreeAxisAngularAccelerometerSensorTo_p_iDynTree__Sensor(void *x, int *SWIGUNUSEDPARM(newmemory)) { return (void *)((iDynTree::Sensor *) (iDynTree::LinkSensor *) ((iDynTree::ThreeAxisAngularAccelerometerSensor *) x)); } +static void *_p_iDynTree__ThreeAxisForceTorqueContactSensorTo_p_iDynTree__Sensor(void *x, int *SWIGUNUSEDPARM(newmemory)) { + return (void *)((iDynTree::Sensor *) (iDynTree::LinkSensor *) ((iDynTree::ThreeAxisForceTorqueContactSensor *) x)); +} static void *_p_iDynTree__LinkSensorTo_p_iDynTree__Sensor(void *x, int *SWIGUNUSEDPARM(newmemory)) { return (void *)((iDynTree::Sensor *) ((iDynTree::LinkSensor *) x)); } @@ -86813,6 +87842,9 @@ static void *_p_iDynTree__AccelerometerSensorTo_p_iDynTree__LinkSensor(void *x, static void *_p_iDynTree__ThreeAxisAngularAccelerometerSensorTo_p_iDynTree__LinkSensor(void *x, int *SWIGUNUSEDPARM(newmemory)) { return (void *)((iDynTree::LinkSensor *) ((iDynTree::ThreeAxisAngularAccelerometerSensor *) x)); } +static void *_p_iDynTree__ThreeAxisForceTorqueContactSensorTo_p_iDynTree__LinkSensor(void *x, int *SWIGUNUSEDPARM(newmemory)) { + return (void *)((iDynTree::LinkSensor *) ((iDynTree::ThreeAxisForceTorqueContactSensor *) x)); +} static void *_p_iDynTree__GyroscopeSensorTo_p_iDynTree__LinkSensor(void *x, int *SWIGUNUSEDPARM(newmemory)) { return (void *)((iDynTree::LinkSensor *) ((iDynTree::GyroscopeSensor *) x)); } @@ -86923,6 +87955,7 @@ static swig_type_info _swigt__p_Type = {"_p_Type", "Type *", 0, 0, (void*)0, 0}; static swig_type_info _swigt__p_allocator_type = {"_p_allocator_type", "allocator_type *", 0, 0, (void*)0, 0}; static swig_type_info _swigt__p_char = {"_p_char", "char *", 0, 0, (void*)0, 0}; static swig_type_info _swigt__p_const_iterator = {"_p_const_iterator", "const_iterator *", 0, 0, (void*)0, 0}; +static swig_type_info _swigt__p_const_pointer = {"_p_const_pointer", "const_pointer *", 0, 0, (void*)0, 0}; static swig_type_info _swigt__p_const_typed_iterator = {"_p_const_typed_iterator", "const_typed_iterator *", 0, 0, (void*)0, 0}; static swig_type_info _swigt__p_difference_type = {"_p_difference_type", "difference_type *", 0, 0, (void*)0, 0}; static swig_type_info _swigt__p_double = {"_p_double", "double *", 0, 0, (void*)0, 0}; @@ -87009,6 +88042,7 @@ static swig_type_info _swigt__p_iDynTree__MatrixFixSizeT_6_1_t = {"_p_iDynTree__ static swig_type_info _swigt__p_iDynTree__MatrixFixSizeT_6_6_t = {"_p_iDynTree__MatrixFixSizeT_6_6_t", "iDynTree::MatrixFixSize< 6,6 > *|iDynTree::Matrix6x6 *", 0, 0, (void*)"iDynTree.Matrix6x6", 0}; static swig_type_info _swigt__p_iDynTree__Model = {"_p_iDynTree__Model", "iDynTree::Model *", 0, 0, (void*)"iDynTree.Model", 0}; static swig_type_info _swigt__p_iDynTree__ModelLoader = {"_p_iDynTree__ModelLoader", "iDynTree::ModelLoader *", 0, 0, (void*)"iDynTree.ModelLoader", 0}; +static swig_type_info _swigt__p_iDynTree__ModelParserOptions = {"_p_iDynTree__ModelParserOptions", "iDynTree::ModelParserOptions *", 0, 0, (void*)"iDynTree.ModelParserOptions", 0}; static swig_type_info _swigt__p_iDynTree__ModelSolidShapes = {"_p_iDynTree__ModelSolidShapes", "iDynTree::ModelSolidShapes *", 0, 0, (void*)"iDynTree.ModelSolidShapes", 0}; static swig_type_info _swigt__p_iDynTree__MomentumFreeFloatingJacobian = {"_p_iDynTree__MomentumFreeFloatingJacobian", "iDynTree::MomentumFreeFloatingJacobian *", 0, 0, (void*)"iDynTree.MomentumFreeFloatingJacobian", 0}; static swig_type_info _swigt__p_iDynTree__MotionVector3T_iDynTree__AngularMotionVector3_t = {"_p_iDynTree__MotionVector3T_iDynTree__AngularMotionVector3_t", "iDynTree::MotionVector3< iDynTree::AngularMotionVector3 > *", 0, 0, (void*)"iDynTree.MotionVector3__AngularMotionVector3", 0}; @@ -87054,6 +88088,7 @@ static swig_type_info _swigt__p_iDynTree__SpatialVectorT_iDynTree__SpatialMotion static swig_type_info _swigt__p_iDynTree__Sphere = {"_p_iDynTree__Sphere", "iDynTree::Sphere *", 0, 0, (void*)"iDynTree.Sphere", 0}; static swig_type_info _swigt__p_iDynTree__SubModelDecomposition = {"_p_iDynTree__SubModelDecomposition", "iDynTree::SubModelDecomposition *", 0, 0, (void*)0, 0}; static swig_type_info _swigt__p_iDynTree__ThreeAxisAngularAccelerometerSensor = {"_p_iDynTree__ThreeAxisAngularAccelerometerSensor", "iDynTree::ThreeAxisAngularAccelerometerSensor *", 0, 0, (void*)"iDynTree.ThreeAxisAngularAccelerometerSensor", 0}; +static swig_type_info _swigt__p_iDynTree__ThreeAxisForceTorqueContactSensor = {"_p_iDynTree__ThreeAxisForceTorqueContactSensor", "iDynTree::ThreeAxisForceTorqueContactSensor *", 0, 0, (void*)"iDynTree.ThreeAxisForceTorqueContactSensor", 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__TransformDerivative = {"_p_iDynTree__TransformDerivative", "iDynTree::TransformDerivative *", 0, 0, (void*)"iDynTree.TransformDerivative", 0}; static swig_type_info _swigt__p_iDynTree__TransformSemantics = {"_p_iDynTree__TransformSemantics", "iDynTree::TransformSemantics *", 0, 0, (void*)"iDynTree.TransformSemantics", 0}; @@ -87075,6 +88110,7 @@ static swig_type_info _swigt__p_iDynTree__Wrench = {"_p_iDynTree__Wrench", "iDyn static swig_type_info _swigt__p_iDynTree__estimateExternalWrenchesBuffers = {"_p_iDynTree__estimateExternalWrenchesBuffers", "iDynTree::estimateExternalWrenchesBuffers *", 0, 0, (void*)"iDynTree.estimateExternalWrenchesBuffers", 0}; static swig_type_info _swigt__p_int = {"_p_int", "int *|iDynTree::LinkIndex *|iDynTree::FrameIndex *|iDynTree::TraversalIndex *|iDynTree::JointIndex *|iDynTree::DOFIndex *", 0, 0, (void*)0, 0}; static swig_type_info _swigt__p_iterator = {"_p_iterator", "iterator *", 0, 0, (void*)0, 0}; +static swig_type_info _swigt__p_pointer = {"_p_pointer", "pointer *", 0, 0, (void*)0, 0}; static swig_type_info _swigt__p_size_type = {"_p_size_type", "size_type *", 0, 0, (void*)0, 0}; static swig_type_info _swigt__p_std__allocatorT_iDynTree__BerdyDynamicVariable_t = {"_p_std__allocatorT_iDynTree__BerdyDynamicVariable_t", "std::vector< iDynTree::BerdyDynamicVariable >::allocator_type *|std::allocator< iDynTree::BerdyDynamicVariable > *", 0, 0, (void*)0, 0}; static swig_type_info _swigt__p_std__allocatorT_iDynTree__BerdySensor_t = {"_p_std__allocatorT_iDynTree__BerdySensor_t", "std::allocator< iDynTree::BerdySensor > *|std::vector< iDynTree::BerdySensor >::allocator_type *", 0, 0, (void*)0, 0}; @@ -87082,6 +88118,7 @@ static swig_type_info _swigt__p_std__allocatorT_std__string_t = {"_p_std__alloca static swig_type_info _swigt__p_std__vectorT_iDynTree__BerdyDynamicVariable_std__allocatorT_iDynTree__BerdyDynamicVariable_t_t = {"_p_std__vectorT_iDynTree__BerdyDynamicVariable_std__allocatorT_iDynTree__BerdyDynamicVariable_t_t", "std::vector< iDynTree::BerdyDynamicVariable,std::allocator< iDynTree::BerdyDynamicVariable > > *|std::vector< iDynTree::BerdyDynamicVariable > *", 0, 0, (void*)"iDynTree.BerdyDynamicVariables", 0}; static swig_type_info _swigt__p_std__vectorT_iDynTree__BerdySensor_std__allocatorT_iDynTree__BerdySensor_t_t = {"_p_std__vectorT_iDynTree__BerdySensor_std__allocatorT_iDynTree__BerdySensor_t_t", "std::vector< iDynTree::BerdySensor > *|std::vector< iDynTree::BerdySensor,std::allocator< iDynTree::BerdySensor > > *", 0, 0, (void*)"iDynTree.BerdySensors", 0}; static swig_type_info _swigt__p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t = {"_p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t", "std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *", 0, 0, (void*)0, 0}; +static swig_type_info _swigt__p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t = {"_p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t", "std::vector< iDynTree::Position,std::allocator< iDynTree::Position > > *", 0, 0, (void*)0, 0}; static swig_type_info _swigt__p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_std__allocatorT_iDynTree__Regressors__DynamicsRegressorParameter_t_t = {"_p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_std__allocatorT_iDynTree__Regressors__DynamicsRegressorParameter_t_t", "std::vector< iDynTree::Regressors::DynamicsRegressorParameter,std::allocator< iDynTree::Regressors::DynamicsRegressorParameter > > *", 0, 0, (void*)0, 0}; static swig_type_info _swigt__p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t = {"_p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t", "std::vector< iDynTree::VectorDynSize,std::allocator< iDynTree::VectorDynSize > > *", 0, 0, (void*)0, 0}; static swig_type_info _swigt__p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__allocatorT_iDynTree__VectorFixSizeT_6_t_t_t = {"_p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__allocatorT_iDynTree__VectorFixSizeT_6_t_t_t", "std::vector< iDynTree::Vector6,std::allocator< iDynTree::Vector6 > > *|std::vector< iDynTree::VectorFixSize< 6 >,std::allocator< iDynTree::VectorFixSize< 6 > > > *", 0, 0, (void*)0, 0}; @@ -87114,6 +88151,7 @@ static swig_type_info *swig_type_initial[] = { &_swigt__p_allocator_type, &_swigt__p_char, &_swigt__p_const_iterator, + &_swigt__p_const_pointer, &_swigt__p_const_typed_iterator, &_swigt__p_difference_type, &_swigt__p_double, @@ -87200,6 +88238,7 @@ static swig_type_info *swig_type_initial[] = { &_swigt__p_iDynTree__MatrixFixSizeT_6_6_t, &_swigt__p_iDynTree__Model, &_swigt__p_iDynTree__ModelLoader, + &_swigt__p_iDynTree__ModelParserOptions, &_swigt__p_iDynTree__ModelSolidShapes, &_swigt__p_iDynTree__MomentumFreeFloatingJacobian, &_swigt__p_iDynTree__MotionVector3T_iDynTree__AngularMotionVector3_t, @@ -87245,6 +88284,7 @@ static swig_type_info *swig_type_initial[] = { &_swigt__p_iDynTree__Sphere, &_swigt__p_iDynTree__SubModelDecomposition, &_swigt__p_iDynTree__ThreeAxisAngularAccelerometerSensor, + &_swigt__p_iDynTree__ThreeAxisForceTorqueContactSensor, &_swigt__p_iDynTree__Transform, &_swigt__p_iDynTree__TransformDerivative, &_swigt__p_iDynTree__TransformSemantics, @@ -87266,6 +88306,7 @@ static swig_type_info *swig_type_initial[] = { &_swigt__p_iDynTree__estimateExternalWrenchesBuffers, &_swigt__p_int, &_swigt__p_iterator, + &_swigt__p_pointer, &_swigt__p_size_type, &_swigt__p_std__allocatorT_iDynTree__BerdyDynamicVariable_t, &_swigt__p_std__allocatorT_iDynTree__BerdySensor_t, @@ -87273,6 +88314,7 @@ static swig_type_info *swig_type_initial[] = { &_swigt__p_std__vectorT_iDynTree__BerdyDynamicVariable_std__allocatorT_iDynTree__BerdyDynamicVariable_t_t, &_swigt__p_std__vectorT_iDynTree__BerdySensor_std__allocatorT_iDynTree__BerdySensor_t_t, &_swigt__p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t, + &_swigt__p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t, &_swigt__p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_std__allocatorT_iDynTree__Regressors__DynamicsRegressorParameter_t_t, &_swigt__p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t, &_swigt__p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__allocatorT_iDynTree__VectorFixSizeT_6_t_t_t, @@ -87305,6 +88347,7 @@ static swig_cast_info _swigc__p_Type[] = { {&_swigt__p_Type, 0, 0, 0},{0, 0, 0, static swig_cast_info _swigc__p_allocator_type[] = { {&_swigt__p_allocator_type, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_char[] = { {&_swigt__p_char, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_const_iterator[] = { {&_swigt__p_const_iterator, 0, 0, 0},{0, 0, 0, 0}}; +static swig_cast_info _swigc__p_const_pointer[] = { {&_swigt__p_const_pointer, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_const_typed_iterator[] = { {&_swigt__p_const_typed_iterator, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_difference_type[] = { {&_swigt__p_difference_type, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_double[] = { {&_swigt__p_double, 0, 0, 0},{0, 0, 0, 0}}; @@ -87374,7 +88417,7 @@ static swig_cast_info _swigc__p_iDynTree__LinkArticulatedBodyInertias[] = { {&_ static swig_cast_info _swigc__p_iDynTree__LinkContactWrenches[] = { {&_swigt__p_iDynTree__LinkContactWrenches, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__LinkInertias[] = { {&_swigt__p_iDynTree__LinkInertias, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__LinkPositions[] = { {&_swigt__p_iDynTree__LinkPositions, 0, 0, 0},{0, 0, 0, 0}}; -static swig_cast_info _swigc__p_iDynTree__LinkSensor[] = { {&_swigt__p_iDynTree__AccelerometerSensor, _p_iDynTree__AccelerometerSensorTo_p_iDynTree__LinkSensor, 0, 0}, {&_swigt__p_iDynTree__ThreeAxisAngularAccelerometerSensor, _p_iDynTree__ThreeAxisAngularAccelerometerSensorTo_p_iDynTree__LinkSensor, 0, 0}, {&_swigt__p_iDynTree__LinkSensor, 0, 0, 0}, {&_swigt__p_iDynTree__GyroscopeSensor, _p_iDynTree__GyroscopeSensorTo_p_iDynTree__LinkSensor, 0, 0},{0, 0, 0, 0}}; +static swig_cast_info _swigc__p_iDynTree__LinkSensor[] = { {&_swigt__p_iDynTree__AccelerometerSensor, _p_iDynTree__AccelerometerSensorTo_p_iDynTree__LinkSensor, 0, 0}, {&_swigt__p_iDynTree__ThreeAxisAngularAccelerometerSensor, _p_iDynTree__ThreeAxisAngularAccelerometerSensorTo_p_iDynTree__LinkSensor, 0, 0}, {&_swigt__p_iDynTree__ThreeAxisForceTorqueContactSensor, _p_iDynTree__ThreeAxisForceTorqueContactSensorTo_p_iDynTree__LinkSensor, 0, 0}, {&_swigt__p_iDynTree__LinkSensor, 0, 0, 0}, {&_swigt__p_iDynTree__GyroscopeSensor, _p_iDynTree__GyroscopeSensorTo_p_iDynTree__LinkSensor, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__LinkUnknownWrenchContacts[] = { {&_swigt__p_iDynTree__LinkUnknownWrenchContacts, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__LinkVelArray[] = { {&_swigt__p_iDynTree__LinkVelArray, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__LinkWrenches[] = { {&_swigt__p_iDynTree__LinkWrenches, 0, 0, 0},{0, 0, 0, 0}}; @@ -87391,6 +88434,7 @@ static swig_cast_info _swigc__p_iDynTree__MatrixFixSizeT_6_1_t[] = { {&_swigt__ static swig_cast_info _swigc__p_iDynTree__MatrixFixSizeT_6_6_t[] = { {&_swigt__p_iDynTree__MatrixFixSizeT_6_6_t, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__Model[] = { {&_swigt__p_iDynTree__Model, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__ModelLoader[] = { {&_swigt__p_iDynTree__ModelLoader, 0, 0, 0},{0, 0, 0, 0}}; +static swig_cast_info _swigc__p_iDynTree__ModelParserOptions[] = { {&_swigt__p_iDynTree__ModelParserOptions, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__ModelSolidShapes[] = { {&_swigt__p_iDynTree__ModelSolidShapes, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__MomentumFreeFloatingJacobian[] = { {&_swigt__p_iDynTree__MomentumFreeFloatingJacobian, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__MotionVector3T_iDynTree__AngularMotionVector3_t[] = { {&_swigt__p_iDynTree__MotionVector3T_iDynTree__AngularMotionVector3_t, 0, 0, 0}, {&_swigt__p_iDynTree__AngularMotionVector3, _p_iDynTree__AngularMotionVector3To_p_iDynTree__MotionVector3T_iDynTree__AngularMotionVector3_t, 0, 0},{0, 0, 0, 0}}; @@ -87415,7 +88459,7 @@ static swig_cast_info _swigc__p_iDynTree__Rotation[] = { {&_swigt__p_iDynTree__ static swig_cast_info _swigc__p_iDynTree__RotationRaw[] = { {&_swigt__p_iDynTree__RotationRaw, 0, 0, 0}, {&_swigt__p_iDynTree__Rotation, _p_iDynTree__RotationTo_p_iDynTree__RotationRaw, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__RotationSemantics[] = { {&_swigt__p_iDynTree__RotationSemantics, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__RotationalInertiaRaw[] = { {&_swigt__p_iDynTree__RotationalInertiaRaw, 0, 0, 0},{0, 0, 0, 0}}; -static swig_cast_info _swigc__p_iDynTree__Sensor[] = { {&_swigt__p_iDynTree__JointSensor, _p_iDynTree__JointSensorTo_p_iDynTree__Sensor, 0, 0}, {&_swigt__p_iDynTree__AccelerometerSensor, _p_iDynTree__AccelerometerSensorTo_p_iDynTree__Sensor, 0, 0}, {&_swigt__p_iDynTree__ThreeAxisAngularAccelerometerSensor, _p_iDynTree__ThreeAxisAngularAccelerometerSensorTo_p_iDynTree__Sensor, 0, 0}, {&_swigt__p_iDynTree__Sensor, 0, 0, 0}, {&_swigt__p_iDynTree__SixAxisForceTorqueSensor, _p_iDynTree__SixAxisForceTorqueSensorTo_p_iDynTree__Sensor, 0, 0}, {&_swigt__p_iDynTree__LinkSensor, _p_iDynTree__LinkSensorTo_p_iDynTree__Sensor, 0, 0}, {&_swigt__p_iDynTree__GyroscopeSensor, _p_iDynTree__GyroscopeSensorTo_p_iDynTree__Sensor, 0, 0},{0, 0, 0, 0}}; +static swig_cast_info _swigc__p_iDynTree__Sensor[] = { {&_swigt__p_iDynTree__JointSensor, _p_iDynTree__JointSensorTo_p_iDynTree__Sensor, 0, 0}, {&_swigt__p_iDynTree__AccelerometerSensor, _p_iDynTree__AccelerometerSensorTo_p_iDynTree__Sensor, 0, 0}, {&_swigt__p_iDynTree__ThreeAxisAngularAccelerometerSensor, _p_iDynTree__ThreeAxisAngularAccelerometerSensorTo_p_iDynTree__Sensor, 0, 0}, {&_swigt__p_iDynTree__ThreeAxisForceTorqueContactSensor, _p_iDynTree__ThreeAxisForceTorqueContactSensorTo_p_iDynTree__Sensor, 0, 0}, {&_swigt__p_iDynTree__Sensor, 0, 0, 0}, {&_swigt__p_iDynTree__SixAxisForceTorqueSensor, _p_iDynTree__SixAxisForceTorqueSensorTo_p_iDynTree__Sensor, 0, 0}, {&_swigt__p_iDynTree__LinkSensor, _p_iDynTree__LinkSensorTo_p_iDynTree__Sensor, 0, 0}, {&_swigt__p_iDynTree__GyroscopeSensor, _p_iDynTree__GyroscopeSensorTo_p_iDynTree__Sensor, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__SensorsList[] = { {&_swigt__p_iDynTree__SensorsList, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__SensorsMeasurements[] = { {&_swigt__p_iDynTree__SensorsMeasurements, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__SimpleLeggedOdometry[] = { {&_swigt__p_iDynTree__SimpleLeggedOdometry, 0, 0, 0},{0, 0, 0, 0}}; @@ -87436,6 +88480,7 @@ static swig_cast_info _swigc__p_iDynTree__SpatialVectorT_iDynTree__SpatialMotion static swig_cast_info _swigc__p_iDynTree__Sphere[] = { {&_swigt__p_iDynTree__Sphere, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__SubModelDecomposition[] = { {&_swigt__p_iDynTree__SubModelDecomposition, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iDynTree__ThreeAxisAngularAccelerometerSensor[] = { {&_swigt__p_iDynTree__ThreeAxisAngularAccelerometerSensor, 0, 0, 0},{0, 0, 0, 0}}; +static swig_cast_info _swigc__p_iDynTree__ThreeAxisForceTorqueContactSensor[] = { {&_swigt__p_iDynTree__ThreeAxisForceTorqueContactSensor, 0, 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__TransformDerivative[] = { {&_swigt__p_iDynTree__TransformDerivative, 0, 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}}; @@ -87457,6 +88502,7 @@ static swig_cast_info _swigc__p_iDynTree__Wrench[] = { {&_swigt__p_iDynTree__Wr static swig_cast_info _swigc__p_iDynTree__estimateExternalWrenchesBuffers[] = { {&_swigt__p_iDynTree__estimateExternalWrenchesBuffers, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_int[] = { {&_swigt__p_int, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_iterator[] = { {&_swigt__p_iterator, 0, 0, 0},{0, 0, 0, 0}}; +static swig_cast_info _swigc__p_pointer[] = { {&_swigt__p_pointer, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_size_type[] = { {&_swigt__p_size_type, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_std__allocatorT_iDynTree__BerdyDynamicVariable_t[] = { {&_swigt__p_std__allocatorT_iDynTree__BerdyDynamicVariable_t, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_std__allocatorT_iDynTree__BerdySensor_t[] = { {&_swigt__p_std__allocatorT_iDynTree__BerdySensor_t, 0, 0, 0},{0, 0, 0, 0}}; @@ -87464,6 +88510,7 @@ static swig_cast_info _swigc__p_std__allocatorT_std__string_t[] = { {&_swigt__p static swig_cast_info _swigc__p_std__vectorT_iDynTree__BerdyDynamicVariable_std__allocatorT_iDynTree__BerdyDynamicVariable_t_t[] = { {&_swigt__p_std__vectorT_iDynTree__BerdyDynamicVariable_std__allocatorT_iDynTree__BerdyDynamicVariable_t_t, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_std__vectorT_iDynTree__BerdySensor_std__allocatorT_iDynTree__BerdySensor_t_t[] = { {&_swigt__p_std__vectorT_iDynTree__BerdySensor_std__allocatorT_iDynTree__BerdySensor_t_t, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t[] = { {&_swigt__p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t, 0, 0, 0},{0, 0, 0, 0}}; +static swig_cast_info _swigc__p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t[] = { {&_swigt__p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_std__allocatorT_iDynTree__Regressors__DynamicsRegressorParameter_t_t[] = { {&_swigt__p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_std__allocatorT_iDynTree__Regressors__DynamicsRegressorParameter_t_t, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t[] = { {&_swigt__p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t, 0, 0, 0},{0, 0, 0, 0}}; static swig_cast_info _swigc__p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__allocatorT_iDynTree__VectorFixSizeT_6_t_t_t[] = { {&_swigt__p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__allocatorT_iDynTree__VectorFixSizeT_6_t_t_t, 0, 0, 0},{0, 0, 0, 0}}; @@ -87496,6 +88543,7 @@ static swig_cast_info *swig_cast_initial[] = { _swigc__p_allocator_type, _swigc__p_char, _swigc__p_const_iterator, + _swigc__p_const_pointer, _swigc__p_const_typed_iterator, _swigc__p_difference_type, _swigc__p_double, @@ -87582,6 +88630,7 @@ static swig_cast_info *swig_cast_initial[] = { _swigc__p_iDynTree__MatrixFixSizeT_6_6_t, _swigc__p_iDynTree__Model, _swigc__p_iDynTree__ModelLoader, + _swigc__p_iDynTree__ModelParserOptions, _swigc__p_iDynTree__ModelSolidShapes, _swigc__p_iDynTree__MomentumFreeFloatingJacobian, _swigc__p_iDynTree__MotionVector3T_iDynTree__AngularMotionVector3_t, @@ -87627,6 +88676,7 @@ static swig_cast_info *swig_cast_initial[] = { _swigc__p_iDynTree__Sphere, _swigc__p_iDynTree__SubModelDecomposition, _swigc__p_iDynTree__ThreeAxisAngularAccelerometerSensor, + _swigc__p_iDynTree__ThreeAxisForceTorqueContactSensor, _swigc__p_iDynTree__Transform, _swigc__p_iDynTree__TransformDerivative, _swigc__p_iDynTree__TransformSemantics, @@ -87648,6 +88698,7 @@ static swig_cast_info *swig_cast_initial[] = { _swigc__p_iDynTree__estimateExternalWrenchesBuffers, _swigc__p_int, _swigc__p_iterator, + _swigc__p_pointer, _swigc__p_size_type, _swigc__p_std__allocatorT_iDynTree__BerdyDynamicVariable_t, _swigc__p_std__allocatorT_iDynTree__BerdySensor_t, @@ -87655,6 +88706,7 @@ static swig_cast_info *swig_cast_initial[] = { _swigc__p_std__vectorT_iDynTree__BerdyDynamicVariable_std__allocatorT_iDynTree__BerdyDynamicVariable_t_t, _swigc__p_std__vectorT_iDynTree__BerdySensor_std__allocatorT_iDynTree__BerdySensor_t_t, _swigc__p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t, + _swigc__p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t, _swigc__p_std__vectorT_iDynTree__Regressors__DynamicsRegressorParameter_std__allocatorT_iDynTree__Regressors__DynamicsRegressorParameter_t_t, _swigc__p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t, _swigc__p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__allocatorT_iDynTree__VectorFixSizeT_6_t_t_t, @@ -88162,1703 +89214,1734 @@ SWIGINTERN const char* SwigFunctionName(int fcn_id) { case 93: return "BerdyDynamicVariables_reserve"; case 94: return "BerdyDynamicVariables_capacity"; case 95: return "delete_BerdyDynamicVariables"; - case 96: return "IndexRange_offset_get"; - case 97: return "IndexRange_offset_set"; - case 98: return "IndexRange_size_get"; - case 99: return "IndexRange_size_set"; - case 100: return "IndexRange_isValid"; - case 101: return "IndexRange_InvalidRange"; - case 102: return "new_IndexRange"; - case 103: return "delete_IndexRange"; - case 104: return "_wrap_checkDoublesAreEqual"; - case 105: return "new_MatrixDynSize"; - case 106: return "delete_MatrixDynSize"; - case 107: return "MatrixDynSize_paren"; - case 108: return "MatrixDynSize_getVal"; - case 109: return "MatrixDynSize_setVal"; - case 110: return "MatrixDynSize_rows"; - case 111: return "MatrixDynSize_cols"; - case 112: return "MatrixDynSize_data"; - case 113: return "MatrixDynSize_zero"; - case 114: return "MatrixDynSize_resize"; - case 115: return "MatrixDynSize_reserve"; - case 116: return "MatrixDynSize_capacity"; - case 117: return "MatrixDynSize_shrink_to_fit"; - case 118: return "MatrixDynSize_fillRowMajorBuffer"; - case 119: return "MatrixDynSize_fillColMajorBuffer"; - case 120: return "MatrixDynSize_toString"; - case 121: return "MatrixDynSize_display"; - case 122: return "MatrixDynSize_toMatlab"; - case 123: return "MatrixDynSize_fromMatlab"; - case 124: return "new_SparseMatrixRowMajor"; - case 125: return "delete_SparseMatrixRowMajor"; - case 126: return "SparseMatrixRowMajor_numberOfNonZeros"; - case 127: return "SparseMatrixRowMajor_resize"; - case 128: return "SparseMatrixRowMajor_reserve"; - case 129: return "SparseMatrixRowMajor_zero"; - case 130: return "SparseMatrixRowMajor_setFromConstTriplets"; - case 131: return "SparseMatrixRowMajor_setFromTriplets"; - case 132: return "SparseMatrixRowMajor_getValue"; - case 133: return "SparseMatrixRowMajor_setValue"; - case 134: return "SparseMatrixRowMajor_rows"; - case 135: return "SparseMatrixRowMajor_columns"; - case 136: return "SparseMatrixRowMajor_description"; - case 137: return "SparseMatrixRowMajor_toMatlab"; - case 138: return "SparseMatrixRowMajor_toMatlabDense"; - case 139: return "SparseMatrixRowMajor_fromMatlab"; - case 140: return "new_SparseMatrixColMajor"; - case 141: return "delete_SparseMatrixColMajor"; - case 142: return "SparseMatrixColMajor_numberOfNonZeros"; - case 143: return "SparseMatrixColMajor_resize"; - case 144: return "SparseMatrixColMajor_reserve"; - case 145: return "SparseMatrixColMajor_zero"; - case 146: return "SparseMatrixColMajor_setFromConstTriplets"; - case 147: return "SparseMatrixColMajor_setFromTriplets"; - case 148: return "SparseMatrixColMajor_getValue"; - case 149: return "SparseMatrixColMajor_setValue"; - case 150: return "SparseMatrixColMajor_rows"; - case 151: return "SparseMatrixColMajor_columns"; - case 152: return "SparseMatrixColMajor_description"; - case 153: return "SparseMatrixColMajor_toMatlab"; - case 154: return "SparseMatrixColMajor_toMatlabDense"; - case 155: return "SparseMatrixColMajor_fromMatlab"; - case 156: return "new_VectorDynSize"; - case 157: return "delete_VectorDynSize"; - case 158: return "VectorDynSize_paren"; - case 159: return "VectorDynSize_getVal"; - case 160: return "VectorDynSize_setVal"; - case 161: return "VectorDynSize_size"; - case 162: return "VectorDynSize_data"; - case 163: return "VectorDynSize_zero"; - case 164: return "VectorDynSize_reserve"; - case 165: return "VectorDynSize_resize"; - case 166: return "VectorDynSize_shrink_to_fit"; - case 167: return "VectorDynSize_capacity"; - case 168: return "VectorDynSize_fillBuffer"; - case 169: return "VectorDynSize_toString"; - case 170: return "VectorDynSize_display"; - case 171: return "VectorDynSize_toMatlab"; - case 172: return "VectorDynSize_fromMatlab"; - case 173: return "new_Matrix1x6"; - case 174: return "Matrix1x6_paren"; - case 175: return "Matrix1x6_getVal"; - case 176: return "Matrix1x6_setVal"; - case 177: return "Matrix1x6_rows"; - case 178: return "Matrix1x6_cols"; - case 179: return "Matrix1x6_data"; - case 180: return "Matrix1x6_zero"; - case 181: return "Matrix1x6_fillRowMajorBuffer"; - case 182: return "Matrix1x6_fillColMajorBuffer"; - case 183: return "Matrix1x6_toString"; - case 184: return "Matrix1x6_display"; - case 185: return "Matrix1x6_toMatlab"; - case 186: return "Matrix1x6_fromMatlab"; - case 187: return "delete_Matrix1x6"; - case 188: return "new_Matrix2x3"; - case 189: return "Matrix2x3_paren"; - case 190: return "Matrix2x3_getVal"; - case 191: return "Matrix2x3_setVal"; - case 192: return "Matrix2x3_rows"; - case 193: return "Matrix2x3_cols"; - case 194: return "Matrix2x3_data"; - case 195: return "Matrix2x3_zero"; - case 196: return "Matrix2x3_fillRowMajorBuffer"; - case 197: return "Matrix2x3_fillColMajorBuffer"; - case 198: return "Matrix2x3_toString"; - case 199: return "Matrix2x3_display"; - case 200: return "Matrix2x3_toMatlab"; - case 201: return "Matrix2x3_fromMatlab"; - case 202: return "delete_Matrix2x3"; - case 203: return "new_Matrix3x3"; - case 204: return "Matrix3x3_paren"; - case 205: return "Matrix3x3_getVal"; - case 206: return "Matrix3x3_setVal"; - case 207: return "Matrix3x3_rows"; - case 208: return "Matrix3x3_cols"; - case 209: return "Matrix3x3_data"; - case 210: return "Matrix3x3_zero"; - case 211: return "Matrix3x3_fillRowMajorBuffer"; - case 212: return "Matrix3x3_fillColMajorBuffer"; - case 213: return "Matrix3x3_toString"; - case 214: return "Matrix3x3_display"; - case 215: return "Matrix3x3_toMatlab"; - case 216: return "Matrix3x3_fromMatlab"; - case 217: return "delete_Matrix3x3"; - case 218: return "new_Matrix4x4"; - case 219: return "Matrix4x4_paren"; - case 220: return "Matrix4x4_getVal"; - case 221: return "Matrix4x4_setVal"; - case 222: return "Matrix4x4_rows"; - case 223: return "Matrix4x4_cols"; - case 224: return "Matrix4x4_data"; - case 225: return "Matrix4x4_zero"; - case 226: return "Matrix4x4_fillRowMajorBuffer"; - case 227: return "Matrix4x4_fillColMajorBuffer"; - case 228: return "Matrix4x4_toString"; - case 229: return "Matrix4x4_display"; - case 230: return "Matrix4x4_toMatlab"; - case 231: return "Matrix4x4_fromMatlab"; - case 232: return "delete_Matrix4x4"; - case 233: return "new_Matrix6x6"; - case 234: return "Matrix6x6_paren"; - case 235: return "Matrix6x6_getVal"; - case 236: return "Matrix6x6_setVal"; - case 237: return "Matrix6x6_rows"; - case 238: return "Matrix6x6_cols"; - case 239: return "Matrix6x6_data"; - case 240: return "Matrix6x6_zero"; - case 241: return "Matrix6x6_fillRowMajorBuffer"; - case 242: return "Matrix6x6_fillColMajorBuffer"; - case 243: return "Matrix6x6_toString"; - case 244: return "Matrix6x6_display"; - case 245: return "Matrix6x6_toMatlab"; - case 246: return "Matrix6x6_fromMatlab"; - case 247: return "delete_Matrix6x6"; - case 248: return "new_Matrix6x10"; - case 249: return "Matrix6x10_paren"; - case 250: return "Matrix6x10_getVal"; - case 251: return "Matrix6x10_setVal"; - case 252: return "Matrix6x10_rows"; - case 253: return "Matrix6x10_cols"; - case 254: return "Matrix6x10_data"; - case 255: return "Matrix6x10_zero"; - case 256: return "Matrix6x10_fillRowMajorBuffer"; - case 257: return "Matrix6x10_fillColMajorBuffer"; - case 258: return "Matrix6x10_toString"; - case 259: return "Matrix6x10_display"; - case 260: return "Matrix6x10_toMatlab"; - case 261: return "Matrix6x10_fromMatlab"; - case 262: return "delete_Matrix6x10"; - case 263: return "new_Matrix10x16"; - case 264: return "Matrix10x16_paren"; - case 265: return "Matrix10x16_getVal"; - case 266: return "Matrix10x16_setVal"; - case 267: return "Matrix10x16_rows"; - case 268: return "Matrix10x16_cols"; - case 269: return "Matrix10x16_data"; - case 270: return "Matrix10x16_zero"; - case 271: return "Matrix10x16_fillRowMajorBuffer"; - case 272: return "Matrix10x16_fillColMajorBuffer"; - case 273: return "Matrix10x16_toString"; - case 274: return "Matrix10x16_display"; - case 275: return "Matrix10x16_toMatlab"; - case 276: return "Matrix10x16_fromMatlab"; - case 277: return "delete_Matrix10x16"; - case 278: return "new_Vector3"; - case 279: return "Vector3_paren"; - case 280: return "Vector3_getVal"; - case 281: return "Vector3_setVal"; - case 282: return "Vector3_size"; - case 283: return "Vector3_data"; - case 284: return "Vector3_zero"; - case 285: return "Vector3_fillBuffer"; - case 286: return "Vector3_toString"; - case 287: return "Vector3_display"; - case 288: return "Vector3_toMatlab"; - case 289: return "Vector3_fromMatlab"; - case 290: return "delete_Vector3"; - case 291: return "new_Vector4"; - case 292: return "Vector4_paren"; - case 293: return "Vector4_getVal"; - case 294: return "Vector4_setVal"; - case 295: return "Vector4_size"; - case 296: return "Vector4_data"; - case 297: return "Vector4_zero"; - case 298: return "Vector4_fillBuffer"; - case 299: return "Vector4_toString"; - case 300: return "Vector4_display"; - case 301: return "Vector4_toMatlab"; - case 302: return "Vector4_fromMatlab"; - case 303: return "delete_Vector4"; - case 304: return "new_Vector6"; - case 305: return "Vector6_paren"; - case 306: return "Vector6_getVal"; - case 307: return "Vector6_setVal"; - case 308: return "Vector6_size"; - case 309: return "Vector6_data"; - case 310: return "Vector6_zero"; - case 311: return "Vector6_fillBuffer"; - case 312: return "Vector6_toString"; - case 313: return "Vector6_display"; - case 314: return "Vector6_toMatlab"; - case 315: return "Vector6_fromMatlab"; - case 316: return "delete_Vector6"; - case 317: return "new_Vector10"; - case 318: return "Vector10_paren"; - case 319: return "Vector10_getVal"; - case 320: return "Vector10_setVal"; - case 321: return "Vector10_size"; - case 322: return "Vector10_data"; - case 323: return "Vector10_zero"; - case 324: return "Vector10_fillBuffer"; - case 325: return "Vector10_toString"; - case 326: return "Vector10_display"; - case 327: return "Vector10_toMatlab"; - case 328: return "Vector10_fromMatlab"; - case 329: return "delete_Vector10"; - case 330: return "new_Vector16"; - case 331: return "Vector16_paren"; - case 332: return "Vector16_getVal"; - case 333: return "Vector16_setVal"; - case 334: return "Vector16_size"; - case 335: return "Vector16_data"; - case 336: return "Vector16_zero"; - case 337: return "Vector16_fillBuffer"; - case 338: return "Vector16_toString"; - case 339: return "Vector16_display"; - case 340: return "Vector16_toMatlab"; - case 341: return "Vector16_fromMatlab"; - case 342: return "delete_Vector16"; - case 343: return "new_PositionRaw"; - case 344: return "PositionRaw_changePoint"; - case 345: return "PositionRaw_changeRefPoint"; - case 346: return "PositionRaw_compose"; - case 347: return "PositionRaw_inverse"; - case 348: return "PositionRaw_changePointOf"; - case 349: return "PositionRaw_toString"; - case 350: return "PositionRaw_display"; - case 351: return "delete_PositionRaw"; - case 352: return "new_PositionSemantics"; - case 353: return "PositionSemantics_setToUnknown"; - case 354: return "PositionSemantics_getPoint"; - case 355: return "PositionSemantics_getBody"; - case 356: return "PositionSemantics_getReferencePoint"; - case 357: return "PositionSemantics_getRefBody"; - case 358: return "PositionSemantics_getCoordinateFrame"; - case 359: return "PositionSemantics_setPoint"; - case 360: return "PositionSemantics_setBody"; - case 361: return "PositionSemantics_setReferencePoint"; - case 362: return "PositionSemantics_setRefBody"; - case 363: return "PositionSemantics_setCoordinateFrame"; - case 364: return "PositionSemantics_changePoint"; - case 365: return "PositionSemantics_changeRefPoint"; - case 366: return "PositionSemantics_compose"; - case 367: return "PositionSemantics_inverse"; - case 368: return "PositionSemantics_toString"; - case 369: return "PositionSemantics_display"; - case 370: return "delete_PositionSemantics"; - case 371: return "new_Position"; - case 372: return "Position_getSemantics"; - case 373: return "Position_changePoint"; - case 374: return "Position_changeRefPoint"; - case 375: return "Position_changeCoordinateFrame"; - case 376: return "Position_compose"; - case 377: return "Position_inverse"; - case 378: return "Position_changePointOf"; - case 379: return "Position_plus"; - case 380: return "Position_minus"; - case 381: return "Position_uminus"; - case 382: return "Position_mtimes"; - case 383: return "Position_toString"; - case 384: return "Position_display"; - case 385: return "Position_Zero"; - case 386: return "delete_Position"; - case 387: return "new_GeomVector3Semantics__LinearMotionVector3Semantics"; - case 388: return "GeomVector3Semantics__LinearMotionVector3Semantics_setToUnknown"; - case 389: return "GeomVector3Semantics__LinearMotionVector3Semantics_getBody"; - case 390: return "GeomVector3Semantics__LinearMotionVector3Semantics_getRefBody"; - case 391: return "GeomVector3Semantics__LinearMotionVector3Semantics_getCoordinateFrame"; - case 392: return "GeomVector3Semantics__LinearMotionVector3Semantics_isUnknown"; - case 393: return "GeomVector3Semantics__LinearMotionVector3Semantics_changeCoordFrame"; - case 394: return "GeomVector3Semantics__LinearMotionVector3Semantics_compose"; - case 395: return "GeomVector3Semantics__LinearMotionVector3Semantics_inverse"; - case 396: return "GeomVector3Semantics__LinearMotionVector3Semantics_dot"; - case 397: return "delete_GeomVector3Semantics__LinearMotionVector3Semantics"; - case 398: return "new_GeomVector3Semantics__AngularMotionVector3Semantics"; - case 399: return "GeomVector3Semantics__AngularMotionVector3Semantics_setToUnknown"; - case 400: return "GeomVector3Semantics__AngularMotionVector3Semantics_getBody"; - case 401: return "GeomVector3Semantics__AngularMotionVector3Semantics_getRefBody"; - case 402: return "GeomVector3Semantics__AngularMotionVector3Semantics_getCoordinateFrame"; - case 403: return "GeomVector3Semantics__AngularMotionVector3Semantics_isUnknown"; - case 404: return "GeomVector3Semantics__AngularMotionVector3Semantics_changeCoordFrame"; - case 405: return "GeomVector3Semantics__AngularMotionVector3Semantics_compose"; - case 406: return "GeomVector3Semantics__AngularMotionVector3Semantics_inverse"; - case 407: return "GeomVector3Semantics__AngularMotionVector3Semantics_dot"; - case 408: return "delete_GeomVector3Semantics__AngularMotionVector3Semantics"; - case 409: return "new_GeomVector3Semantics__LinearForceVector3Semantics"; - case 410: return "GeomVector3Semantics__LinearForceVector3Semantics_setToUnknown"; - case 411: return "GeomVector3Semantics__LinearForceVector3Semantics_getBody"; - case 412: return "GeomVector3Semantics__LinearForceVector3Semantics_getRefBody"; - case 413: return "GeomVector3Semantics__LinearForceVector3Semantics_getCoordinateFrame"; - case 414: return "GeomVector3Semantics__LinearForceVector3Semantics_isUnknown"; - case 415: return "GeomVector3Semantics__LinearForceVector3Semantics_changeCoordFrame"; - case 416: return "GeomVector3Semantics__LinearForceVector3Semantics_compose"; - case 417: return "GeomVector3Semantics__LinearForceVector3Semantics_inverse"; - case 418: return "GeomVector3Semantics__LinearForceVector3Semantics_dot"; - case 419: return "delete_GeomVector3Semantics__LinearForceVector3Semantics"; - case 420: return "new_GeomVector3Semantics__AngularForceVector3Semantics"; - case 421: return "GeomVector3Semantics__AngularForceVector3Semantics_setToUnknown"; - case 422: return "GeomVector3Semantics__AngularForceVector3Semantics_getBody"; - case 423: return "GeomVector3Semantics__AngularForceVector3Semantics_getRefBody"; - case 424: return "GeomVector3Semantics__AngularForceVector3Semantics_getCoordinateFrame"; - case 425: return "GeomVector3Semantics__AngularForceVector3Semantics_isUnknown"; - case 426: return "GeomVector3Semantics__AngularForceVector3Semantics_changeCoordFrame"; - case 427: return "GeomVector3Semantics__AngularForceVector3Semantics_compose"; - case 428: return "GeomVector3Semantics__AngularForceVector3Semantics_inverse"; - case 429: return "GeomVector3Semantics__AngularForceVector3Semantics_dot"; - case 430: return "delete_GeomVector3Semantics__AngularForceVector3Semantics"; - case 431: return "GeomVector3__LinearMotionVector3_semantics_get"; - case 432: return "GeomVector3__LinearMotionVector3_semantics_set"; - case 433: return "new_GeomVector3__LinearMotionVector3"; - case 434: return "GeomVector3__LinearMotionVector3_setSemantics"; - case 435: return "GeomVector3__LinearMotionVector3_changeCoordFrame"; - case 436: return "GeomVector3__LinearMotionVector3_compose"; - case 437: return "GeomVector3__LinearMotionVector3_inverse"; - case 438: return "GeomVector3__LinearMotionVector3_dot"; - case 439: return "GeomVector3__LinearMotionVector3_plus"; - case 440: return "GeomVector3__LinearMotionVector3_minus"; - case 441: return "GeomVector3__LinearMotionVector3_uminus"; - case 442: return "delete_GeomVector3__LinearMotionVector3"; - case 443: return "GeomVector3__AngularMotionVector3_semantics_get"; - case 444: return "GeomVector3__AngularMotionVector3_semantics_set"; - case 445: return "new_GeomVector3__AngularMotionVector3"; - case 446: return "GeomVector3__AngularMotionVector3_setSemantics"; - case 447: return "GeomVector3__AngularMotionVector3_changeCoordFrame"; - case 448: return "GeomVector3__AngularMotionVector3_compose"; - case 449: return "GeomVector3__AngularMotionVector3_inverse"; - case 450: return "GeomVector3__AngularMotionVector3_dot"; - case 451: return "GeomVector3__AngularMotionVector3_plus"; - case 452: return "GeomVector3__AngularMotionVector3_minus"; - case 453: return "GeomVector3__AngularMotionVector3_uminus"; - case 454: return "delete_GeomVector3__AngularMotionVector3"; - case 455: return "GeomVector3__LinearForceVector3_semantics_get"; - case 456: return "GeomVector3__LinearForceVector3_semantics_set"; - case 457: return "new_GeomVector3__LinearForceVector3"; - case 458: return "GeomVector3__LinearForceVector3_setSemantics"; - case 459: return "GeomVector3__LinearForceVector3_changeCoordFrame"; - case 460: return "GeomVector3__LinearForceVector3_compose"; - case 461: return "GeomVector3__LinearForceVector3_inverse"; - case 462: return "GeomVector3__LinearForceVector3_dot"; - case 463: return "GeomVector3__LinearForceVector3_plus"; - case 464: return "GeomVector3__LinearForceVector3_minus"; - case 465: return "GeomVector3__LinearForceVector3_uminus"; - case 466: return "delete_GeomVector3__LinearForceVector3"; - case 467: return "GeomVector3__AngularForceVector3_semantics_get"; - case 468: return "GeomVector3__AngularForceVector3_semantics_set"; - case 469: return "new_GeomVector3__AngularForceVector3"; - case 470: return "GeomVector3__AngularForceVector3_setSemantics"; - case 471: return "GeomVector3__AngularForceVector3_changeCoordFrame"; - case 472: return "GeomVector3__AngularForceVector3_compose"; - case 473: return "GeomVector3__AngularForceVector3_inverse"; - case 474: return "GeomVector3__AngularForceVector3_dot"; - case 475: return "GeomVector3__AngularForceVector3_plus"; - case 476: return "GeomVector3__AngularForceVector3_minus"; - case 477: return "GeomVector3__AngularForceVector3_uminus"; - case 478: return "delete_GeomVector3__AngularForceVector3"; - case 479: return "new_ForceVector3Semantics__LinearForceVector3Semantics"; - case 480: return "ForceVector3Semantics__LinearForceVector3Semantics_compose"; - case 481: return "ForceVector3Semantics__LinearForceVector3Semantics_inverse"; - case 482: return "delete_ForceVector3Semantics__LinearForceVector3Semantics"; - case 483: return "new_ForceVector3Semantics__AngularForceVector3Semantics"; - case 484: return "ForceVector3Semantics__AngularForceVector3Semantics_compose"; - case 485: return "ForceVector3Semantics__AngularForceVector3Semantics_inverse"; - case 486: return "delete_ForceVector3Semantics__AngularForceVector3Semantics"; - case 487: return "new_MotionVector3__LinearMotionVector3"; - case 488: return "MotionVector3__LinearMotionVector3_cross"; - case 489: return "delete_MotionVector3__LinearMotionVector3"; - case 490: return "new_MotionVector3__AngularMotionVector3"; - case 491: return "MotionVector3__AngularMotionVector3_cross"; - case 492: return "delete_MotionVector3__AngularMotionVector3"; - case 493: return "new_ForceVector3__LinearForceVector3"; - case 494: return "delete_ForceVector3__LinearForceVector3"; - case 495: return "new_ForceVector3__AngularForceVector3"; - case 496: return "delete_ForceVector3__AngularForceVector3"; - case 497: return "new_LinearMotionVector3Semantics"; - case 498: return "LinearMotionVector3Semantics_changePoint"; - case 499: return "LinearMotionVector3Semantics_compose"; - case 500: return "delete_LinearMotionVector3Semantics"; - case 501: return "new_LinearMotionVector3"; - case 502: return "LinearMotionVector3_changePoint"; - case 503: return "delete_LinearMotionVector3"; - case 504: return "new_AngularMotionVector3Semantics"; - case 505: return "delete_AngularMotionVector3Semantics"; - case 506: return "new_AngularMotionVector3"; - case 507: return "AngularMotionVector3_exp"; - case 508: return "delete_AngularMotionVector3"; - case 509: return "new_LinearForceVector3Semantics"; - case 510: return "delete_LinearForceVector3Semantics"; - case 511: return "new_LinearForceVector3"; - case 512: return "delete_LinearForceVector3"; - case 513: return "new_AngularForceVector3Semantics"; - case 514: return "AngularForceVector3Semantics_changePoint"; - case 515: return "AngularForceVector3Semantics_compose"; - case 516: return "delete_AngularForceVector3Semantics"; - case 517: return "new_AngularForceVector3"; - case 518: return "AngularForceVector3_changePoint"; - case 519: return "delete_AngularForceVector3"; - case 520: return "new_SpatialMotionVectorSemanticsBase"; - case 521: return "SpatialMotionVectorSemanticsBase_check_linear2angularConsistency"; - case 522: return "SpatialMotionVectorSemanticsBase_toString"; - case 523: return "SpatialMotionVectorSemanticsBase_display"; - case 524: return "delete_SpatialMotionVectorSemanticsBase"; - case 525: return "new_SpatialForceVectorSemanticsBase"; - case 526: return "SpatialForceVectorSemanticsBase_check_linear2angularConsistency"; - case 527: return "SpatialForceVectorSemanticsBase_toString"; - case 528: return "SpatialForceVectorSemanticsBase_display"; - case 529: return "delete_SpatialForceVectorSemanticsBase"; - case 530: return "new_SpatialMotionVectorBase"; - case 531: return "SpatialMotionVectorBase_getLinearVec3"; - case 532: return "SpatialMotionVectorBase_getAngularVec3"; - case 533: return "SpatialMotionVectorBase_setLinearVec3"; - case 534: return "SpatialMotionVectorBase_setAngularVec3"; - case 535: return "SpatialMotionVectorBase_paren"; - case 536: return "SpatialMotionVectorBase_getVal"; - case 537: return "SpatialMotionVectorBase_setVal"; - case 538: return "SpatialMotionVectorBase_size"; - case 539: return "SpatialMotionVectorBase_zero"; - case 540: return "SpatialMotionVectorBase_changePoint"; - case 541: return "SpatialMotionVectorBase_changeCoordFrame"; - case 542: return "SpatialMotionVectorBase_compose"; - case 543: return "SpatialMotionVectorBase_inverse"; - case 544: return "SpatialMotionVectorBase_dot"; - case 545: return "SpatialMotionVectorBase_plus"; - case 546: return "SpatialMotionVectorBase_minus"; - case 547: return "SpatialMotionVectorBase_uminus"; - case 548: return "SpatialMotionVectorBase_Zero"; - case 549: return "SpatialMotionVectorBase_asVector"; - case 550: return "SpatialMotionVectorBase_toString"; - case 551: return "SpatialMotionVectorBase_display"; - case 552: return "SpatialMotionVectorBase_toMatlab"; - case 553: return "SpatialMotionVectorBase_fromMatlab"; - case 554: return "delete_SpatialMotionVectorBase"; - case 555: return "new_SpatialForceVectorBase"; - case 556: return "SpatialForceVectorBase_getLinearVec3"; - case 557: return "SpatialForceVectorBase_getAngularVec3"; - case 558: return "SpatialForceVectorBase_setLinearVec3"; - case 559: return "SpatialForceVectorBase_setAngularVec3"; - case 560: return "SpatialForceVectorBase_paren"; - case 561: return "SpatialForceVectorBase_getVal"; - case 562: return "SpatialForceVectorBase_setVal"; - case 563: return "SpatialForceVectorBase_size"; - case 564: return "SpatialForceVectorBase_zero"; - case 565: return "SpatialForceVectorBase_changePoint"; - case 566: return "SpatialForceVectorBase_changeCoordFrame"; - case 567: return "SpatialForceVectorBase_compose"; - case 568: return "SpatialForceVectorBase_inverse"; - case 569: return "SpatialForceVectorBase_dot"; - case 570: return "SpatialForceVectorBase_plus"; - case 571: return "SpatialForceVectorBase_minus"; - case 572: return "SpatialForceVectorBase_uminus"; - case 573: return "SpatialForceVectorBase_Zero"; - case 574: return "SpatialForceVectorBase_asVector"; - case 575: return "SpatialForceVectorBase_toString"; - case 576: return "SpatialForceVectorBase_display"; - case 577: return "SpatialForceVectorBase_toMatlab"; - case 578: return "SpatialForceVectorBase_fromMatlab"; - case 579: return "delete_SpatialForceVectorBase"; - case 580: return "new_Dummy"; - case 581: return "delete_Dummy"; - case 582: return "new_SpatialMotionVector"; - case 583: return "SpatialMotionVector_mtimes"; - case 584: return "SpatialMotionVector_cross"; - case 585: return "SpatialMotionVector_asCrossProductMatrix"; - case 586: return "SpatialMotionVector_asCrossProductMatrixWrench"; - case 587: return "SpatialMotionVector_exp"; - case 588: return "delete_SpatialMotionVector"; - case 589: return "new_SpatialForceVector"; - case 590: return "delete_SpatialForceVector"; - case 591: return "SpatialForceVector_mtimes"; - case 592: return "new_Twist"; - case 593: return "Twist_plus"; - case 594: return "Twist_minus"; - case 595: return "Twist_uminus"; - case 596: return "Twist_mtimes"; - case 597: return "delete_Twist"; - case 598: return "new_Wrench"; - case 599: return "Wrench_plus"; - case 600: return "Wrench_minus"; - case 601: return "Wrench_uminus"; - case 602: return "delete_Wrench"; - case 603: return "new_SpatialMomentum"; - case 604: return "SpatialMomentum_plus"; - case 605: return "SpatialMomentum_minus"; - case 606: return "SpatialMomentum_uminus"; - case 607: return "delete_SpatialMomentum"; - case 608: return "new_SpatialAcc"; - case 609: return "SpatialAcc_plus"; - case 610: return "SpatialAcc_minus"; - case 611: return "SpatialAcc_uminus"; - case 612: return "delete_SpatialAcc"; - case 613: return "new_ClassicalAcc"; - case 614: return "ClassicalAcc_changeCoordFrame"; - case 615: return "ClassicalAcc_Zero"; - case 616: return "ClassicalAcc_fromSpatial"; - case 617: return "ClassicalAcc_toSpatial"; - case 618: return "delete_ClassicalAcc"; - case 619: return "new_Direction"; - case 620: return "Direction_Normalize"; - case 621: return "Direction_isParallel"; - case 622: return "Direction_isPerpendicular"; - case 623: return "Direction_reverse"; - case 624: return "Direction_toString"; - case 625: return "Direction_display"; - case 626: return "Direction_Default"; - case 627: return "delete_Direction"; - case 628: return "new_Axis"; - case 629: return "Axis_getDirection"; - case 630: return "Axis_getOrigin"; - case 631: return "Axis_setDirection"; - case 632: return "Axis_setOrigin"; - case 633: return "Axis_getRotationTransform"; - case 634: return "Axis_getRotationTransformDerivative"; - case 635: return "Axis_getRotationTwist"; - case 636: return "Axis_getRotationSpatialAcc"; - case 637: return "Axis_getTranslationTransform"; - case 638: return "Axis_getTranslationTransformDerivative"; - case 639: return "Axis_getTranslationTwist"; - case 640: return "Axis_getTranslationSpatialAcc"; - case 641: return "Axis_isParallel"; - case 642: return "Axis_reverse"; - case 643: return "Axis_toString"; - case 644: return "Axis_display"; - case 645: return "delete_Axis"; - case 646: return "new_RotationalInertiaRaw"; - case 647: return "RotationalInertiaRaw_Zero"; - case 648: return "delete_RotationalInertiaRaw"; - case 649: return "new_SpatialInertiaRaw"; - case 650: return "SpatialInertiaRaw_fromRotationalInertiaWrtCenterOfMass"; - case 651: return "SpatialInertiaRaw_getMass"; - case 652: return "SpatialInertiaRaw_getCenterOfMass"; - case 653: return "SpatialInertiaRaw_getRotationalInertiaWrtFrameOrigin"; - case 654: return "SpatialInertiaRaw_getRotationalInertiaWrtCenterOfMass"; - case 655: return "SpatialInertiaRaw_combine"; - case 656: return "SpatialInertiaRaw_multiply"; - case 657: return "SpatialInertiaRaw_zero"; - case 658: return "delete_SpatialInertiaRaw"; - case 659: return "new_SpatialInertia"; - case 660: return "SpatialInertia_combine"; - case 661: return "SpatialInertia_asMatrix"; - case 662: return "SpatialInertia_applyInverse"; - case 663: return "SpatialInertia_getInverse"; - case 664: return "SpatialInertia_plus"; - case 665: return "SpatialInertia_mtimes"; - case 666: return "SpatialInertia_biasWrench"; - case 667: return "SpatialInertia_biasWrenchDerivative"; - case 668: return "SpatialInertia_Zero"; - case 669: return "SpatialInertia_asVector"; - case 670: return "SpatialInertia_fromVector"; - case 671: return "SpatialInertia_isPhysicallyConsistent"; - case 672: return "SpatialInertia_momentumRegressor"; - case 673: return "SpatialInertia_momentumDerivativeRegressor"; - case 674: return "SpatialInertia_momentumDerivativeSlotineLiRegressor"; - case 675: return "delete_SpatialInertia"; - case 676: return "new_ArticulatedBodyInertia"; - case 677: return "ArticulatedBodyInertia_getLinearLinearSubmatrix"; - case 678: return "ArticulatedBodyInertia_getLinearAngularSubmatrix"; - case 679: return "ArticulatedBodyInertia_getAngularAngularSubmatrix"; - case 680: return "ArticulatedBodyInertia_combine"; - case 681: return "ArticulatedBodyInertia_applyInverse"; - case 682: return "ArticulatedBodyInertia_asMatrix"; - case 683: return "ArticulatedBodyInertia_getInverse"; - case 684: return "ArticulatedBodyInertia_plus"; - case 685: return "ArticulatedBodyInertia_minus"; - case 686: return "ArticulatedBodyInertia_mtimes"; - case 687: return "ArticulatedBodyInertia_zero"; - case 688: return "ArticulatedBodyInertia_ABADyadHelper"; - case 689: return "ArticulatedBodyInertia_ABADyadHelperLin"; - case 690: return "delete_ArticulatedBodyInertia"; - case 691: return "RigidBodyInertiaNonLinearParametrization_mass_get"; - case 692: return "RigidBodyInertiaNonLinearParametrization_mass_set"; - case 693: return "RigidBodyInertiaNonLinearParametrization_com_get"; - case 694: return "RigidBodyInertiaNonLinearParametrization_com_set"; - case 695: return "RigidBodyInertiaNonLinearParametrization_link_R_centroidal_get"; - case 696: return "RigidBodyInertiaNonLinearParametrization_link_R_centroidal_set"; - case 697: return "RigidBodyInertiaNonLinearParametrization_centralSecondMomentOfMass_get"; - case 698: return "RigidBodyInertiaNonLinearParametrization_centralSecondMomentOfMass_set"; - case 699: return "RigidBodyInertiaNonLinearParametrization_getLinkCentroidalTransform"; - case 700: return "RigidBodyInertiaNonLinearParametrization_fromRigidBodyInertia"; - case 701: return "RigidBodyInertiaNonLinearParametrization_fromInertialParameters"; - case 702: return "RigidBodyInertiaNonLinearParametrization_toRigidBodyInertia"; - case 703: return "RigidBodyInertiaNonLinearParametrization_isPhysicallyConsistent"; - case 704: return "RigidBodyInertiaNonLinearParametrization_asVectorWithRotationAsVec"; - case 705: return "RigidBodyInertiaNonLinearParametrization_fromVectorWithRotationAsVec"; - case 706: return "RigidBodyInertiaNonLinearParametrization_getGradientWithRotationAsVec"; - case 707: return "new_RigidBodyInertiaNonLinearParametrization"; - case 708: return "delete_RigidBodyInertiaNonLinearParametrization"; - case 709: return "new_RotationRaw"; - case 710: return "RotationRaw_changeOrientFrame"; - case 711: return "RotationRaw_changeRefOrientFrame"; - case 712: return "RotationRaw_compose"; - case 713: return "RotationRaw_inverse2"; - case 714: return "RotationRaw_changeCoordFrameOf"; - case 715: return "RotationRaw_RotX"; - case 716: return "RotationRaw_RotY"; - case 717: return "RotationRaw_RotZ"; - case 718: return "RotationRaw_RPY"; - case 719: return "RotationRaw_Identity"; - case 720: return "RotationRaw_toString"; - case 721: return "RotationRaw_display"; - case 722: return "delete_RotationRaw"; - case 723: return "new_RotationSemantics"; - case 724: return "RotationSemantics_setToUnknown"; - case 725: return "RotationSemantics_getOrientationFrame"; - case 726: return "RotationSemantics_getBody"; - case 727: return "RotationSemantics_getReferenceOrientationFrame"; - case 728: return "RotationSemantics_getRefBody"; - case 729: return "RotationSemantics_getCoordinateFrame"; - case 730: return "RotationSemantics_setOrientationFrame"; - case 731: return "RotationSemantics_setBody"; - case 732: return "RotationSemantics_setReferenceOrientationFrame"; - case 733: return "RotationSemantics_setRefBody"; - case 734: return "RotationSemantics_setCoordinateFrame"; - case 735: return "RotationSemantics_changeOrientFrame"; - case 736: return "RotationSemantics_changeRefOrientFrame"; - case 737: return "RotationSemantics_changeCoordFrameOf"; - case 738: return "RotationSemantics_compose"; - case 739: return "RotationSemantics_inverse2"; - case 740: return "RotationSemantics_toString"; - case 741: return "RotationSemantics_display"; - case 742: return "delete_RotationSemantics"; - case 743: return "new_Rotation"; - case 744: return "Rotation_getSemantics"; - case 745: return "Rotation_changeOrientFrame"; - case 746: return "Rotation_changeRefOrientFrame"; - case 747: return "Rotation_changeCoordinateFrame"; - case 748: return "Rotation_compose"; - case 749: return "Rotation_inverse2"; - case 750: return "Rotation_changeCoordFrameOf"; - case 751: return "Rotation_inverse"; - case 752: return "Rotation_mtimes"; - case 753: return "Rotation_log"; - case 754: return "Rotation_fromQuaternion"; - case 755: return "Rotation_getRPY"; - case 756: return "Rotation_asRPY"; - case 757: return "Rotation_getQuaternion"; - case 758: return "Rotation_asQuaternion"; - case 759: return "Rotation_RotX"; - case 760: return "Rotation_RotY"; - case 761: return "Rotation_RotZ"; - case 762: return "Rotation_RotAxis"; - case 763: return "Rotation_RotAxisDerivative"; - case 764: return "Rotation_RPY"; - case 765: return "Rotation_RPYRightTrivializedDerivative"; - case 766: return "Rotation_RPYRightTrivializedDerivativeInverse"; - case 767: return "Rotation_QuaternionRightTrivializedDerivative"; - case 768: return "Rotation_QuaternionRightTrivializedDerivativeInverse"; - case 769: return "Rotation_Identity"; - case 770: return "Rotation_RotationFromQuaternion"; - case 771: return "Rotation_toString"; - case 772: return "Rotation_display"; - case 773: return "delete_Rotation"; - case 774: return "new_TransformSemantics"; - case 775: return "TransformSemantics_getRotationSemantics"; - case 776: return "TransformSemantics_getPositionSemantics"; - case 777: return "TransformSemantics_setRotationSemantics"; - case 778: return "TransformSemantics_setPositionSemantics"; - case 779: return "TransformSemantics_toString"; - case 780: return "TransformSemantics_display"; - case 781: return "delete_TransformSemantics"; - case 782: return "new_Transform"; - case 783: return "Transform_fromHomogeneousTransform"; - case 784: return "Transform_getSemantics"; - case 785: return "Transform_getRotation"; - case 786: return "Transform_getPosition"; - case 787: return "Transform_setRotation"; - case 788: return "Transform_setPosition"; - case 789: return "Transform_compose"; - case 790: return "Transform_inverse2"; - case 791: return "Transform_inverse"; - case 792: return "Transform_mtimes"; - case 793: return "Transform_Identity"; - case 794: return "Transform_asHomogeneousTransform"; - case 795: return "Transform_asAdjointTransform"; - case 796: return "Transform_asAdjointTransformWrench"; - case 797: return "Transform_log"; - case 798: return "Transform_toString"; - case 799: return "Transform_display"; - case 800: return "delete_Transform"; - case 801: return "new_TransformDerivative"; - case 802: return "delete_TransformDerivative"; - case 803: return "TransformDerivative_getRotationDerivative"; - case 804: return "TransformDerivative_getPositionDerivative"; - case 805: return "TransformDerivative_setRotationDerivative"; - case 806: return "TransformDerivative_setPositionDerivative"; - case 807: return "TransformDerivative_Zero"; - case 808: return "TransformDerivative_asHomogeneousTransformDerivative"; - case 809: return "TransformDerivative_asAdjointTransformDerivative"; - case 810: return "TransformDerivative_asAdjointTransformWrenchDerivative"; - case 811: return "TransformDerivative_mtimes"; - case 812: return "TransformDerivative_derivativeOfInverse"; - case 813: return "TransformDerivative_transform"; - case 814: return "LINK_INVALID_INDEX_get"; - case 815: return "LINK_INVALID_INDEX_set"; - case 816: return "LINK_INVALID_NAME_get"; - case 817: return "LINK_INVALID_NAME_set"; - case 818: return "JOINT_INVALID_INDEX_get"; - case 819: return "JOINT_INVALID_INDEX_set"; - case 820: return "JOINT_INVALID_NAME_get"; - case 821: return "JOINT_INVALID_NAME_set"; - case 822: return "DOF_INVALID_INDEX_get"; - case 823: return "DOF_INVALID_INDEX_set"; - case 824: return "DOF_INVALID_NAME_get"; - case 825: return "DOF_INVALID_NAME_set"; - case 826: return "FRAME_INVALID_INDEX_get"; - case 827: return "FRAME_INVALID_INDEX_set"; - case 828: return "FRAME_INVALID_NAME_get"; - case 829: return "FRAME_INVALID_NAME_set"; - case 830: return "TRAVERSAL_INVALID_INDEX_get"; - case 831: return "TRAVERSAL_INVALID_INDEX_set"; - case 832: return "new_LinkPositions"; - case 833: return "LinkPositions_resize"; - case 834: return "LinkPositions_isConsistent"; - case 835: return "LinkPositions_getNrOfLinks"; - case 836: return "LinkPositions_paren"; - case 837: return "LinkPositions_toString"; - case 838: return "delete_LinkPositions"; - case 839: return "new_LinkWrenches"; - case 840: return "LinkWrenches_resize"; - case 841: return "LinkWrenches_isConsistent"; - case 842: return "LinkWrenches_getNrOfLinks"; - case 843: return "LinkWrenches_paren"; - case 844: return "LinkWrenches_toString"; - case 845: return "LinkWrenches_zero"; - case 846: return "delete_LinkWrenches"; - case 847: return "new_LinkInertias"; - case 848: return "LinkInertias_resize"; - case 849: return "LinkInertias_isConsistent"; - case 850: return "LinkInertias_paren"; - case 851: return "delete_LinkInertias"; - case 852: return "new_LinkArticulatedBodyInertias"; - case 853: return "LinkArticulatedBodyInertias_resize"; - case 854: return "LinkArticulatedBodyInertias_isConsistent"; - case 855: return "LinkArticulatedBodyInertias_paren"; - case 856: return "delete_LinkArticulatedBodyInertias"; - case 857: return "new_LinkVelArray"; - case 858: return "LinkVelArray_resize"; - case 859: return "LinkVelArray_isConsistent"; - case 860: return "LinkVelArray_getNrOfLinks"; - case 861: return "LinkVelArray_paren"; - case 862: return "LinkVelArray_toString"; - case 863: return "delete_LinkVelArray"; - case 864: return "new_LinkAccArray"; - case 865: return "LinkAccArray_resize"; - case 866: return "LinkAccArray_isConsistent"; - case 867: return "LinkAccArray_paren"; - case 868: return "LinkAccArray_getNrOfLinks"; - case 869: return "LinkAccArray_toString"; - case 870: return "delete_LinkAccArray"; - case 871: return "new_Link"; - case 872: return "Link_inertia"; - case 873: return "Link_setInertia"; - case 874: return "Link_getInertia"; - case 875: return "Link_setIndex"; - case 876: return "Link_getIndex"; - case 877: return "delete_Link"; - case 878: return "delete_IJoint"; - case 879: return "IJoint_clone"; - case 880: return "IJoint_getNrOfPosCoords"; - case 881: return "IJoint_getNrOfDOFs"; - case 882: return "IJoint_setAttachedLinks"; - case 883: return "IJoint_setRestTransform"; - case 884: return "IJoint_getFirstAttachedLink"; - case 885: return "IJoint_getSecondAttachedLink"; - case 886: return "IJoint_getRestTransform"; - case 887: return "IJoint_getTransform"; - case 888: return "IJoint_getTransformDerivative"; - case 889: return "IJoint_getMotionSubspaceVector"; - case 890: return "IJoint_computeChildPosVelAcc"; - case 891: return "IJoint_computeChildVelAcc"; - case 892: return "IJoint_computeChildVel"; - case 893: return "IJoint_computeChildAcc"; - case 894: return "IJoint_computeChildBiasAcc"; - case 895: return "IJoint_computeJointTorque"; - case 896: return "IJoint_setIndex"; - case 897: return "IJoint_getIndex"; - case 898: return "IJoint_setPosCoordsOffset"; - case 899: return "IJoint_getPosCoordsOffset"; - case 900: return "IJoint_setDOFsOffset"; - case 901: return "IJoint_getDOFsOffset"; - case 902: return "IJoint_hasPosLimits"; - case 903: return "IJoint_enablePosLimits"; - case 904: return "IJoint_getPosLimits"; - case 905: return "IJoint_getMinPosLimit"; - case 906: return "IJoint_getMaxPosLimit"; - case 907: return "IJoint_setPosLimits"; - case 908: return "IJoint_isRevoluteJoint"; - case 909: return "IJoint_isFixedJoint"; - case 910: return "IJoint_asRevoluteJoint"; - case 911: return "IJoint_asFixedJoint"; - case 912: return "new_FixedJoint"; - case 913: return "delete_FixedJoint"; - case 914: return "FixedJoint_clone"; - case 915: return "FixedJoint_getNrOfPosCoords"; - case 916: return "FixedJoint_getNrOfDOFs"; - case 917: return "FixedJoint_setAttachedLinks"; - case 918: return "FixedJoint_setRestTransform"; - case 919: return "FixedJoint_getFirstAttachedLink"; - case 920: return "FixedJoint_getSecondAttachedLink"; - case 921: return "FixedJoint_getRestTransform"; - case 922: return "FixedJoint_getTransform"; - case 923: return "FixedJoint_getTransformDerivative"; - case 924: return "FixedJoint_getMotionSubspaceVector"; - case 925: return "FixedJoint_computeChildPosVelAcc"; - case 926: return "FixedJoint_computeChildVelAcc"; - case 927: return "FixedJoint_computeChildVel"; - case 928: return "FixedJoint_computeChildAcc"; - case 929: return "FixedJoint_computeChildBiasAcc"; - case 930: return "FixedJoint_computeJointTorque"; - case 931: return "FixedJoint_setIndex"; - case 932: return "FixedJoint_getIndex"; - case 933: return "FixedJoint_setPosCoordsOffset"; - case 934: return "FixedJoint_getPosCoordsOffset"; - case 935: return "FixedJoint_setDOFsOffset"; - case 936: return "FixedJoint_getDOFsOffset"; - case 937: return "FixedJoint_hasPosLimits"; - case 938: return "FixedJoint_enablePosLimits"; - case 939: return "FixedJoint_getPosLimits"; - case 940: return "FixedJoint_getMinPosLimit"; - case 941: return "FixedJoint_getMaxPosLimit"; - case 942: return "FixedJoint_setPosLimits"; - case 943: return "delete_MovableJointImpl1"; - case 944: return "MovableJointImpl1_getNrOfPosCoords"; - case 945: return "MovableJointImpl1_getNrOfDOFs"; - case 946: return "MovableJointImpl1_setIndex"; - case 947: return "MovableJointImpl1_getIndex"; - case 948: return "MovableJointImpl1_setPosCoordsOffset"; - case 949: return "MovableJointImpl1_getPosCoordsOffset"; - case 950: return "MovableJointImpl1_setDOFsOffset"; - case 951: return "MovableJointImpl1_getDOFsOffset"; - case 952: return "delete_MovableJointImpl2"; - case 953: return "MovableJointImpl2_getNrOfPosCoords"; - case 954: return "MovableJointImpl2_getNrOfDOFs"; - case 955: return "MovableJointImpl2_setIndex"; - case 956: return "MovableJointImpl2_getIndex"; - case 957: return "MovableJointImpl2_setPosCoordsOffset"; - case 958: return "MovableJointImpl2_getPosCoordsOffset"; - case 959: return "MovableJointImpl2_setDOFsOffset"; - case 960: return "MovableJointImpl2_getDOFsOffset"; - case 961: return "delete_MovableJointImpl3"; - case 962: return "MovableJointImpl3_getNrOfPosCoords"; - case 963: return "MovableJointImpl3_getNrOfDOFs"; - case 964: return "MovableJointImpl3_setIndex"; - case 965: return "MovableJointImpl3_getIndex"; - case 966: return "MovableJointImpl3_setPosCoordsOffset"; - case 967: return "MovableJointImpl3_getPosCoordsOffset"; - case 968: return "MovableJointImpl3_setDOFsOffset"; - case 969: return "MovableJointImpl3_getDOFsOffset"; - case 970: return "delete_MovableJointImpl4"; - case 971: return "MovableJointImpl4_getNrOfPosCoords"; - case 972: return "MovableJointImpl4_getNrOfDOFs"; - case 973: return "MovableJointImpl4_setIndex"; - case 974: return "MovableJointImpl4_getIndex"; - case 975: return "MovableJointImpl4_setPosCoordsOffset"; - case 976: return "MovableJointImpl4_getPosCoordsOffset"; - case 977: return "MovableJointImpl4_setDOFsOffset"; - case 978: return "MovableJointImpl4_getDOFsOffset"; - case 979: return "delete_MovableJointImpl5"; - case 980: return "MovableJointImpl5_getNrOfPosCoords"; - case 981: return "MovableJointImpl5_getNrOfDOFs"; - case 982: return "MovableJointImpl5_setIndex"; - case 983: return "MovableJointImpl5_getIndex"; - case 984: return "MovableJointImpl5_setPosCoordsOffset"; - case 985: return "MovableJointImpl5_getPosCoordsOffset"; - case 986: return "MovableJointImpl5_setDOFsOffset"; - case 987: return "MovableJointImpl5_getDOFsOffset"; - case 988: return "delete_MovableJointImpl6"; - case 989: return "MovableJointImpl6_getNrOfPosCoords"; - case 990: return "MovableJointImpl6_getNrOfDOFs"; - case 991: return "MovableJointImpl6_setIndex"; - case 992: return "MovableJointImpl6_getIndex"; - case 993: return "MovableJointImpl6_setPosCoordsOffset"; - case 994: return "MovableJointImpl6_getPosCoordsOffset"; - case 995: return "MovableJointImpl6_setDOFsOffset"; - case 996: return "MovableJointImpl6_getDOFsOffset"; - case 997: return "new_RevoluteJoint"; - case 998: return "delete_RevoluteJoint"; - case 999: return "RevoluteJoint_clone"; - case 1000: return "RevoluteJoint_setAttachedLinks"; - case 1001: return "RevoluteJoint_setRestTransform"; - case 1002: return "RevoluteJoint_setAxis"; - case 1003: return "RevoluteJoint_getFirstAttachedLink"; - case 1004: return "RevoluteJoint_getSecondAttachedLink"; - case 1005: return "RevoluteJoint_getAxis"; - case 1006: return "RevoluteJoint_getRestTransform"; - case 1007: return "RevoluteJoint_getTransform"; - case 1008: return "RevoluteJoint_getTransformDerivative"; - case 1009: return "RevoluteJoint_getMotionSubspaceVector"; - case 1010: return "RevoluteJoint_computeChildPosVelAcc"; - case 1011: return "RevoluteJoint_computeChildVel"; - case 1012: return "RevoluteJoint_computeChildVelAcc"; - case 1013: return "RevoluteJoint_computeChildAcc"; - case 1014: return "RevoluteJoint_computeChildBiasAcc"; - case 1015: return "RevoluteJoint_computeJointTorque"; - case 1016: return "RevoluteJoint_hasPosLimits"; - case 1017: return "RevoluteJoint_enablePosLimits"; - case 1018: return "RevoluteJoint_getPosLimits"; - case 1019: return "RevoluteJoint_getMinPosLimit"; - case 1020: return "RevoluteJoint_getMaxPosLimit"; - case 1021: return "RevoluteJoint_setPosLimits"; - case 1022: return "new_PrismaticJoint"; - case 1023: return "delete_PrismaticJoint"; - case 1024: return "PrismaticJoint_clone"; - case 1025: return "PrismaticJoint_setAttachedLinks"; - case 1026: return "PrismaticJoint_setRestTransform"; - case 1027: return "PrismaticJoint_setAxis"; - case 1028: return "PrismaticJoint_getFirstAttachedLink"; - case 1029: return "PrismaticJoint_getSecondAttachedLink"; - case 1030: return "PrismaticJoint_getAxis"; - case 1031: return "PrismaticJoint_getRestTransform"; - case 1032: return "PrismaticJoint_getTransform"; - case 1033: return "PrismaticJoint_getTransformDerivative"; - case 1034: return "PrismaticJoint_getMotionSubspaceVector"; - case 1035: return "PrismaticJoint_computeChildPosVelAcc"; - case 1036: return "PrismaticJoint_computeChildVel"; - case 1037: return "PrismaticJoint_computeChildVelAcc"; - case 1038: return "PrismaticJoint_computeChildAcc"; - case 1039: return "PrismaticJoint_computeChildBiasAcc"; - case 1040: return "PrismaticJoint_computeJointTorque"; - case 1041: return "PrismaticJoint_hasPosLimits"; - case 1042: return "PrismaticJoint_enablePosLimits"; - case 1043: return "PrismaticJoint_getPosLimits"; - case 1044: return "PrismaticJoint_getMinPosLimit"; - case 1045: return "PrismaticJoint_getMaxPosLimit"; - case 1046: return "PrismaticJoint_setPosLimits"; - case 1047: return "new_Traversal"; - case 1048: return "delete_Traversal"; - case 1049: return "Traversal_getNrOfVisitedLinks"; - case 1050: return "Traversal_getLink"; - case 1051: return "Traversal_getBaseLink"; - case 1052: return "Traversal_getParentLink"; - case 1053: return "Traversal_getParentJoint"; - case 1054: return "Traversal_getParentLinkFromLinkIndex"; - case 1055: return "Traversal_getParentJointFromLinkIndex"; - case 1056: return "Traversal_getTraversalIndexFromLinkIndex"; - case 1057: return "Traversal_reset"; - case 1058: return "Traversal_addTraversalBase"; - case 1059: return "Traversal_addTraversalElement"; - case 1060: return "Traversal_isParentOf"; - case 1061: return "Traversal_getChildLinkIndexFromJointIndex"; - case 1062: return "Traversal_getParentLinkIndexFromJointIndex"; - case 1063: return "Traversal_toString"; - case 1064: return "delete_SolidShape"; - case 1065: return "SolidShape_clone"; - case 1066: return "SolidShape_name_get"; - case 1067: return "SolidShape_name_set"; - case 1068: return "SolidShape_link_H_geometry_get"; - case 1069: return "SolidShape_link_H_geometry_set"; - case 1070: return "SolidShape_material_get"; - case 1071: return "SolidShape_material_set"; - case 1072: return "SolidShape_isSphere"; - case 1073: return "SolidShape_isBox"; - case 1074: return "SolidShape_isCylinder"; - case 1075: return "SolidShape_isExternalMesh"; - case 1076: return "SolidShape_asSphere"; - case 1077: return "SolidShape_asBox"; - case 1078: return "SolidShape_asCylinder"; - case 1079: return "SolidShape_asExternalMesh"; - case 1080: return "delete_Sphere"; - case 1081: return "Sphere_clone"; - case 1082: return "Sphere_radius_get"; - case 1083: return "Sphere_radius_set"; - case 1084: return "new_Sphere"; - case 1085: return "delete_Box"; - case 1086: return "Box_clone"; - case 1087: return "Box_x_get"; - case 1088: return "Box_x_set"; - case 1089: return "Box_y_get"; - case 1090: return "Box_y_set"; - case 1091: return "Box_z_get"; - case 1092: return "Box_z_set"; - case 1093: return "new_Box"; - case 1094: return "delete_Cylinder"; - case 1095: return "Cylinder_clone"; - case 1096: return "Cylinder_length_get"; - case 1097: return "Cylinder_length_set"; - case 1098: return "Cylinder_radius_get"; - case 1099: return "Cylinder_radius_set"; - case 1100: return "new_Cylinder"; - case 1101: return "delete_ExternalMesh"; - case 1102: return "ExternalMesh_clone"; - case 1103: return "ExternalMesh_filename_get"; - case 1104: return "ExternalMesh_filename_set"; - case 1105: return "ExternalMesh_scale_get"; - case 1106: return "ExternalMesh_scale_set"; - case 1107: return "new_ExternalMesh"; - case 1108: return "new_ModelSolidShapes"; - case 1109: return "ModelSolidShapes_clear"; - case 1110: return "delete_ModelSolidShapes"; - case 1111: return "ModelSolidShapes_resize"; - case 1112: return "ModelSolidShapes_isConsistent"; - case 1113: return "ModelSolidShapes_linkSolidShapes_get"; - case 1114: return "ModelSolidShapes_linkSolidShapes_set"; - case 1115: return "Neighbor_neighborLink_get"; - case 1116: return "Neighbor_neighborLink_set"; - case 1117: return "Neighbor_neighborJoint_get"; - case 1118: return "Neighbor_neighborJoint_set"; - case 1119: return "new_Neighbor"; - case 1120: return "delete_Neighbor"; - case 1121: return "new_Model"; - case 1122: return "Model_copy"; - case 1123: return "delete_Model"; - case 1124: return "Model_getNrOfLinks"; - case 1125: return "Model_getLinkName"; - case 1126: return "Model_getLinkIndex"; - case 1127: return "Model_isValidLinkIndex"; - case 1128: return "Model_getLink"; - case 1129: return "Model_addLink"; - case 1130: return "Model_getNrOfJoints"; - case 1131: return "Model_getJointName"; - case 1132: return "Model_getJointIndex"; - case 1133: return "Model_getJoint"; - case 1134: return "Model_isValidJointIndex"; - case 1135: return "Model_isLinkNameUsed"; - case 1136: return "Model_isJointNameUsed"; - case 1137: return "Model_isFrameNameUsed"; - case 1138: return "Model_addJoint"; - case 1139: return "Model_addJointAndLink"; - case 1140: return "Model_insertLinkToExistingJointAndAddJointForDisplacedLink"; - case 1141: return "Model_getNrOfPosCoords"; - case 1142: return "Model_getNrOfDOFs"; - case 1143: return "Model_getNrOfFrames"; - case 1144: return "Model_addAdditionalFrameToLink"; - case 1145: return "Model_getFrameName"; - case 1146: return "Model_getFrameIndex"; - case 1147: return "Model_isValidFrameIndex"; - case 1148: return "Model_getFrameTransform"; - case 1149: return "Model_getFrameLink"; - case 1150: return "Model_getNrOfNeighbors"; - case 1151: return "Model_getNeighbor"; - case 1152: return "Model_setDefaultBaseLink"; - case 1153: return "Model_getDefaultBaseLink"; - case 1154: return "Model_computeFullTreeTraversal"; - case 1155: return "Model_getInertialParameters"; - case 1156: return "Model_updateInertialParameters"; - case 1157: return "Model_visualSolidShapes"; - case 1158: return "Model_collisionSolidShapes"; - case 1159: return "Model_toString"; - case 1160: return "new_JointPosDoubleArray"; - case 1161: return "JointPosDoubleArray_resize"; - case 1162: return "JointPosDoubleArray_isConsistent"; - case 1163: return "delete_JointPosDoubleArray"; - case 1164: return "new_JointDOFsDoubleArray"; - case 1165: return "JointDOFsDoubleArray_resize"; - case 1166: return "JointDOFsDoubleArray_isConsistent"; - case 1167: return "delete_JointDOFsDoubleArray"; - case 1168: return "new_DOFSpatialForceArray"; - case 1169: return "DOFSpatialForceArray_resize"; - case 1170: return "DOFSpatialForceArray_isConsistent"; - case 1171: return "DOFSpatialForceArray_paren"; - case 1172: return "delete_DOFSpatialForceArray"; - case 1173: return "new_DOFSpatialMotionArray"; - case 1174: return "DOFSpatialMotionArray_resize"; - case 1175: return "DOFSpatialMotionArray_isConsistent"; - case 1176: return "DOFSpatialMotionArray_paren"; - case 1177: return "delete_DOFSpatialMotionArray"; - case 1178: return "new_FrameFreeFloatingJacobian"; - case 1179: return "FrameFreeFloatingJacobian_resize"; - case 1180: return "FrameFreeFloatingJacobian_isConsistent"; - case 1181: return "delete_FrameFreeFloatingJacobian"; - case 1182: return "new_MomentumFreeFloatingJacobian"; - case 1183: return "MomentumFreeFloatingJacobian_resize"; - case 1184: return "MomentumFreeFloatingJacobian_isConsistent"; - case 1185: return "delete_MomentumFreeFloatingJacobian"; - case 1186: return "new_FreeFloatingMassMatrix"; - case 1187: return "FreeFloatingMassMatrix_resize"; - case 1188: return "delete_FreeFloatingMassMatrix"; - case 1189: return "new_FreeFloatingPos"; - case 1190: return "FreeFloatingPos_resize"; - case 1191: return "FreeFloatingPos_worldBasePos"; - case 1192: return "FreeFloatingPos_jointPos"; - case 1193: return "FreeFloatingPos_getNrOfPosCoords"; - case 1194: return "delete_FreeFloatingPos"; - case 1195: return "new_FreeFloatingGeneralizedTorques"; - case 1196: return "FreeFloatingGeneralizedTorques_resize"; - case 1197: return "FreeFloatingGeneralizedTorques_baseWrench"; - case 1198: return "FreeFloatingGeneralizedTorques_jointTorques"; - case 1199: return "FreeFloatingGeneralizedTorques_getNrOfDOFs"; - case 1200: return "delete_FreeFloatingGeneralizedTorques"; - case 1201: return "new_FreeFloatingVel"; - case 1202: return "FreeFloatingVel_resize"; - case 1203: return "FreeFloatingVel_baseVel"; - case 1204: return "FreeFloatingVel_jointVel"; - case 1205: return "FreeFloatingVel_getNrOfDOFs"; - case 1206: return "delete_FreeFloatingVel"; - case 1207: return "new_FreeFloatingAcc"; - case 1208: return "FreeFloatingAcc_resize"; - case 1209: return "FreeFloatingAcc_baseAcc"; - case 1210: return "FreeFloatingAcc_jointAcc"; - case 1211: return "FreeFloatingAcc_getNrOfDOFs"; - case 1212: return "delete_FreeFloatingAcc"; - case 1213: return "ContactWrench_contactId"; - case 1214: return "ContactWrench_contactPoint"; - case 1215: return "ContactWrench_contactWrench"; - case 1216: return "new_ContactWrench"; - case 1217: return "delete_ContactWrench"; - case 1218: return "new_LinkContactWrenches"; - case 1219: return "LinkContactWrenches_resize"; - case 1220: return "LinkContactWrenches_getNrOfContactsForLink"; - case 1221: return "LinkContactWrenches_setNrOfContactsForLink"; - case 1222: return "LinkContactWrenches_getNrOfLinks"; - case 1223: return "LinkContactWrenches_contactWrench"; - case 1224: return "LinkContactWrenches_computeNetWrenches"; - case 1225: return "LinkContactWrenches_toString"; - case 1226: return "delete_LinkContactWrenches"; - case 1227: return "_wrap_ForwardPositionKinematics"; - case 1228: return "_wrap_ForwardVelAccKinematics"; - case 1229: return "_wrap_ForwardPosVelAccKinematics"; - case 1230: return "_wrap_ForwardPosVelKinematics"; - case 1231: return "_wrap_ForwardAccKinematics"; - case 1232: return "_wrap_ForwardBiasAccKinematics"; - case 1233: return "_wrap_ComputeLinearAndAngularMomentum"; - case 1234: return "_wrap_ComputeLinearAndAngularMomentumDerivativeBias"; - case 1235: return "_wrap_RNEADynamicPhase"; - case 1236: return "_wrap_CompositeRigidBodyAlgorithm"; - case 1237: return "new_ArticulatedBodyAlgorithmInternalBuffers"; - case 1238: return "ArticulatedBodyAlgorithmInternalBuffers_resize"; - case 1239: return "ArticulatedBodyAlgorithmInternalBuffers_isConsistent"; - case 1240: return "ArticulatedBodyAlgorithmInternalBuffers_S_get"; - case 1241: return "ArticulatedBodyAlgorithmInternalBuffers_S_set"; - case 1242: return "ArticulatedBodyAlgorithmInternalBuffers_U_get"; - case 1243: return "ArticulatedBodyAlgorithmInternalBuffers_U_set"; - case 1244: return "ArticulatedBodyAlgorithmInternalBuffers_D_get"; - case 1245: return "ArticulatedBodyAlgorithmInternalBuffers_D_set"; - case 1246: return "ArticulatedBodyAlgorithmInternalBuffers_u_get"; - case 1247: return "ArticulatedBodyAlgorithmInternalBuffers_u_set"; - case 1248: return "ArticulatedBodyAlgorithmInternalBuffers_linksVel_get"; - case 1249: return "ArticulatedBodyAlgorithmInternalBuffers_linksVel_set"; - case 1250: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_get"; - case 1251: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_set"; - case 1252: return "ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_get"; - case 1253: return "ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_set"; - case 1254: return "ArticulatedBodyAlgorithmInternalBuffers_linkABIs_get"; - case 1255: return "ArticulatedBodyAlgorithmInternalBuffers_linkABIs_set"; - case 1256: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_get"; - case 1257: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_set"; - case 1258: return "delete_ArticulatedBodyAlgorithmInternalBuffers"; - case 1259: return "_wrap_ArticulatedBodyAlgorithm"; - case 1260: return "NR_OF_SENSOR_TYPES_get"; - case 1261: return "_wrap_isLinkSensor"; - case 1262: return "_wrap_isJointSensor"; - case 1263: return "_wrap_getSensorTypeSize"; - case 1264: return "delete_Sensor"; - case 1265: return "Sensor_getName"; - case 1266: return "Sensor_getSensorType"; - case 1267: return "Sensor_isValid"; - case 1268: return "Sensor_setName"; - case 1269: return "Sensor_clone"; - case 1270: return "Sensor_isConsistent"; - case 1271: return "Sensor_updateIndices"; - case 1272: return "Sensor_updateIndeces"; - case 1273: return "delete_JointSensor"; - case 1274: return "JointSensor_getParentJoint"; - case 1275: return "JointSensor_getParentJointIndex"; - case 1276: return "JointSensor_setParentJoint"; - case 1277: return "JointSensor_setParentJointIndex"; - case 1278: return "JointSensor_isConsistent"; - case 1279: return "delete_LinkSensor"; - case 1280: return "LinkSensor_getParentLink"; - case 1281: return "LinkSensor_getParentLinkIndex"; - case 1282: return "LinkSensor_getLinkSensorTransform"; - case 1283: return "LinkSensor_setParentLink"; - case 1284: return "LinkSensor_setParentLinkIndex"; - case 1285: return "LinkSensor_setLinkSensorTransform"; - case 1286: return "LinkSensor_isConsistent"; - case 1287: return "new_SensorsList"; - case 1288: return "delete_SensorsList"; - case 1289: return "SensorsList_addSensor"; - case 1290: return "SensorsList_setSerialization"; - case 1291: return "SensorsList_getSerialization"; - case 1292: return "SensorsList_getNrOfSensors"; - case 1293: return "SensorsList_getSensorIndex"; - case 1294: return "SensorsList_getSizeOfAllSensorsMeasurements"; - case 1295: return "SensorsList_getSensor"; - case 1296: return "SensorsList_isConsistent"; - case 1297: return "SensorsList_removeSensor"; - case 1298: return "SensorsList_removeAllSensorsOfType"; - case 1299: return "SensorsList_getSixAxisForceTorqueSensor"; - case 1300: return "SensorsList_getAccelerometerSensor"; - case 1301: return "SensorsList_getGyroscopeSensor"; - case 1302: return "SensorsList_getThreeAxisAngularAccelerometerSensor"; - case 1303: return "new_SensorsMeasurements"; - case 1304: return "delete_SensorsMeasurements"; - case 1305: return "SensorsMeasurements_setNrOfSensors"; - case 1306: return "SensorsMeasurements_getNrOfSensors"; - case 1307: return "SensorsMeasurements_resize"; - case 1308: return "SensorsMeasurements_toVector"; - case 1309: return "SensorsMeasurements_setMeasurement"; - case 1310: return "SensorsMeasurements_getMeasurement"; - case 1311: return "SensorsMeasurements_getSizeOfAllSensorsMeasurements"; - case 1312: return "new_SixAxisForceTorqueSensor"; - case 1313: return "delete_SixAxisForceTorqueSensor"; - case 1314: return "SixAxisForceTorqueSensor_setName"; - case 1315: return "SixAxisForceTorqueSensor_setFirstLinkSensorTransform"; - case 1316: return "SixAxisForceTorqueSensor_setSecondLinkSensorTransform"; - case 1317: return "SixAxisForceTorqueSensor_getFirstLinkIndex"; - case 1318: return "SixAxisForceTorqueSensor_getSecondLinkIndex"; - case 1319: return "SixAxisForceTorqueSensor_setFirstLinkName"; - case 1320: return "SixAxisForceTorqueSensor_setSecondLinkName"; - case 1321: return "SixAxisForceTorqueSensor_getFirstLinkName"; - case 1322: return "SixAxisForceTorqueSensor_getSecondLinkName"; - case 1323: return "SixAxisForceTorqueSensor_setParentJoint"; - case 1324: return "SixAxisForceTorqueSensor_setParentJointIndex"; - case 1325: return "SixAxisForceTorqueSensor_setAppliedWrenchLink"; - case 1326: return "SixAxisForceTorqueSensor_getName"; - case 1327: return "SixAxisForceTorqueSensor_getSensorType"; - case 1328: return "SixAxisForceTorqueSensor_getParentJoint"; - case 1329: return "SixAxisForceTorqueSensor_getParentJointIndex"; - case 1330: return "SixAxisForceTorqueSensor_isValid"; - case 1331: return "SixAxisForceTorqueSensor_clone"; - case 1332: return "SixAxisForceTorqueSensor_updateIndices"; - case 1333: return "SixAxisForceTorqueSensor_updateIndeces"; - case 1334: return "SixAxisForceTorqueSensor_getAppliedWrenchLink"; - case 1335: return "SixAxisForceTorqueSensor_isLinkAttachedToSensor"; - case 1336: return "SixAxisForceTorqueSensor_getLinkSensorTransform"; - case 1337: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLink"; - case 1338: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLinkMatrix"; - case 1339: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLinkInverseMatrix"; - case 1340: return "SixAxisForceTorqueSensor_predictMeasurement"; - case 1341: return "SixAxisForceTorqueSensor_toString"; - case 1342: return "new_AccelerometerSensor"; - case 1343: return "delete_AccelerometerSensor"; - case 1344: return "AccelerometerSensor_setName"; - case 1345: return "AccelerometerSensor_setLinkSensorTransform"; - case 1346: return "AccelerometerSensor_setParentLink"; - case 1347: return "AccelerometerSensor_setParentLinkIndex"; - case 1348: return "AccelerometerSensor_getName"; - case 1349: return "AccelerometerSensor_getSensorType"; - case 1350: return "AccelerometerSensor_getParentLink"; - case 1351: return "AccelerometerSensor_getParentLinkIndex"; - case 1352: return "AccelerometerSensor_getLinkSensorTransform"; - case 1353: return "AccelerometerSensor_isValid"; - case 1354: return "AccelerometerSensor_clone"; - case 1355: return "AccelerometerSensor_updateIndices"; - case 1356: return "AccelerometerSensor_updateIndeces"; - case 1357: return "AccelerometerSensor_predictMeasurement"; - case 1358: return "new_GyroscopeSensor"; - case 1359: return "delete_GyroscopeSensor"; - case 1360: return "GyroscopeSensor_setName"; - case 1361: return "GyroscopeSensor_setLinkSensorTransform"; - case 1362: return "GyroscopeSensor_setParentLink"; - case 1363: return "GyroscopeSensor_setParentLinkIndex"; - case 1364: return "GyroscopeSensor_getName"; - case 1365: return "GyroscopeSensor_getSensorType"; - case 1366: return "GyroscopeSensor_getParentLink"; - case 1367: return "GyroscopeSensor_getParentLinkIndex"; - case 1368: return "GyroscopeSensor_getLinkSensorTransform"; - case 1369: return "GyroscopeSensor_isValid"; - case 1370: return "GyroscopeSensor_clone"; - case 1371: return "GyroscopeSensor_updateIndices"; - case 1372: return "GyroscopeSensor_updateIndeces"; - case 1373: return "GyroscopeSensor_predictMeasurement"; - case 1374: return "new_ThreeAxisAngularAccelerometerSensor"; - case 1375: return "delete_ThreeAxisAngularAccelerometerSensor"; - case 1376: return "ThreeAxisAngularAccelerometerSensor_setName"; - case 1377: return "ThreeAxisAngularAccelerometerSensor_setLinkSensorTransform"; - case 1378: return "ThreeAxisAngularAccelerometerSensor_setParentLink"; - case 1379: return "ThreeAxisAngularAccelerometerSensor_setParentLinkIndex"; - case 1380: return "ThreeAxisAngularAccelerometerSensor_getName"; - case 1381: return "ThreeAxisAngularAccelerometerSensor_getSensorType"; - case 1382: return "ThreeAxisAngularAccelerometerSensor_getParentLink"; - case 1383: return "ThreeAxisAngularAccelerometerSensor_getParentLinkIndex"; - case 1384: return "ThreeAxisAngularAccelerometerSensor_getLinkSensorTransform"; - case 1385: return "ThreeAxisAngularAccelerometerSensor_isValid"; - case 1386: return "ThreeAxisAngularAccelerometerSensor_clone"; - case 1387: return "ThreeAxisAngularAccelerometerSensor_updateIndices"; - case 1388: return "ThreeAxisAngularAccelerometerSensor_predictMeasurement"; - case 1389: return "_wrap_predictSensorsMeasurements"; - case 1390: return "_wrap_predictSensorsMeasurementsFromRawBuffers"; - case 1391: return "URDFParserOptions_addSensorFramesAsAdditionalFrames_get"; - case 1392: return "URDFParserOptions_addSensorFramesAsAdditionalFrames_set"; - case 1393: return "URDFParserOptions_originalFilename_get"; - case 1394: return "URDFParserOptions_originalFilename_set"; - case 1395: return "new_URDFParserOptions"; - case 1396: return "delete_URDFParserOptions"; - case 1397: return "_wrap_modelFromURDF"; - case 1398: return "_wrap_modelFromURDFString"; - case 1399: return "_wrap_dofsListFromURDF"; - case 1400: return "_wrap_dofsListFromURDFString"; - case 1401: return "_wrap_sensorsFromURDF"; - case 1402: return "_wrap_sensorsFromURDFString"; - case 1403: return "new_ModelLoader"; - case 1404: return "ModelLoader_loadModelFromString"; - case 1405: return "ModelLoader_loadModelFromFile"; - case 1406: return "ModelLoader_loadReducedModelFromFullModel"; - case 1407: return "ModelLoader_loadReducedModelFromString"; - case 1408: return "ModelLoader_loadReducedModelFromFile"; - case 1409: return "ModelLoader_model"; - case 1410: return "ModelLoader_sensors"; - case 1411: return "ModelLoader_isValid"; - case 1412: return "delete_ModelLoader"; - case 1413: return "new_UnknownWrenchContact"; - case 1414: return "UnknownWrenchContact_unknownType_get"; - case 1415: return "UnknownWrenchContact_unknownType_set"; - case 1416: return "UnknownWrenchContact_contactPoint_get"; - case 1417: return "UnknownWrenchContact_contactPoint_set"; - case 1418: return "UnknownWrenchContact_forceDirection_get"; - case 1419: return "UnknownWrenchContact_forceDirection_set"; - case 1420: return "UnknownWrenchContact_knownWrench_get"; - case 1421: return "UnknownWrenchContact_knownWrench_set"; - case 1422: return "UnknownWrenchContact_contactId_get"; - case 1423: return "UnknownWrenchContact_contactId_set"; - case 1424: return "delete_UnknownWrenchContact"; - case 1425: return "new_LinkUnknownWrenchContacts"; - case 1426: return "LinkUnknownWrenchContacts_clear"; - case 1427: return "LinkUnknownWrenchContacts_resize"; - case 1428: return "LinkUnknownWrenchContacts_getNrOfContactsForLink"; - case 1429: return "LinkUnknownWrenchContacts_setNrOfContactsForLink"; - case 1430: return "LinkUnknownWrenchContacts_addNewContactForLink"; - case 1431: return "LinkUnknownWrenchContacts_addNewContactInFrame"; - case 1432: return "LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin"; - case 1433: return "LinkUnknownWrenchContacts_contactWrench"; - case 1434: return "LinkUnknownWrenchContacts_toString"; - case 1435: return "delete_LinkUnknownWrenchContacts"; - case 1436: return "new_estimateExternalWrenchesBuffers"; - case 1437: return "estimateExternalWrenchesBuffers_resize"; - case 1438: return "estimateExternalWrenchesBuffers_getNrOfSubModels"; - case 1439: return "estimateExternalWrenchesBuffers_getNrOfLinks"; - case 1440: return "estimateExternalWrenchesBuffers_isConsistent"; - case 1441: return "estimateExternalWrenchesBuffers_A_get"; - case 1442: return "estimateExternalWrenchesBuffers_A_set"; - case 1443: return "estimateExternalWrenchesBuffers_x_get"; - case 1444: return "estimateExternalWrenchesBuffers_x_set"; - case 1445: return "estimateExternalWrenchesBuffers_b_get"; - case 1446: return "estimateExternalWrenchesBuffers_b_set"; - case 1447: return "estimateExternalWrenchesBuffers_pinvA_get"; - case 1448: return "estimateExternalWrenchesBuffers_pinvA_set"; - case 1449: return "estimateExternalWrenchesBuffers_b_contacts_subtree_get"; - case 1450: return "estimateExternalWrenchesBuffers_b_contacts_subtree_set"; - case 1451: return "estimateExternalWrenchesBuffers_subModelBase_H_link_get"; - case 1452: return "estimateExternalWrenchesBuffers_subModelBase_H_link_set"; - case 1453: return "delete_estimateExternalWrenchesBuffers"; - case 1454: return "_wrap_estimateExternalWrenchesWithoutInternalFT"; - case 1455: return "_wrap_estimateExternalWrenches"; - case 1456: return "_wrap_dynamicsEstimationForwardVelAccKinematics"; - case 1457: return "_wrap_dynamicsEstimationForwardVelKinematics"; - case 1458: return "_wrap_computeLinkNetWrenchesWithoutGravity"; - case 1459: return "_wrap_estimateLinkContactWrenchesFromLinkNetExternalWrenches"; - case 1460: return "new_ExtWrenchesAndJointTorquesEstimator"; - case 1461: return "delete_ExtWrenchesAndJointTorquesEstimator"; - case 1462: return "ExtWrenchesAndJointTorquesEstimator_setModelAndSensors"; - case 1463: return "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile"; - case 1464: return "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs"; - case 1465: return "ExtWrenchesAndJointTorquesEstimator_model"; - case 1466: return "ExtWrenchesAndJointTorquesEstimator_sensors"; - case 1467: return "ExtWrenchesAndJointTorquesEstimator_submodels"; - case 1468: return "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase"; - case 1469: return "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase"; - case 1470: return "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements"; - case 1471: return "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques"; - case 1472: return "ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill"; - case 1473: return "ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity"; - case 1474: return "new_SimpleLeggedOdometry"; - case 1475: return "delete_SimpleLeggedOdometry"; - case 1476: return "SimpleLeggedOdometry_setModel"; - case 1477: return "SimpleLeggedOdometry_loadModelFromFile"; - case 1478: return "SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs"; - case 1479: return "SimpleLeggedOdometry_model"; - case 1480: return "SimpleLeggedOdometry_updateKinematics"; - case 1481: return "SimpleLeggedOdometry_init"; - case 1482: return "SimpleLeggedOdometry_changeFixedFrame"; - case 1483: return "SimpleLeggedOdometry_getCurrentFixedLink"; - case 1484: return "SimpleLeggedOdometry_getWorldLinkTransform"; - case 1485: return "_wrap_isLinkBerdyDynamicVariable"; - case 1486: return "_wrap_isJointBerdyDynamicVariable"; - case 1487: return "_wrap_isDOFBerdyDynamicVariable"; - case 1488: return "new_BerdyOptions"; - case 1489: return "BerdyOptions_berdyVariant_get"; - case 1490: return "BerdyOptions_berdyVariant_set"; - case 1491: return "BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_get"; - case 1492: return "BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set"; - case 1493: return "BerdyOptions_includeAllJointAccelerationsAsSensors_get"; - case 1494: return "BerdyOptions_includeAllJointAccelerationsAsSensors_set"; - case 1495: return "BerdyOptions_includeAllJointTorquesAsSensors_get"; - case 1496: return "BerdyOptions_includeAllJointTorquesAsSensors_set"; - case 1497: return "BerdyOptions_includeAllNetExternalWrenchesAsSensors_get"; - case 1498: return "BerdyOptions_includeAllNetExternalWrenchesAsSensors_set"; - case 1499: return "BerdyOptions_includeFixedBaseExternalWrench_get"; - case 1500: return "BerdyOptions_includeFixedBaseExternalWrench_set"; - case 1501: return "BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_get"; - case 1502: return "BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_set"; - case 1503: return "BerdyOptions_baseLink_get"; - case 1504: return "BerdyOptions_baseLink_set"; - case 1505: return "BerdyOptions_checkConsistency"; - case 1506: return "delete_BerdyOptions"; - case 1507: return "BerdySensor_type_get"; - case 1508: return "BerdySensor_type_set"; - case 1509: return "BerdySensor_id_get"; - case 1510: return "BerdySensor_id_set"; - case 1511: return "BerdySensor_range_get"; - case 1512: return "BerdySensor_range_set"; - case 1513: return "BerdySensor_eq"; - case 1514: return "BerdySensor_lt"; - case 1515: return "new_BerdySensor"; - case 1516: return "delete_BerdySensor"; - case 1517: return "BerdyDynamicVariable_type_get"; - case 1518: return "BerdyDynamicVariable_type_set"; - case 1519: return "BerdyDynamicVariable_id_get"; - case 1520: return "BerdyDynamicVariable_id_set"; - case 1521: return "BerdyDynamicVariable_range_get"; - case 1522: return "BerdyDynamicVariable_range_set"; - case 1523: return "BerdyDynamicVariable_eq"; - case 1524: return "BerdyDynamicVariable_lt"; - case 1525: return "new_BerdyDynamicVariable"; - case 1526: return "delete_BerdyDynamicVariable"; - case 1527: return "new_BerdyHelper"; - case 1528: return "BerdyHelper_dynamicTraversal"; - case 1529: return "BerdyHelper_model"; - case 1530: return "BerdyHelper_sensors"; - case 1531: return "BerdyHelper_isValid"; - case 1532: return "BerdyHelper_init"; - case 1533: return "BerdyHelper_getOptions"; - case 1534: return "BerdyHelper_getNrOfDynamicVariables"; - case 1535: return "BerdyHelper_getNrOfDynamicEquations"; - case 1536: return "BerdyHelper_getNrOfSensorsMeasurements"; - case 1537: return "BerdyHelper_resizeAndZeroBerdyMatrices"; - case 1538: return "BerdyHelper_getBerdyMatrices"; - case 1539: return "BerdyHelper_getSensorsOrdering"; - case 1540: return "BerdyHelper_getRangeSensorVariable"; - case 1541: return "BerdyHelper_getRangeDOFSensorVariable"; - case 1542: return "BerdyHelper_getRangeJointSensorVariable"; - case 1543: return "BerdyHelper_getRangeLinkSensorVariable"; - case 1544: return "BerdyHelper_getRangeLinkVariable"; - case 1545: return "BerdyHelper_getRangeJointVariable"; - case 1546: return "BerdyHelper_getRangeDOFVariable"; - case 1547: return "BerdyHelper_getDynamicVariablesOrdering"; - case 1548: return "BerdyHelper_serializeDynamicVariables"; - case 1549: return "BerdyHelper_serializeSensorVariables"; - case 1550: return "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA"; - case 1551: return "BerdyHelper_extractJointTorquesFromDynamicVariables"; - case 1552: return "BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables"; - case 1553: return "BerdyHelper_updateKinematicsFromFloatingBase"; - case 1554: return "BerdyHelper_updateKinematicsFromFixedBase"; - case 1555: return "BerdyHelper_updateKinematicsFromTraversalFixedBase"; - case 1556: return "BerdyHelper_setNetExternalWrenchMeasurementFrame"; - case 1557: return "BerdyHelper_getNetExternalWrenchMeasurementFrame"; - case 1558: return "delete_BerdyHelper"; - case 1559: return "new_BerdySparseMAPSolver"; - case 1560: return "delete_BerdySparseMAPSolver"; - case 1561: return "BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance"; - case 1562: return "BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance"; - case 1563: return "BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue"; - case 1564: return "BerdySparseMAPSolver_setMeasurementsPriorCovariance"; - case 1565: return "BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse"; - case 1566: return "BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse"; - case 1567: return "BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue"; - case 1568: return "BerdySparseMAPSolver_measurementsPriorCovarianceInverse"; - case 1569: return "BerdySparseMAPSolver_isValid"; - case 1570: return "BerdySparseMAPSolver_initialize"; - case 1571: return "BerdySparseMAPSolver_updateEstimateInformationFixedBase"; - case 1572: return "BerdySparseMAPSolver_updateEstimateInformationFloatingBase"; - case 1573: return "BerdySparseMAPSolver_doEstimate"; - case 1574: return "BerdySparseMAPSolver_getLastEstimate"; - case 1575: return "DynamicsRegressorParameter_category_get"; - case 1576: return "DynamicsRegressorParameter_category_set"; - case 1577: return "DynamicsRegressorParameter_elemIndex_get"; - case 1578: return "DynamicsRegressorParameter_elemIndex_set"; - case 1579: return "DynamicsRegressorParameter_type_get"; - case 1580: return "DynamicsRegressorParameter_type_set"; - case 1581: return "DynamicsRegressorParameter_lt"; - case 1582: return "DynamicsRegressorParameter_eq"; - case 1583: return "DynamicsRegressorParameter_ne"; - case 1584: return "new_DynamicsRegressorParameter"; - case 1585: return "delete_DynamicsRegressorParameter"; - case 1586: return "DynamicsRegressorParametersList_parameters_get"; - case 1587: return "DynamicsRegressorParametersList_parameters_set"; - case 1588: return "DynamicsRegressorParametersList_getDescriptionOfParameter"; - case 1589: return "DynamicsRegressorParametersList_addParam"; - case 1590: return "DynamicsRegressorParametersList_addList"; - case 1591: return "DynamicsRegressorParametersList_findParam"; - case 1592: return "DynamicsRegressorParametersList_getNrOfParameters"; - case 1593: return "new_DynamicsRegressorParametersList"; - case 1594: return "delete_DynamicsRegressorParametersList"; - case 1595: return "new_DynamicsRegressorGenerator"; - case 1596: return "delete_DynamicsRegressorGenerator"; - case 1597: return "DynamicsRegressorGenerator_loadRobotAndSensorsModelFromFile"; - case 1598: return "DynamicsRegressorGenerator_loadRobotAndSensorsModelFromString"; - case 1599: return "DynamicsRegressorGenerator_loadRegressorStructureFromFile"; - case 1600: return "DynamicsRegressorGenerator_loadRegressorStructureFromString"; - case 1601: return "DynamicsRegressorGenerator_isValid"; - case 1602: return "DynamicsRegressorGenerator_getNrOfParameters"; - case 1603: return "DynamicsRegressorGenerator_getNrOfOutputs"; - case 1604: return "DynamicsRegressorGenerator_getNrOfDegreesOfFreedom"; - case 1605: return "DynamicsRegressorGenerator_getDescriptionOfParameter"; - case 1606: return "DynamicsRegressorGenerator_getDescriptionOfParameters"; - case 1607: return "DynamicsRegressorGenerator_getDescriptionOfOutput"; - case 1608: return "DynamicsRegressorGenerator_getDescriptionOfOutputs"; - case 1609: return "DynamicsRegressorGenerator_getDescriptionOfDegreeOfFreedom"; - case 1610: return "DynamicsRegressorGenerator_getDescriptionOfDegreesOfFreedom"; - case 1611: return "DynamicsRegressorGenerator_getDescriptionOfLink"; - case 1612: return "DynamicsRegressorGenerator_getDescriptionOfLinks"; - case 1613: return "DynamicsRegressorGenerator_getNrOfLinks"; - case 1614: return "DynamicsRegressorGenerator_getNrOfFakeLinks"; - case 1615: return "DynamicsRegressorGenerator_getBaseLinkName"; - case 1616: return "DynamicsRegressorGenerator_getSensorsModel"; - case 1617: return "DynamicsRegressorGenerator_setRobotState"; - case 1618: return "DynamicsRegressorGenerator_getSensorsMeasurements"; - case 1619: return "DynamicsRegressorGenerator_setTorqueSensorMeasurement"; - case 1620: return "DynamicsRegressorGenerator_computeRegressor"; - case 1621: return "DynamicsRegressorGenerator_getModelParameters"; - case 1622: return "DynamicsRegressorGenerator_computeFloatingBaseIdentifiableSubspace"; - case 1623: return "DynamicsRegressorGenerator_computeFixedBaseIdentifiableSubspace"; - case 1624: return "DynamicsRegressorGenerator_generate_random_regressors"; - case 1625: return "new_KinDynComputations"; - case 1626: return "delete_KinDynComputations"; - case 1627: return "KinDynComputations_loadRobotModel"; - case 1628: return "KinDynComputations_loadRobotModelFromFile"; - case 1629: return "KinDynComputations_loadRobotModelFromString"; - case 1630: return "KinDynComputations_isValid"; - case 1631: return "KinDynComputations_setFrameVelocityRepresentation"; - case 1632: return "KinDynComputations_getFrameVelocityRepresentation"; - case 1633: return "KinDynComputations_getNrOfDegreesOfFreedom"; - case 1634: return "KinDynComputations_getDescriptionOfDegreeOfFreedom"; - case 1635: return "KinDynComputations_getDescriptionOfDegreesOfFreedom"; - case 1636: return "KinDynComputations_getNrOfLinks"; - case 1637: return "KinDynComputations_getNrOfFrames"; - case 1638: return "KinDynComputations_getFloatingBase"; - case 1639: return "KinDynComputations_setFloatingBase"; - case 1640: return "KinDynComputations_model"; - case 1641: return "KinDynComputations_getRobotModel"; - case 1642: return "KinDynComputations_setJointPos"; - case 1643: return "KinDynComputations_setRobotState"; - case 1644: return "KinDynComputations_getRobotState"; - case 1645: return "KinDynComputations_getWorldBaseTransform"; - case 1646: return "KinDynComputations_getBaseTwist"; - case 1647: return "KinDynComputations_getJointPos"; - case 1648: return "KinDynComputations_getJointVel"; - case 1649: return "KinDynComputations_getModelVel"; - case 1650: return "KinDynComputations_getFrameIndex"; - case 1651: return "KinDynComputations_getFrameName"; - case 1652: return "KinDynComputations_getWorldTransform"; - case 1653: return "KinDynComputations_getRelativeTransformExplicit"; - case 1654: return "KinDynComputations_getRelativeTransform"; - case 1655: return "KinDynComputations_getFrameVel"; - case 1656: return "KinDynComputations_getFrameFreeFloatingJacobian"; - case 1657: return "KinDynComputations_getRelativeJacobian"; - case 1658: return "KinDynComputations_getRelativeJacobianExplicit"; - case 1659: return "KinDynComputations_getFrameBiasAcc"; - case 1660: return "KinDynComputations_getCenterOfMassPosition"; - case 1661: return "KinDynComputations_getCenterOfMassVelocity"; - case 1662: return "KinDynComputations_getCenterOfMassJacobian"; - case 1663: return "KinDynComputations_getCenterOfMassBiasAcc"; - case 1664: return "KinDynComputations_getAverageVelocity"; - case 1665: return "KinDynComputations_getAverageVelocityJacobian"; - case 1666: return "KinDynComputations_getCentroidalAverageVelocity"; - case 1667: return "KinDynComputations_getCentroidalAverageVelocityJacobian"; - case 1668: return "KinDynComputations_getLinearAngularMomentum"; - case 1669: return "KinDynComputations_getLinearAngularMomentumJacobian"; - case 1670: return "KinDynComputations_getCentroidalTotalMomentum"; - case 1671: return "KinDynComputations_getFreeFloatingMassMatrix"; - case 1672: return "KinDynComputations_inverseDynamics"; - case 1673: return "KinDynComputations_generalizedBiasForces"; - case 1674: return "KinDynComputations_generalizedGravityForces"; - case 1675: return "delete_ICamera"; - case 1676: return "ICamera_setPosition"; - case 1677: return "ICamera_setTarget"; - case 1678: return "ICamera_setUpVector"; - case 1679: return "ColorViz_r_get"; - case 1680: return "ColorViz_r_set"; - case 1681: return "ColorViz_g_get"; - case 1682: return "ColorViz_g_set"; - case 1683: return "ColorViz_b_get"; - case 1684: return "ColorViz_b_set"; - case 1685: return "ColorViz_a_get"; - case 1686: return "ColorViz_a_set"; - case 1687: return "new_ColorViz"; - case 1688: return "delete_ColorViz"; - case 1689: return "delete_ILight"; - case 1690: return "ILight_getName"; - case 1691: return "ILight_setType"; - case 1692: return "ILight_getType"; - case 1693: return "ILight_setPosition"; - case 1694: return "ILight_getPosition"; - case 1695: return "ILight_setDirection"; - case 1696: return "ILight_getDirection"; - case 1697: return "ILight_setAmbientColor"; - case 1698: return "ILight_getAmbientColor"; - case 1699: return "ILight_setSpecularColor"; - case 1700: return "ILight_getSpecularColor"; - case 1701: return "ILight_setDiffuseColor"; - case 1702: return "ILight_getDiffuseColor"; - case 1703: return "delete_IEnvironment"; - case 1704: return "IEnvironment_getElements"; - case 1705: return "IEnvironment_setElementVisibility"; - case 1706: return "IEnvironment_setBackgroundColor"; - case 1707: return "IEnvironment_setAmbientLight"; - case 1708: return "IEnvironment_getLights"; - case 1709: return "IEnvironment_addLight"; - case 1710: return "IEnvironment_lightViz"; - case 1711: return "IEnvironment_removeLight"; - case 1712: return "delete_IJetsVisualization"; - case 1713: return "IJetsVisualization_setJetsFrames"; - case 1714: return "IJetsVisualization_getNrOfJets"; - case 1715: return "IJetsVisualization_getJetDirection"; - case 1716: return "IJetsVisualization_setJetDirection"; - case 1717: return "IJetsVisualization_setJetColor"; - case 1718: return "IJetsVisualization_setJetsDimensions"; - case 1719: return "IJetsVisualization_setJetsIntensity"; - case 1720: return "delete_IModelVisualization"; - case 1721: return "IModelVisualization_setPositions"; - case 1722: return "IModelVisualization_setLinkPositions"; - case 1723: return "IModelVisualization_model"; - case 1724: return "IModelVisualization_getInstanceName"; - case 1725: return "IModelVisualization_setModelVisibility"; - case 1726: return "IModelVisualization_setModelColor"; - case 1727: return "IModelVisualization_resetModelColor"; - case 1728: return "IModelVisualization_getLinkNames"; - case 1729: return "IModelVisualization_setLinkVisibility"; - case 1730: return "IModelVisualization_getFeatures"; - case 1731: return "IModelVisualization_setFeatureVisibility"; - case 1732: return "IModelVisualization_jets"; - case 1733: return "VisualizerOptions_verbose_get"; - case 1734: return "VisualizerOptions_verbose_set"; - case 1735: return "VisualizerOptions_winWidth_get"; - case 1736: return "VisualizerOptions_winWidth_set"; - case 1737: return "VisualizerOptions_winHeight_get"; - case 1738: return "VisualizerOptions_winHeight_set"; - case 1739: return "VisualizerOptions_rootFrameArrowsDimension_get"; - case 1740: return "VisualizerOptions_rootFrameArrowsDimension_set"; - case 1741: return "new_VisualizerOptions"; - case 1742: return "delete_VisualizerOptions"; - case 1743: return "new_Visualizer"; - case 1744: return "delete_Visualizer"; - case 1745: return "Visualizer_init"; - case 1746: return "Visualizer_getNrOfVisualizedModels"; - case 1747: return "Visualizer_getModelInstanceName"; - case 1748: return "Visualizer_getModelInstanceIndex"; - case 1749: return "Visualizer_addModel"; - case 1750: return "Visualizer_modelViz"; - case 1751: return "Visualizer_camera"; - case 1752: return "Visualizer_enviroment"; - case 1753: return "Visualizer_run"; - case 1754: return "Visualizer_draw"; - case 1755: return "Visualizer_drawToFile"; - case 1756: return "Visualizer_close"; - case 1757: return "new_DynamicsComputations"; - case 1758: return "delete_DynamicsComputations"; - case 1759: return "DynamicsComputations_loadRobotModelFromFile"; - case 1760: return "DynamicsComputations_loadRobotModelFromString"; - case 1761: return "DynamicsComputations_isValid"; - case 1762: return "DynamicsComputations_getNrOfDegreesOfFreedom"; - case 1763: return "DynamicsComputations_getDescriptionOfDegreeOfFreedom"; - case 1764: return "DynamicsComputations_getDescriptionOfDegreesOfFreedom"; - case 1765: return "DynamicsComputations_getNrOfLinks"; - case 1766: return "DynamicsComputations_getNrOfFrames"; - case 1767: return "DynamicsComputations_getFloatingBase"; - case 1768: return "DynamicsComputations_setFloatingBase"; - case 1769: return "DynamicsComputations_setRobotState"; - case 1770: return "DynamicsComputations_getWorldBaseTransform"; - case 1771: return "DynamicsComputations_getBaseTwist"; - case 1772: return "DynamicsComputations_getJointPos"; - case 1773: return "DynamicsComputations_getJointVel"; - case 1774: return "DynamicsComputations_getFrameIndex"; - case 1775: return "DynamicsComputations_getFrameName"; - case 1776: return "DynamicsComputations_getWorldTransform"; - case 1777: return "DynamicsComputations_getRelativeTransform"; - case 1778: return "DynamicsComputations_getFrameTwist"; - case 1779: return "DynamicsComputations_getFrameTwistInWorldOrient"; - case 1780: return "DynamicsComputations_getFrameProperSpatialAcceleration"; - case 1781: return "DynamicsComputations_getLinkIndex"; - case 1782: return "DynamicsComputations_getLinkInertia"; - case 1783: return "DynamicsComputations_getJointIndex"; - case 1784: return "DynamicsComputations_getJointName"; - case 1785: return "DynamicsComputations_getJointLimits"; - case 1786: return "DynamicsComputations_inverseDynamics"; - case 1787: return "DynamicsComputations_getFreeFloatingMassMatrix"; - case 1788: return "DynamicsComputations_getFrameJacobian"; - case 1789: return "DynamicsComputations_getDynamicsRegressor"; - case 1790: return "DynamicsComputations_getModelDynamicsParameters"; - case 1791: return "DynamicsComputations_getCenterOfMass"; - case 1792: return "DynamicsComputations_getCenterOfMassJacobian"; + case 96: return "_wrap_reportInfo"; + case 97: return "_wrap_reportDebug"; + case 98: return "IndexRange_offset_get"; + case 99: return "IndexRange_offset_set"; + case 100: return "IndexRange_size_get"; + case 101: return "IndexRange_size_set"; + case 102: return "IndexRange_isValid"; + case 103: return "IndexRange_InvalidRange"; + case 104: return "new_IndexRange"; + case 105: return "delete_IndexRange"; + case 106: return "_wrap_checkDoublesAreEqual"; + case 107: return "new_MatrixDynSize"; + case 108: return "delete_MatrixDynSize"; + case 109: return "MatrixDynSize_paren"; + case 110: return "MatrixDynSize_getVal"; + case 111: return "MatrixDynSize_setVal"; + case 112: return "MatrixDynSize_rows"; + case 113: return "MatrixDynSize_cols"; + case 114: return "MatrixDynSize_data"; + case 115: return "MatrixDynSize_zero"; + case 116: return "MatrixDynSize_resize"; + case 117: return "MatrixDynSize_reserve"; + case 118: return "MatrixDynSize_capacity"; + case 119: return "MatrixDynSize_shrink_to_fit"; + case 120: return "MatrixDynSize_fillRowMajorBuffer"; + case 121: return "MatrixDynSize_fillColMajorBuffer"; + case 122: return "MatrixDynSize_toString"; + case 123: return "MatrixDynSize_display"; + case 124: return "MatrixDynSize_toMatlab"; + case 125: return "MatrixDynSize_fromMatlab"; + case 126: return "new_SparseMatrixRowMajor"; + case 127: return "delete_SparseMatrixRowMajor"; + case 128: return "SparseMatrixRowMajor_numberOfNonZeros"; + case 129: return "SparseMatrixRowMajor_resize"; + case 130: return "SparseMatrixRowMajor_reserve"; + case 131: return "SparseMatrixRowMajor_zero"; + case 132: return "SparseMatrixRowMajor_setFromConstTriplets"; + case 133: return "SparseMatrixRowMajor_setFromTriplets"; + case 134: return "SparseMatrixRowMajor_getValue"; + case 135: return "SparseMatrixRowMajor_setValue"; + case 136: return "SparseMatrixRowMajor_rows"; + case 137: return "SparseMatrixRowMajor_columns"; + case 138: return "SparseMatrixRowMajor_description"; + case 139: return "SparseMatrixRowMajor_toMatlab"; + case 140: return "SparseMatrixRowMajor_toMatlabDense"; + case 141: return "SparseMatrixRowMajor_fromMatlab"; + case 142: return "new_SparseMatrixColMajor"; + case 143: return "delete_SparseMatrixColMajor"; + case 144: return "SparseMatrixColMajor_numberOfNonZeros"; + case 145: return "SparseMatrixColMajor_resize"; + case 146: return "SparseMatrixColMajor_reserve"; + case 147: return "SparseMatrixColMajor_zero"; + case 148: return "SparseMatrixColMajor_setFromConstTriplets"; + case 149: return "SparseMatrixColMajor_setFromTriplets"; + case 150: return "SparseMatrixColMajor_getValue"; + case 151: return "SparseMatrixColMajor_setValue"; + case 152: return "SparseMatrixColMajor_rows"; + case 153: return "SparseMatrixColMajor_columns"; + case 154: return "SparseMatrixColMajor_description"; + case 155: return "SparseMatrixColMajor_toMatlab"; + case 156: return "SparseMatrixColMajor_toMatlabDense"; + case 157: return "SparseMatrixColMajor_fromMatlab"; + case 158: return "new_VectorDynSize"; + case 159: return "delete_VectorDynSize"; + case 160: return "VectorDynSize_paren"; + case 161: return "VectorDynSize_getVal"; + case 162: return "VectorDynSize_setVal"; + case 163: return "VectorDynSize_size"; + case 164: return "VectorDynSize_data"; + case 165: return "VectorDynSize_zero"; + case 166: return "VectorDynSize_reserve"; + case 167: return "VectorDynSize_resize"; + case 168: return "VectorDynSize_shrink_to_fit"; + case 169: return "VectorDynSize_capacity"; + case 170: return "VectorDynSize_fillBuffer"; + case 171: return "VectorDynSize_toString"; + case 172: return "VectorDynSize_display"; + case 173: return "VectorDynSize_toMatlab"; + case 174: return "VectorDynSize_fromMatlab"; + case 175: return "new_Matrix1x6"; + case 176: return "Matrix1x6_paren"; + case 177: return "Matrix1x6_getVal"; + case 178: return "Matrix1x6_setVal"; + case 179: return "Matrix1x6_rows"; + case 180: return "Matrix1x6_cols"; + case 181: return "Matrix1x6_data"; + case 182: return "Matrix1x6_zero"; + case 183: return "Matrix1x6_fillRowMajorBuffer"; + case 184: return "Matrix1x6_fillColMajorBuffer"; + case 185: return "Matrix1x6_toString"; + case 186: return "Matrix1x6_display"; + case 187: return "Matrix1x6_toMatlab"; + case 188: return "Matrix1x6_fromMatlab"; + case 189: return "delete_Matrix1x6"; + case 190: return "new_Matrix2x3"; + case 191: return "Matrix2x3_paren"; + case 192: return "Matrix2x3_getVal"; + case 193: return "Matrix2x3_setVal"; + case 194: return "Matrix2x3_rows"; + case 195: return "Matrix2x3_cols"; + case 196: return "Matrix2x3_data"; + case 197: return "Matrix2x3_zero"; + case 198: return "Matrix2x3_fillRowMajorBuffer"; + case 199: return "Matrix2x3_fillColMajorBuffer"; + case 200: return "Matrix2x3_toString"; + case 201: return "Matrix2x3_display"; + case 202: return "Matrix2x3_toMatlab"; + case 203: return "Matrix2x3_fromMatlab"; + case 204: return "delete_Matrix2x3"; + case 205: return "new_Matrix3x3"; + case 206: return "Matrix3x3_paren"; + case 207: return "Matrix3x3_getVal"; + case 208: return "Matrix3x3_setVal"; + case 209: return "Matrix3x3_rows"; + case 210: return "Matrix3x3_cols"; + case 211: return "Matrix3x3_data"; + case 212: return "Matrix3x3_zero"; + case 213: return "Matrix3x3_fillRowMajorBuffer"; + case 214: return "Matrix3x3_fillColMajorBuffer"; + case 215: return "Matrix3x3_toString"; + case 216: return "Matrix3x3_display"; + case 217: return "Matrix3x3_toMatlab"; + case 218: return "Matrix3x3_fromMatlab"; + case 219: return "delete_Matrix3x3"; + case 220: return "new_Matrix4x4"; + case 221: return "Matrix4x4_paren"; + case 222: return "Matrix4x4_getVal"; + case 223: return "Matrix4x4_setVal"; + case 224: return "Matrix4x4_rows"; + case 225: return "Matrix4x4_cols"; + case 226: return "Matrix4x4_data"; + case 227: return "Matrix4x4_zero"; + case 228: return "Matrix4x4_fillRowMajorBuffer"; + case 229: return "Matrix4x4_fillColMajorBuffer"; + case 230: return "Matrix4x4_toString"; + case 231: return "Matrix4x4_display"; + case 232: return "Matrix4x4_toMatlab"; + case 233: return "Matrix4x4_fromMatlab"; + case 234: return "delete_Matrix4x4"; + case 235: return "new_Matrix6x6"; + case 236: return "Matrix6x6_paren"; + case 237: return "Matrix6x6_getVal"; + case 238: return "Matrix6x6_setVal"; + case 239: return "Matrix6x6_rows"; + case 240: return "Matrix6x6_cols"; + case 241: return "Matrix6x6_data"; + case 242: return "Matrix6x6_zero"; + case 243: return "Matrix6x6_fillRowMajorBuffer"; + case 244: return "Matrix6x6_fillColMajorBuffer"; + case 245: return "Matrix6x6_toString"; + case 246: return "Matrix6x6_display"; + case 247: return "Matrix6x6_toMatlab"; + case 248: return "Matrix6x6_fromMatlab"; + case 249: return "delete_Matrix6x6"; + case 250: return "new_Matrix6x10"; + case 251: return "Matrix6x10_paren"; + case 252: return "Matrix6x10_getVal"; + case 253: return "Matrix6x10_setVal"; + case 254: return "Matrix6x10_rows"; + case 255: return "Matrix6x10_cols"; + case 256: return "Matrix6x10_data"; + case 257: return "Matrix6x10_zero"; + case 258: return "Matrix6x10_fillRowMajorBuffer"; + case 259: return "Matrix6x10_fillColMajorBuffer"; + case 260: return "Matrix6x10_toString"; + case 261: return "Matrix6x10_display"; + case 262: return "Matrix6x10_toMatlab"; + case 263: return "Matrix6x10_fromMatlab"; + case 264: return "delete_Matrix6x10"; + case 265: return "new_Matrix10x16"; + case 266: return "Matrix10x16_paren"; + case 267: return "Matrix10x16_getVal"; + case 268: return "Matrix10x16_setVal"; + case 269: return "Matrix10x16_rows"; + case 270: return "Matrix10x16_cols"; + case 271: return "Matrix10x16_data"; + case 272: return "Matrix10x16_zero"; + case 273: return "Matrix10x16_fillRowMajorBuffer"; + case 274: return "Matrix10x16_fillColMajorBuffer"; + case 275: return "Matrix10x16_toString"; + case 276: return "Matrix10x16_display"; + case 277: return "Matrix10x16_toMatlab"; + case 278: return "Matrix10x16_fromMatlab"; + case 279: return "delete_Matrix10x16"; + case 280: return "new_Vector3"; + case 281: return "Vector3_paren"; + case 282: return "Vector3_getVal"; + case 283: return "Vector3_setVal"; + case 284: return "Vector3_size"; + case 285: return "Vector3_data"; + case 286: return "Vector3_zero"; + case 287: return "Vector3_fillBuffer"; + case 288: return "Vector3_toString"; + case 289: return "Vector3_display"; + case 290: return "Vector3_toMatlab"; + case 291: return "Vector3_fromMatlab"; + case 292: return "delete_Vector3"; + case 293: return "new_Vector4"; + case 294: return "Vector4_paren"; + case 295: return "Vector4_getVal"; + case 296: return "Vector4_setVal"; + case 297: return "Vector4_size"; + case 298: return "Vector4_data"; + case 299: return "Vector4_zero"; + case 300: return "Vector4_fillBuffer"; + case 301: return "Vector4_toString"; + case 302: return "Vector4_display"; + case 303: return "Vector4_toMatlab"; + case 304: return "Vector4_fromMatlab"; + case 305: return "delete_Vector4"; + case 306: return "new_Vector6"; + case 307: return "Vector6_paren"; + case 308: return "Vector6_getVal"; + case 309: return "Vector6_setVal"; + case 310: return "Vector6_size"; + case 311: return "Vector6_data"; + case 312: return "Vector6_zero"; + case 313: return "Vector6_fillBuffer"; + case 314: return "Vector6_toString"; + case 315: return "Vector6_display"; + case 316: return "Vector6_toMatlab"; + case 317: return "Vector6_fromMatlab"; + case 318: return "delete_Vector6"; + case 319: return "new_Vector10"; + case 320: return "Vector10_paren"; + case 321: return "Vector10_getVal"; + case 322: return "Vector10_setVal"; + case 323: return "Vector10_size"; + case 324: return "Vector10_data"; + case 325: return "Vector10_zero"; + case 326: return "Vector10_fillBuffer"; + case 327: return "Vector10_toString"; + case 328: return "Vector10_display"; + case 329: return "Vector10_toMatlab"; + case 330: return "Vector10_fromMatlab"; + case 331: return "delete_Vector10"; + case 332: return "new_Vector16"; + case 333: return "Vector16_paren"; + case 334: return "Vector16_getVal"; + case 335: return "Vector16_setVal"; + case 336: return "Vector16_size"; + case 337: return "Vector16_data"; + case 338: return "Vector16_zero"; + case 339: return "Vector16_fillBuffer"; + case 340: return "Vector16_toString"; + case 341: return "Vector16_display"; + case 342: return "Vector16_toMatlab"; + case 343: return "Vector16_fromMatlab"; + case 344: return "delete_Vector16"; + case 345: return "new_PositionRaw"; + case 346: return "PositionRaw_changePoint"; + case 347: return "PositionRaw_changeRefPoint"; + case 348: return "PositionRaw_compose"; + case 349: return "PositionRaw_inverse"; + case 350: return "PositionRaw_changePointOf"; + case 351: return "PositionRaw_toString"; + case 352: return "PositionRaw_display"; + case 353: return "delete_PositionRaw"; + case 354: return "new_PositionSemantics"; + case 355: return "PositionSemantics_setToUnknown"; + case 356: return "PositionSemantics_getPoint"; + case 357: return "PositionSemantics_getBody"; + case 358: return "PositionSemantics_getReferencePoint"; + case 359: return "PositionSemantics_getRefBody"; + case 360: return "PositionSemantics_getCoordinateFrame"; + case 361: return "PositionSemantics_setPoint"; + case 362: return "PositionSemantics_setBody"; + case 363: return "PositionSemantics_setReferencePoint"; + case 364: return "PositionSemantics_setRefBody"; + case 365: return "PositionSemantics_setCoordinateFrame"; + case 366: return "PositionSemantics_changePoint"; + case 367: return "PositionSemantics_changeRefPoint"; + case 368: return "PositionSemantics_compose"; + case 369: return "PositionSemantics_inverse"; + case 370: return "PositionSemantics_toString"; + case 371: return "PositionSemantics_display"; + case 372: return "delete_PositionSemantics"; + case 373: return "new_Position"; + case 374: return "Position_getSemantics"; + case 375: return "Position_changePoint"; + case 376: return "Position_changeRefPoint"; + case 377: return "Position_changeCoordinateFrame"; + case 378: return "Position_compose"; + case 379: return "Position_inverse"; + case 380: return "Position_changePointOf"; + case 381: return "Position_plus"; + case 382: return "Position_minus"; + case 383: return "Position_uminus"; + case 384: return "Position_mtimes"; + case 385: return "Position_toString"; + case 386: return "Position_display"; + case 387: return "Position_Zero"; + case 388: return "delete_Position"; + case 389: return "new_GeomVector3Semantics__LinearMotionVector3Semantics"; + case 390: return "GeomVector3Semantics__LinearMotionVector3Semantics_setToUnknown"; + case 391: return "GeomVector3Semantics__LinearMotionVector3Semantics_getBody"; + case 392: return "GeomVector3Semantics__LinearMotionVector3Semantics_getRefBody"; + case 393: return "GeomVector3Semantics__LinearMotionVector3Semantics_getCoordinateFrame"; + case 394: return "GeomVector3Semantics__LinearMotionVector3Semantics_isUnknown"; + case 395: return "GeomVector3Semantics__LinearMotionVector3Semantics_changeCoordFrame"; + case 396: return "GeomVector3Semantics__LinearMotionVector3Semantics_compose"; + case 397: return "GeomVector3Semantics__LinearMotionVector3Semantics_inverse"; + case 398: return "GeomVector3Semantics__LinearMotionVector3Semantics_dot"; + case 399: return "delete_GeomVector3Semantics__LinearMotionVector3Semantics"; + case 400: return "new_GeomVector3Semantics__AngularMotionVector3Semantics"; + case 401: return "GeomVector3Semantics__AngularMotionVector3Semantics_setToUnknown"; + case 402: return "GeomVector3Semantics__AngularMotionVector3Semantics_getBody"; + case 403: return "GeomVector3Semantics__AngularMotionVector3Semantics_getRefBody"; + case 404: return "GeomVector3Semantics__AngularMotionVector3Semantics_getCoordinateFrame"; + case 405: return "GeomVector3Semantics__AngularMotionVector3Semantics_isUnknown"; + case 406: return "GeomVector3Semantics__AngularMotionVector3Semantics_changeCoordFrame"; + case 407: return "GeomVector3Semantics__AngularMotionVector3Semantics_compose"; + case 408: return "GeomVector3Semantics__AngularMotionVector3Semantics_inverse"; + case 409: return "GeomVector3Semantics__AngularMotionVector3Semantics_dot"; + case 410: return "delete_GeomVector3Semantics__AngularMotionVector3Semantics"; + case 411: return "new_GeomVector3Semantics__LinearForceVector3Semantics"; + case 412: return "GeomVector3Semantics__LinearForceVector3Semantics_setToUnknown"; + case 413: return "GeomVector3Semantics__LinearForceVector3Semantics_getBody"; + case 414: return "GeomVector3Semantics__LinearForceVector3Semantics_getRefBody"; + case 415: return "GeomVector3Semantics__LinearForceVector3Semantics_getCoordinateFrame"; + case 416: return "GeomVector3Semantics__LinearForceVector3Semantics_isUnknown"; + case 417: return "GeomVector3Semantics__LinearForceVector3Semantics_changeCoordFrame"; + case 418: return "GeomVector3Semantics__LinearForceVector3Semantics_compose"; + case 419: return "GeomVector3Semantics__LinearForceVector3Semantics_inverse"; + case 420: return "GeomVector3Semantics__LinearForceVector3Semantics_dot"; + case 421: return "delete_GeomVector3Semantics__LinearForceVector3Semantics"; + case 422: return "new_GeomVector3Semantics__AngularForceVector3Semantics"; + case 423: return "GeomVector3Semantics__AngularForceVector3Semantics_setToUnknown"; + case 424: return "GeomVector3Semantics__AngularForceVector3Semantics_getBody"; + case 425: return "GeomVector3Semantics__AngularForceVector3Semantics_getRefBody"; + case 426: return "GeomVector3Semantics__AngularForceVector3Semantics_getCoordinateFrame"; + case 427: return "GeomVector3Semantics__AngularForceVector3Semantics_isUnknown"; + case 428: return "GeomVector3Semantics__AngularForceVector3Semantics_changeCoordFrame"; + case 429: return "GeomVector3Semantics__AngularForceVector3Semantics_compose"; + case 430: return "GeomVector3Semantics__AngularForceVector3Semantics_inverse"; + case 431: return "GeomVector3Semantics__AngularForceVector3Semantics_dot"; + case 432: return "delete_GeomVector3Semantics__AngularForceVector3Semantics"; + case 433: return "GeomVector3__LinearMotionVector3_semantics_get"; + case 434: return "GeomVector3__LinearMotionVector3_semantics_set"; + case 435: return "new_GeomVector3__LinearMotionVector3"; + case 436: return "GeomVector3__LinearMotionVector3_setSemantics"; + case 437: return "GeomVector3__LinearMotionVector3_changeCoordFrame"; + case 438: return "GeomVector3__LinearMotionVector3_compose"; + case 439: return "GeomVector3__LinearMotionVector3_inverse"; + case 440: return "GeomVector3__LinearMotionVector3_dot"; + case 441: return "GeomVector3__LinearMotionVector3_plus"; + case 442: return "GeomVector3__LinearMotionVector3_minus"; + case 443: return "GeomVector3__LinearMotionVector3_uminus"; + case 444: return "delete_GeomVector3__LinearMotionVector3"; + case 445: return "GeomVector3__AngularMotionVector3_semantics_get"; + case 446: return "GeomVector3__AngularMotionVector3_semantics_set"; + case 447: return "new_GeomVector3__AngularMotionVector3"; + case 448: return "GeomVector3__AngularMotionVector3_setSemantics"; + case 449: return "GeomVector3__AngularMotionVector3_changeCoordFrame"; + case 450: return "GeomVector3__AngularMotionVector3_compose"; + case 451: return "GeomVector3__AngularMotionVector3_inverse"; + case 452: return "GeomVector3__AngularMotionVector3_dot"; + case 453: return "GeomVector3__AngularMotionVector3_plus"; + case 454: return "GeomVector3__AngularMotionVector3_minus"; + case 455: return "GeomVector3__AngularMotionVector3_uminus"; + case 456: return "delete_GeomVector3__AngularMotionVector3"; + case 457: return "GeomVector3__LinearForceVector3_semantics_get"; + case 458: return "GeomVector3__LinearForceVector3_semantics_set"; + case 459: return "new_GeomVector3__LinearForceVector3"; + case 460: return "GeomVector3__LinearForceVector3_setSemantics"; + case 461: return "GeomVector3__LinearForceVector3_changeCoordFrame"; + case 462: return "GeomVector3__LinearForceVector3_compose"; + case 463: return "GeomVector3__LinearForceVector3_inverse"; + case 464: return "GeomVector3__LinearForceVector3_dot"; + case 465: return "GeomVector3__LinearForceVector3_plus"; + case 466: return "GeomVector3__LinearForceVector3_minus"; + case 467: return "GeomVector3__LinearForceVector3_uminus"; + case 468: return "delete_GeomVector3__LinearForceVector3"; + case 469: return "GeomVector3__AngularForceVector3_semantics_get"; + case 470: return "GeomVector3__AngularForceVector3_semantics_set"; + case 471: return "new_GeomVector3__AngularForceVector3"; + case 472: return "GeomVector3__AngularForceVector3_setSemantics"; + case 473: return "GeomVector3__AngularForceVector3_changeCoordFrame"; + case 474: return "GeomVector3__AngularForceVector3_compose"; + case 475: return "GeomVector3__AngularForceVector3_inverse"; + case 476: return "GeomVector3__AngularForceVector3_dot"; + case 477: return "GeomVector3__AngularForceVector3_plus"; + case 478: return "GeomVector3__AngularForceVector3_minus"; + case 479: return "GeomVector3__AngularForceVector3_uminus"; + case 480: return "delete_GeomVector3__AngularForceVector3"; + case 481: return "new_ForceVector3Semantics__LinearForceVector3Semantics"; + case 482: return "ForceVector3Semantics__LinearForceVector3Semantics_compose"; + case 483: return "ForceVector3Semantics__LinearForceVector3Semantics_inverse"; + case 484: return "delete_ForceVector3Semantics__LinearForceVector3Semantics"; + case 485: return "new_ForceVector3Semantics__AngularForceVector3Semantics"; + case 486: return "ForceVector3Semantics__AngularForceVector3Semantics_compose"; + case 487: return "ForceVector3Semantics__AngularForceVector3Semantics_inverse"; + case 488: return "delete_ForceVector3Semantics__AngularForceVector3Semantics"; + case 489: return "new_MotionVector3__LinearMotionVector3"; + case 490: return "MotionVector3__LinearMotionVector3_cross"; + case 491: return "delete_MotionVector3__LinearMotionVector3"; + case 492: return "new_MotionVector3__AngularMotionVector3"; + case 493: return "MotionVector3__AngularMotionVector3_cross"; + case 494: return "delete_MotionVector3__AngularMotionVector3"; + case 495: return "new_ForceVector3__LinearForceVector3"; + case 496: return "delete_ForceVector3__LinearForceVector3"; + case 497: return "new_ForceVector3__AngularForceVector3"; + case 498: return "delete_ForceVector3__AngularForceVector3"; + case 499: return "new_LinearMotionVector3Semantics"; + case 500: return "LinearMotionVector3Semantics_changePoint"; + case 501: return "LinearMotionVector3Semantics_compose"; + case 502: return "delete_LinearMotionVector3Semantics"; + case 503: return "new_LinearMotionVector3"; + case 504: return "LinearMotionVector3_changePoint"; + case 505: return "delete_LinearMotionVector3"; + case 506: return "new_AngularMotionVector3Semantics"; + case 507: return "delete_AngularMotionVector3Semantics"; + case 508: return "new_AngularMotionVector3"; + case 509: return "AngularMotionVector3_exp"; + case 510: return "delete_AngularMotionVector3"; + case 511: return "new_LinearForceVector3Semantics"; + case 512: return "delete_LinearForceVector3Semantics"; + case 513: return "new_LinearForceVector3"; + case 514: return "delete_LinearForceVector3"; + case 515: return "new_AngularForceVector3Semantics"; + case 516: return "AngularForceVector3Semantics_changePoint"; + case 517: return "AngularForceVector3Semantics_compose"; + case 518: return "delete_AngularForceVector3Semantics"; + case 519: return "new_AngularForceVector3"; + case 520: return "AngularForceVector3_changePoint"; + case 521: return "delete_AngularForceVector3"; + case 522: return "new_SpatialMotionVectorSemanticsBase"; + case 523: return "SpatialMotionVectorSemanticsBase_check_linear2angularConsistency"; + case 524: return "SpatialMotionVectorSemanticsBase_toString"; + case 525: return "SpatialMotionVectorSemanticsBase_display"; + case 526: return "delete_SpatialMotionVectorSemanticsBase"; + case 527: return "new_SpatialForceVectorSemanticsBase"; + case 528: return "SpatialForceVectorSemanticsBase_check_linear2angularConsistency"; + case 529: return "SpatialForceVectorSemanticsBase_toString"; + case 530: return "SpatialForceVectorSemanticsBase_display"; + case 531: return "delete_SpatialForceVectorSemanticsBase"; + case 532: return "new_SpatialMotionVectorBase"; + case 533: return "SpatialMotionVectorBase_getLinearVec3"; + case 534: return "SpatialMotionVectorBase_getAngularVec3"; + case 535: return "SpatialMotionVectorBase_setLinearVec3"; + case 536: return "SpatialMotionVectorBase_setAngularVec3"; + case 537: return "SpatialMotionVectorBase_paren"; + case 538: return "SpatialMotionVectorBase_getVal"; + case 539: return "SpatialMotionVectorBase_setVal"; + case 540: return "SpatialMotionVectorBase_size"; + case 541: return "SpatialMotionVectorBase_zero"; + case 542: return "SpatialMotionVectorBase_changePoint"; + case 543: return "SpatialMotionVectorBase_changeCoordFrame"; + case 544: return "SpatialMotionVectorBase_compose"; + case 545: return "SpatialMotionVectorBase_inverse"; + case 546: return "SpatialMotionVectorBase_dot"; + case 547: return "SpatialMotionVectorBase_plus"; + case 548: return "SpatialMotionVectorBase_minus"; + case 549: return "SpatialMotionVectorBase_uminus"; + case 550: return "SpatialMotionVectorBase_Zero"; + case 551: return "SpatialMotionVectorBase_asVector"; + case 552: return "SpatialMotionVectorBase_toString"; + case 553: return "SpatialMotionVectorBase_display"; + case 554: return "SpatialMotionVectorBase_toMatlab"; + case 555: return "SpatialMotionVectorBase_fromMatlab"; + case 556: return "delete_SpatialMotionVectorBase"; + case 557: return "new_SpatialForceVectorBase"; + case 558: return "SpatialForceVectorBase_getLinearVec3"; + case 559: return "SpatialForceVectorBase_getAngularVec3"; + case 560: return "SpatialForceVectorBase_setLinearVec3"; + case 561: return "SpatialForceVectorBase_setAngularVec3"; + case 562: return "SpatialForceVectorBase_paren"; + case 563: return "SpatialForceVectorBase_getVal"; + case 564: return "SpatialForceVectorBase_setVal"; + case 565: return "SpatialForceVectorBase_size"; + case 566: return "SpatialForceVectorBase_zero"; + case 567: return "SpatialForceVectorBase_changePoint"; + case 568: return "SpatialForceVectorBase_changeCoordFrame"; + case 569: return "SpatialForceVectorBase_compose"; + case 570: return "SpatialForceVectorBase_inverse"; + case 571: return "SpatialForceVectorBase_dot"; + case 572: return "SpatialForceVectorBase_plus"; + case 573: return "SpatialForceVectorBase_minus"; + case 574: return "SpatialForceVectorBase_uminus"; + case 575: return "SpatialForceVectorBase_Zero"; + case 576: return "SpatialForceVectorBase_asVector"; + case 577: return "SpatialForceVectorBase_toString"; + case 578: return "SpatialForceVectorBase_display"; + case 579: return "SpatialForceVectorBase_toMatlab"; + case 580: return "SpatialForceVectorBase_fromMatlab"; + case 581: return "delete_SpatialForceVectorBase"; + case 582: return "new_Dummy"; + case 583: return "delete_Dummy"; + case 584: return "new_SpatialMotionVector"; + case 585: return "SpatialMotionVector_mtimes"; + case 586: return "SpatialMotionVector_cross"; + case 587: return "SpatialMotionVector_asCrossProductMatrix"; + case 588: return "SpatialMotionVector_asCrossProductMatrixWrench"; + case 589: return "SpatialMotionVector_exp"; + case 590: return "delete_SpatialMotionVector"; + case 591: return "new_SpatialForceVector"; + case 592: return "delete_SpatialForceVector"; + case 593: return "SpatialForceVector_mtimes"; + case 594: return "new_Twist"; + case 595: return "Twist_plus"; + case 596: return "Twist_minus"; + case 597: return "Twist_uminus"; + case 598: return "Twist_mtimes"; + case 599: return "delete_Twist"; + case 600: return "new_Wrench"; + case 601: return "Wrench_plus"; + case 602: return "Wrench_minus"; + case 603: return "Wrench_uminus"; + case 604: return "delete_Wrench"; + case 605: return "new_SpatialMomentum"; + case 606: return "SpatialMomentum_plus"; + case 607: return "SpatialMomentum_minus"; + case 608: return "SpatialMomentum_uminus"; + case 609: return "delete_SpatialMomentum"; + case 610: return "new_SpatialAcc"; + case 611: return "SpatialAcc_plus"; + case 612: return "SpatialAcc_minus"; + case 613: return "SpatialAcc_uminus"; + case 614: return "delete_SpatialAcc"; + case 615: return "new_ClassicalAcc"; + case 616: return "ClassicalAcc_changeCoordFrame"; + case 617: return "ClassicalAcc_Zero"; + case 618: return "ClassicalAcc_fromSpatial"; + case 619: return "ClassicalAcc_toSpatial"; + case 620: return "delete_ClassicalAcc"; + case 621: return "new_Direction"; + case 622: return "Direction_Normalize"; + case 623: return "Direction_isParallel"; + case 624: return "Direction_isPerpendicular"; + case 625: return "Direction_reverse"; + case 626: return "Direction_toString"; + case 627: return "Direction_display"; + case 628: return "Direction_Default"; + case 629: return "delete_Direction"; + case 630: return "new_Axis"; + case 631: return "Axis_getDirection"; + case 632: return "Axis_getOrigin"; + case 633: return "Axis_setDirection"; + case 634: return "Axis_setOrigin"; + case 635: return "Axis_getRotationTransform"; + case 636: return "Axis_getRotationTransformDerivative"; + case 637: return "Axis_getRotationTwist"; + case 638: return "Axis_getRotationSpatialAcc"; + case 639: return "Axis_getTranslationTransform"; + case 640: return "Axis_getTranslationTransformDerivative"; + case 641: return "Axis_getTranslationTwist"; + case 642: return "Axis_getTranslationSpatialAcc"; + case 643: return "Axis_isParallel"; + case 644: return "Axis_reverse"; + case 645: return "Axis_toString"; + case 646: return "Axis_display"; + case 647: return "delete_Axis"; + case 648: return "new_RotationalInertiaRaw"; + case 649: return "RotationalInertiaRaw_Zero"; + case 650: return "delete_RotationalInertiaRaw"; + case 651: return "new_SpatialInertiaRaw"; + case 652: return "SpatialInertiaRaw_fromRotationalInertiaWrtCenterOfMass"; + case 653: return "SpatialInertiaRaw_getMass"; + case 654: return "SpatialInertiaRaw_getCenterOfMass"; + case 655: return "SpatialInertiaRaw_getRotationalInertiaWrtFrameOrigin"; + case 656: return "SpatialInertiaRaw_getRotationalInertiaWrtCenterOfMass"; + case 657: return "SpatialInertiaRaw_combine"; + case 658: return "SpatialInertiaRaw_multiply"; + case 659: return "SpatialInertiaRaw_zero"; + case 660: return "delete_SpatialInertiaRaw"; + case 661: return "new_SpatialInertia"; + case 662: return "SpatialInertia_combine"; + case 663: return "SpatialInertia_asMatrix"; + case 664: return "SpatialInertia_applyInverse"; + case 665: return "SpatialInertia_getInverse"; + case 666: return "SpatialInertia_plus"; + case 667: return "SpatialInertia_mtimes"; + case 668: return "SpatialInertia_biasWrench"; + case 669: return "SpatialInertia_biasWrenchDerivative"; + case 670: return "SpatialInertia_Zero"; + case 671: return "SpatialInertia_asVector"; + case 672: return "SpatialInertia_fromVector"; + case 673: return "SpatialInertia_isPhysicallyConsistent"; + case 674: return "SpatialInertia_momentumRegressor"; + case 675: return "SpatialInertia_momentumDerivativeRegressor"; + case 676: return "SpatialInertia_momentumDerivativeSlotineLiRegressor"; + case 677: return "delete_SpatialInertia"; + case 678: return "new_ArticulatedBodyInertia"; + case 679: return "ArticulatedBodyInertia_getLinearLinearSubmatrix"; + case 680: return "ArticulatedBodyInertia_getLinearAngularSubmatrix"; + case 681: return "ArticulatedBodyInertia_getAngularAngularSubmatrix"; + case 682: return "ArticulatedBodyInertia_combine"; + case 683: return "ArticulatedBodyInertia_applyInverse"; + case 684: return "ArticulatedBodyInertia_asMatrix"; + case 685: return "ArticulatedBodyInertia_getInverse"; + case 686: return "ArticulatedBodyInertia_plus"; + case 687: return "ArticulatedBodyInertia_minus"; + case 688: return "ArticulatedBodyInertia_mtimes"; + case 689: return "ArticulatedBodyInertia_zero"; + case 690: return "ArticulatedBodyInertia_ABADyadHelper"; + case 691: return "ArticulatedBodyInertia_ABADyadHelperLin"; + case 692: return "delete_ArticulatedBodyInertia"; + case 693: return "RigidBodyInertiaNonLinearParametrization_mass_get"; + case 694: return "RigidBodyInertiaNonLinearParametrization_mass_set"; + case 695: return "RigidBodyInertiaNonLinearParametrization_com_get"; + case 696: return "RigidBodyInertiaNonLinearParametrization_com_set"; + case 697: return "RigidBodyInertiaNonLinearParametrization_link_R_centroidal_get"; + case 698: return "RigidBodyInertiaNonLinearParametrization_link_R_centroidal_set"; + case 699: return "RigidBodyInertiaNonLinearParametrization_centralSecondMomentOfMass_get"; + case 700: return "RigidBodyInertiaNonLinearParametrization_centralSecondMomentOfMass_set"; + case 701: return "RigidBodyInertiaNonLinearParametrization_getLinkCentroidalTransform"; + case 702: return "RigidBodyInertiaNonLinearParametrization_fromRigidBodyInertia"; + case 703: return "RigidBodyInertiaNonLinearParametrization_fromInertialParameters"; + case 704: return "RigidBodyInertiaNonLinearParametrization_toRigidBodyInertia"; + case 705: return "RigidBodyInertiaNonLinearParametrization_isPhysicallyConsistent"; + case 706: return "RigidBodyInertiaNonLinearParametrization_asVectorWithRotationAsVec"; + case 707: return "RigidBodyInertiaNonLinearParametrization_fromVectorWithRotationAsVec"; + case 708: return "RigidBodyInertiaNonLinearParametrization_getGradientWithRotationAsVec"; + case 709: return "new_RigidBodyInertiaNonLinearParametrization"; + case 710: return "delete_RigidBodyInertiaNonLinearParametrization"; + case 711: return "new_RotationRaw"; + case 712: return "RotationRaw_changeOrientFrame"; + case 713: return "RotationRaw_changeRefOrientFrame"; + case 714: return "RotationRaw_compose"; + case 715: return "RotationRaw_inverse2"; + case 716: return "RotationRaw_changeCoordFrameOf"; + case 717: return "RotationRaw_RotX"; + case 718: return "RotationRaw_RotY"; + case 719: return "RotationRaw_RotZ"; + case 720: return "RotationRaw_RPY"; + case 721: return "RotationRaw_Identity"; + case 722: return "RotationRaw_toString"; + case 723: return "RotationRaw_display"; + case 724: return "delete_RotationRaw"; + case 725: return "new_RotationSemantics"; + case 726: return "RotationSemantics_setToUnknown"; + case 727: return "RotationSemantics_getOrientationFrame"; + case 728: return "RotationSemantics_getBody"; + case 729: return "RotationSemantics_getReferenceOrientationFrame"; + case 730: return "RotationSemantics_getRefBody"; + case 731: return "RotationSemantics_getCoordinateFrame"; + case 732: return "RotationSemantics_setOrientationFrame"; + case 733: return "RotationSemantics_setBody"; + case 734: return "RotationSemantics_setReferenceOrientationFrame"; + case 735: return "RotationSemantics_setRefBody"; + case 736: return "RotationSemantics_setCoordinateFrame"; + case 737: return "RotationSemantics_changeOrientFrame"; + case 738: return "RotationSemantics_changeRefOrientFrame"; + case 739: return "RotationSemantics_changeCoordFrameOf"; + case 740: return "RotationSemantics_compose"; + case 741: return "RotationSemantics_inverse2"; + case 742: return "RotationSemantics_toString"; + case 743: return "RotationSemantics_display"; + case 744: return "delete_RotationSemantics"; + case 745: return "new_Rotation"; + case 746: return "Rotation_getSemantics"; + case 747: return "Rotation_changeOrientFrame"; + case 748: return "Rotation_changeRefOrientFrame"; + case 749: return "Rotation_changeCoordinateFrame"; + case 750: return "Rotation_compose"; + case 751: return "Rotation_inverse2"; + case 752: return "Rotation_changeCoordFrameOf"; + case 753: return "Rotation_inverse"; + case 754: return "Rotation_mtimes"; + case 755: return "Rotation_log"; + case 756: return "Rotation_fromQuaternion"; + case 757: return "Rotation_getRPY"; + case 758: return "Rotation_asRPY"; + case 759: return "Rotation_getQuaternion"; + case 760: return "Rotation_asQuaternion"; + case 761: return "Rotation_RotX"; + case 762: return "Rotation_RotY"; + case 763: return "Rotation_RotZ"; + case 764: return "Rotation_RotAxis"; + case 765: return "Rotation_RotAxisDerivative"; + case 766: return "Rotation_RPY"; + case 767: return "Rotation_RPYRightTrivializedDerivative"; + case 768: return "Rotation_RPYRightTrivializedDerivativeInverse"; + case 769: return "Rotation_QuaternionRightTrivializedDerivative"; + case 770: return "Rotation_QuaternionRightTrivializedDerivativeInverse"; + case 771: return "Rotation_Identity"; + case 772: return "Rotation_RotationFromQuaternion"; + case 773: return "Rotation_toString"; + case 774: return "Rotation_display"; + case 775: return "delete_Rotation"; + case 776: return "new_TransformSemantics"; + case 777: return "TransformSemantics_getRotationSemantics"; + case 778: return "TransformSemantics_getPositionSemantics"; + case 779: return "TransformSemantics_setRotationSemantics"; + case 780: return "TransformSemantics_setPositionSemantics"; + case 781: return "TransformSemantics_toString"; + case 782: return "TransformSemantics_display"; + case 783: return "delete_TransformSemantics"; + case 784: return "new_Transform"; + case 785: return "Transform_fromHomogeneousTransform"; + case 786: return "Transform_getSemantics"; + case 787: return "Transform_getRotation"; + case 788: return "Transform_getPosition"; + case 789: return "Transform_setRotation"; + case 790: return "Transform_setPosition"; + case 791: return "Transform_compose"; + case 792: return "Transform_inverse2"; + case 793: return "Transform_inverse"; + case 794: return "Transform_mtimes"; + case 795: return "Transform_Identity"; + case 796: return "Transform_asHomogeneousTransform"; + case 797: return "Transform_asAdjointTransform"; + case 798: return "Transform_asAdjointTransformWrench"; + case 799: return "Transform_log"; + case 800: return "Transform_toString"; + case 801: return "Transform_display"; + case 802: return "delete_Transform"; + case 803: return "new_TransformDerivative"; + case 804: return "delete_TransformDerivative"; + case 805: return "TransformDerivative_getRotationDerivative"; + case 806: return "TransformDerivative_getPositionDerivative"; + case 807: return "TransformDerivative_setRotationDerivative"; + case 808: return "TransformDerivative_setPositionDerivative"; + case 809: return "TransformDerivative_Zero"; + case 810: return "TransformDerivative_asHomogeneousTransformDerivative"; + case 811: return "TransformDerivative_asAdjointTransformDerivative"; + case 812: return "TransformDerivative_asAdjointTransformWrenchDerivative"; + case 813: return "TransformDerivative_mtimes"; + case 814: return "TransformDerivative_derivativeOfInverse"; + case 815: return "TransformDerivative_transform"; + case 816: return "LINK_INVALID_INDEX_get"; + case 817: return "LINK_INVALID_INDEX_set"; + case 818: return "LINK_INVALID_NAME_get"; + case 819: return "LINK_INVALID_NAME_set"; + case 820: return "JOINT_INVALID_INDEX_get"; + case 821: return "JOINT_INVALID_INDEX_set"; + case 822: return "JOINT_INVALID_NAME_get"; + case 823: return "JOINT_INVALID_NAME_set"; + case 824: return "DOF_INVALID_INDEX_get"; + case 825: return "DOF_INVALID_INDEX_set"; + case 826: return "DOF_INVALID_NAME_get"; + case 827: return "DOF_INVALID_NAME_set"; + case 828: return "FRAME_INVALID_INDEX_get"; + case 829: return "FRAME_INVALID_INDEX_set"; + case 830: return "FRAME_INVALID_NAME_get"; + case 831: return "FRAME_INVALID_NAME_set"; + case 832: return "TRAVERSAL_INVALID_INDEX_get"; + case 833: return "TRAVERSAL_INVALID_INDEX_set"; + case 834: return "new_LinkPositions"; + case 835: return "LinkPositions_resize"; + case 836: return "LinkPositions_isConsistent"; + case 837: return "LinkPositions_getNrOfLinks"; + case 838: return "LinkPositions_paren"; + case 839: return "LinkPositions_toString"; + case 840: return "delete_LinkPositions"; + case 841: return "new_LinkWrenches"; + case 842: return "LinkWrenches_resize"; + case 843: return "LinkWrenches_isConsistent"; + case 844: return "LinkWrenches_getNrOfLinks"; + case 845: return "LinkWrenches_paren"; + case 846: return "LinkWrenches_toString"; + case 847: return "LinkWrenches_zero"; + case 848: return "delete_LinkWrenches"; + case 849: return "new_LinkInertias"; + case 850: return "LinkInertias_resize"; + case 851: return "LinkInertias_isConsistent"; + case 852: return "LinkInertias_paren"; + case 853: return "delete_LinkInertias"; + case 854: return "new_LinkArticulatedBodyInertias"; + case 855: return "LinkArticulatedBodyInertias_resize"; + case 856: return "LinkArticulatedBodyInertias_isConsistent"; + case 857: return "LinkArticulatedBodyInertias_paren"; + case 858: return "delete_LinkArticulatedBodyInertias"; + case 859: return "new_LinkVelArray"; + case 860: return "LinkVelArray_resize"; + case 861: return "LinkVelArray_isConsistent"; + case 862: return "LinkVelArray_getNrOfLinks"; + case 863: return "LinkVelArray_paren"; + case 864: return "LinkVelArray_toString"; + case 865: return "delete_LinkVelArray"; + case 866: return "new_LinkAccArray"; + case 867: return "LinkAccArray_resize"; + case 868: return "LinkAccArray_isConsistent"; + case 869: return "LinkAccArray_paren"; + case 870: return "LinkAccArray_getNrOfLinks"; + case 871: return "LinkAccArray_toString"; + case 872: return "delete_LinkAccArray"; + case 873: return "new_Link"; + case 874: return "Link_inertia"; + case 875: return "Link_setInertia"; + case 876: return "Link_getInertia"; + case 877: return "Link_setIndex"; + case 878: return "Link_getIndex"; + case 879: return "delete_Link"; + case 880: return "delete_IJoint"; + case 881: return "IJoint_clone"; + case 882: return "IJoint_getNrOfPosCoords"; + case 883: return "IJoint_getNrOfDOFs"; + case 884: return "IJoint_setAttachedLinks"; + case 885: return "IJoint_setRestTransform"; + case 886: return "IJoint_getFirstAttachedLink"; + case 887: return "IJoint_getSecondAttachedLink"; + case 888: return "IJoint_getRestTransform"; + case 889: return "IJoint_getTransform"; + case 890: return "IJoint_getTransformDerivative"; + case 891: return "IJoint_getMotionSubspaceVector"; + case 892: return "IJoint_computeChildPosVelAcc"; + case 893: return "IJoint_computeChildVelAcc"; + case 894: return "IJoint_computeChildVel"; + case 895: return "IJoint_computeChildAcc"; + case 896: return "IJoint_computeChildBiasAcc"; + case 897: return "IJoint_computeJointTorque"; + case 898: return "IJoint_setIndex"; + case 899: return "IJoint_getIndex"; + case 900: return "IJoint_setPosCoordsOffset"; + case 901: return "IJoint_getPosCoordsOffset"; + case 902: return "IJoint_setDOFsOffset"; + case 903: return "IJoint_getDOFsOffset"; + case 904: return "IJoint_hasPosLimits"; + case 905: return "IJoint_enablePosLimits"; + case 906: return "IJoint_getPosLimits"; + case 907: return "IJoint_getMinPosLimit"; + case 908: return "IJoint_getMaxPosLimit"; + case 909: return "IJoint_setPosLimits"; + case 910: return "IJoint_isRevoluteJoint"; + case 911: return "IJoint_isFixedJoint"; + case 912: return "IJoint_asRevoluteJoint"; + case 913: return "IJoint_asFixedJoint"; + case 914: return "new_FixedJoint"; + case 915: return "delete_FixedJoint"; + case 916: return "FixedJoint_clone"; + case 917: return "FixedJoint_getNrOfPosCoords"; + case 918: return "FixedJoint_getNrOfDOFs"; + case 919: return "FixedJoint_setAttachedLinks"; + case 920: return "FixedJoint_setRestTransform"; + case 921: return "FixedJoint_getFirstAttachedLink"; + case 922: return "FixedJoint_getSecondAttachedLink"; + case 923: return "FixedJoint_getRestTransform"; + case 924: return "FixedJoint_getTransform"; + case 925: return "FixedJoint_getTransformDerivative"; + case 926: return "FixedJoint_getMotionSubspaceVector"; + case 927: return "FixedJoint_computeChildPosVelAcc"; + case 928: return "FixedJoint_computeChildVelAcc"; + case 929: return "FixedJoint_computeChildVel"; + case 930: return "FixedJoint_computeChildAcc"; + case 931: return "FixedJoint_computeChildBiasAcc"; + case 932: return "FixedJoint_computeJointTorque"; + case 933: return "FixedJoint_setIndex"; + case 934: return "FixedJoint_getIndex"; + case 935: return "FixedJoint_setPosCoordsOffset"; + case 936: return "FixedJoint_getPosCoordsOffset"; + case 937: return "FixedJoint_setDOFsOffset"; + case 938: return "FixedJoint_getDOFsOffset"; + case 939: return "FixedJoint_hasPosLimits"; + case 940: return "FixedJoint_enablePosLimits"; + case 941: return "FixedJoint_getPosLimits"; + case 942: return "FixedJoint_getMinPosLimit"; + case 943: return "FixedJoint_getMaxPosLimit"; + case 944: return "FixedJoint_setPosLimits"; + case 945: return "delete_MovableJointImpl1"; + case 946: return "MovableJointImpl1_getNrOfPosCoords"; + case 947: return "MovableJointImpl1_getNrOfDOFs"; + case 948: return "MovableJointImpl1_setIndex"; + case 949: return "MovableJointImpl1_getIndex"; + case 950: return "MovableJointImpl1_setPosCoordsOffset"; + case 951: return "MovableJointImpl1_getPosCoordsOffset"; + case 952: return "MovableJointImpl1_setDOFsOffset"; + case 953: return "MovableJointImpl1_getDOFsOffset"; + case 954: return "delete_MovableJointImpl2"; + case 955: return "MovableJointImpl2_getNrOfPosCoords"; + case 956: return "MovableJointImpl2_getNrOfDOFs"; + case 957: return "MovableJointImpl2_setIndex"; + case 958: return "MovableJointImpl2_getIndex"; + case 959: return "MovableJointImpl2_setPosCoordsOffset"; + case 960: return "MovableJointImpl2_getPosCoordsOffset"; + case 961: return "MovableJointImpl2_setDOFsOffset"; + case 962: return "MovableJointImpl2_getDOFsOffset"; + case 963: return "delete_MovableJointImpl3"; + case 964: return "MovableJointImpl3_getNrOfPosCoords"; + case 965: return "MovableJointImpl3_getNrOfDOFs"; + case 966: return "MovableJointImpl3_setIndex"; + case 967: return "MovableJointImpl3_getIndex"; + case 968: return "MovableJointImpl3_setPosCoordsOffset"; + case 969: return "MovableJointImpl3_getPosCoordsOffset"; + case 970: return "MovableJointImpl3_setDOFsOffset"; + case 971: return "MovableJointImpl3_getDOFsOffset"; + case 972: return "delete_MovableJointImpl4"; + case 973: return "MovableJointImpl4_getNrOfPosCoords"; + case 974: return "MovableJointImpl4_getNrOfDOFs"; + case 975: return "MovableJointImpl4_setIndex"; + case 976: return "MovableJointImpl4_getIndex"; + case 977: return "MovableJointImpl4_setPosCoordsOffset"; + case 978: return "MovableJointImpl4_getPosCoordsOffset"; + case 979: return "MovableJointImpl4_setDOFsOffset"; + case 980: return "MovableJointImpl4_getDOFsOffset"; + case 981: return "delete_MovableJointImpl5"; + case 982: return "MovableJointImpl5_getNrOfPosCoords"; + case 983: return "MovableJointImpl5_getNrOfDOFs"; + case 984: return "MovableJointImpl5_setIndex"; + case 985: return "MovableJointImpl5_getIndex"; + case 986: return "MovableJointImpl5_setPosCoordsOffset"; + case 987: return "MovableJointImpl5_getPosCoordsOffset"; + case 988: return "MovableJointImpl5_setDOFsOffset"; + case 989: return "MovableJointImpl5_getDOFsOffset"; + case 990: return "delete_MovableJointImpl6"; + case 991: return "MovableJointImpl6_getNrOfPosCoords"; + case 992: return "MovableJointImpl6_getNrOfDOFs"; + case 993: return "MovableJointImpl6_setIndex"; + case 994: return "MovableJointImpl6_getIndex"; + case 995: return "MovableJointImpl6_setPosCoordsOffset"; + case 996: return "MovableJointImpl6_getPosCoordsOffset"; + case 997: return "MovableJointImpl6_setDOFsOffset"; + case 998: return "MovableJointImpl6_getDOFsOffset"; + case 999: return "new_RevoluteJoint"; + case 1000: return "delete_RevoluteJoint"; + case 1001: return "RevoluteJoint_clone"; + case 1002: return "RevoluteJoint_setAttachedLinks"; + case 1003: return "RevoluteJoint_setRestTransform"; + case 1004: return "RevoluteJoint_setAxis"; + case 1005: return "RevoluteJoint_getFirstAttachedLink"; + case 1006: return "RevoluteJoint_getSecondAttachedLink"; + case 1007: return "RevoluteJoint_getAxis"; + case 1008: return "RevoluteJoint_getRestTransform"; + case 1009: return "RevoluteJoint_getTransform"; + case 1010: return "RevoluteJoint_getTransformDerivative"; + case 1011: return "RevoluteJoint_getMotionSubspaceVector"; + case 1012: return "RevoluteJoint_computeChildPosVelAcc"; + case 1013: return "RevoluteJoint_computeChildVel"; + case 1014: return "RevoluteJoint_computeChildVelAcc"; + case 1015: return "RevoluteJoint_computeChildAcc"; + case 1016: return "RevoluteJoint_computeChildBiasAcc"; + case 1017: return "RevoluteJoint_computeJointTorque"; + case 1018: return "RevoluteJoint_hasPosLimits"; + case 1019: return "RevoluteJoint_enablePosLimits"; + case 1020: return "RevoluteJoint_getPosLimits"; + case 1021: return "RevoluteJoint_getMinPosLimit"; + case 1022: return "RevoluteJoint_getMaxPosLimit"; + case 1023: return "RevoluteJoint_setPosLimits"; + case 1024: return "new_PrismaticJoint"; + case 1025: return "delete_PrismaticJoint"; + case 1026: return "PrismaticJoint_clone"; + case 1027: return "PrismaticJoint_setAttachedLinks"; + case 1028: return "PrismaticJoint_setRestTransform"; + case 1029: return "PrismaticJoint_setAxis"; + case 1030: return "PrismaticJoint_getFirstAttachedLink"; + case 1031: return "PrismaticJoint_getSecondAttachedLink"; + case 1032: return "PrismaticJoint_getAxis"; + case 1033: return "PrismaticJoint_getRestTransform"; + case 1034: return "PrismaticJoint_getTransform"; + case 1035: return "PrismaticJoint_getTransformDerivative"; + case 1036: return "PrismaticJoint_getMotionSubspaceVector"; + case 1037: return "PrismaticJoint_computeChildPosVelAcc"; + case 1038: return "PrismaticJoint_computeChildVel"; + case 1039: return "PrismaticJoint_computeChildVelAcc"; + case 1040: return "PrismaticJoint_computeChildAcc"; + case 1041: return "PrismaticJoint_computeChildBiasAcc"; + case 1042: return "PrismaticJoint_computeJointTorque"; + case 1043: return "PrismaticJoint_hasPosLimits"; + case 1044: return "PrismaticJoint_enablePosLimits"; + case 1045: return "PrismaticJoint_getPosLimits"; + case 1046: return "PrismaticJoint_getMinPosLimit"; + case 1047: return "PrismaticJoint_getMaxPosLimit"; + case 1048: return "PrismaticJoint_setPosLimits"; + case 1049: return "new_Traversal"; + case 1050: return "delete_Traversal"; + case 1051: return "Traversal_getNrOfVisitedLinks"; + case 1052: return "Traversal_getLink"; + case 1053: return "Traversal_getBaseLink"; + case 1054: return "Traversal_getParentLink"; + case 1055: return "Traversal_getParentJoint"; + case 1056: return "Traversal_getParentLinkFromLinkIndex"; + case 1057: return "Traversal_getParentJointFromLinkIndex"; + case 1058: return "Traversal_getTraversalIndexFromLinkIndex"; + case 1059: return "Traversal_reset"; + case 1060: return "Traversal_addTraversalBase"; + case 1061: return "Traversal_addTraversalElement"; + case 1062: return "Traversal_isParentOf"; + case 1063: return "Traversal_getChildLinkIndexFromJointIndex"; + case 1064: return "Traversal_getParentLinkIndexFromJointIndex"; + case 1065: return "Traversal_toString"; + case 1066: return "delete_SolidShape"; + case 1067: return "SolidShape_clone"; + case 1068: return "SolidShape_name_get"; + case 1069: return "SolidShape_name_set"; + case 1070: return "SolidShape_link_H_geometry_get"; + case 1071: return "SolidShape_link_H_geometry_set"; + case 1072: return "SolidShape_material_get"; + case 1073: return "SolidShape_material_set"; + case 1074: return "SolidShape_isSphere"; + case 1075: return "SolidShape_isBox"; + case 1076: return "SolidShape_isCylinder"; + case 1077: return "SolidShape_isExternalMesh"; + case 1078: return "SolidShape_asSphere"; + case 1079: return "SolidShape_asBox"; + case 1080: return "SolidShape_asCylinder"; + case 1081: return "SolidShape_asExternalMesh"; + case 1082: return "delete_Sphere"; + case 1083: return "Sphere_clone"; + case 1084: return "Sphere_radius_get"; + case 1085: return "Sphere_radius_set"; + case 1086: return "new_Sphere"; + case 1087: return "delete_Box"; + case 1088: return "Box_clone"; + case 1089: return "Box_x_get"; + case 1090: return "Box_x_set"; + case 1091: return "Box_y_get"; + case 1092: return "Box_y_set"; + case 1093: return "Box_z_get"; + case 1094: return "Box_z_set"; + case 1095: return "new_Box"; + case 1096: return "delete_Cylinder"; + case 1097: return "Cylinder_clone"; + case 1098: return "Cylinder_length_get"; + case 1099: return "Cylinder_length_set"; + case 1100: return "Cylinder_radius_get"; + case 1101: return "Cylinder_radius_set"; + case 1102: return "new_Cylinder"; + case 1103: return "delete_ExternalMesh"; + case 1104: return "ExternalMesh_clone"; + case 1105: return "ExternalMesh_filename_get"; + case 1106: return "ExternalMesh_filename_set"; + case 1107: return "ExternalMesh_scale_get"; + case 1108: return "ExternalMesh_scale_set"; + case 1109: return "new_ExternalMesh"; + case 1110: return "new_ModelSolidShapes"; + case 1111: return "ModelSolidShapes_clear"; + case 1112: return "delete_ModelSolidShapes"; + case 1113: return "ModelSolidShapes_resize"; + case 1114: return "ModelSolidShapes_isConsistent"; + case 1115: return "ModelSolidShapes_linkSolidShapes_get"; + case 1116: return "ModelSolidShapes_linkSolidShapes_set"; + case 1117: return "Neighbor_neighborLink_get"; + case 1118: return "Neighbor_neighborLink_set"; + case 1119: return "Neighbor_neighborJoint_get"; + case 1120: return "Neighbor_neighborJoint_set"; + case 1121: return "new_Neighbor"; + case 1122: return "delete_Neighbor"; + case 1123: return "new_Model"; + case 1124: return "Model_copy"; + case 1125: return "delete_Model"; + case 1126: return "Model_getNrOfLinks"; + case 1127: return "Model_getLinkName"; + case 1128: return "Model_getLinkIndex"; + case 1129: return "Model_isValidLinkIndex"; + case 1130: return "Model_getLink"; + case 1131: return "Model_addLink"; + case 1132: return "Model_getNrOfJoints"; + case 1133: return "Model_getJointName"; + case 1134: return "Model_getJointIndex"; + case 1135: return "Model_getJoint"; + case 1136: return "Model_isValidJointIndex"; + case 1137: return "Model_isLinkNameUsed"; + case 1138: return "Model_isJointNameUsed"; + case 1139: return "Model_isFrameNameUsed"; + case 1140: return "Model_addJoint"; + case 1141: return "Model_addJointAndLink"; + case 1142: return "Model_insertLinkToExistingJointAndAddJointForDisplacedLink"; + case 1143: return "Model_getNrOfPosCoords"; + case 1144: return "Model_getNrOfDOFs"; + case 1145: return "Model_getNrOfFrames"; + case 1146: return "Model_addAdditionalFrameToLink"; + case 1147: return "Model_getFrameName"; + case 1148: return "Model_getFrameIndex"; + case 1149: return "Model_isValidFrameIndex"; + case 1150: return "Model_getFrameTransform"; + case 1151: return "Model_getFrameLink"; + case 1152: return "Model_getNrOfNeighbors"; + case 1153: return "Model_getNeighbor"; + case 1154: return "Model_setDefaultBaseLink"; + case 1155: return "Model_getDefaultBaseLink"; + case 1156: return "Model_computeFullTreeTraversal"; + case 1157: return "Model_getInertialParameters"; + case 1158: return "Model_updateInertialParameters"; + case 1159: return "Model_visualSolidShapes"; + case 1160: return "Model_collisionSolidShapes"; + case 1161: return "Model_toString"; + case 1162: return "new_JointPosDoubleArray"; + case 1163: return "JointPosDoubleArray_resize"; + case 1164: return "JointPosDoubleArray_isConsistent"; + case 1165: return "delete_JointPosDoubleArray"; + case 1166: return "new_JointDOFsDoubleArray"; + case 1167: return "JointDOFsDoubleArray_resize"; + case 1168: return "JointDOFsDoubleArray_isConsistent"; + case 1169: return "delete_JointDOFsDoubleArray"; + case 1170: return "new_DOFSpatialForceArray"; + case 1171: return "DOFSpatialForceArray_resize"; + case 1172: return "DOFSpatialForceArray_isConsistent"; + case 1173: return "DOFSpatialForceArray_paren"; + case 1174: return "delete_DOFSpatialForceArray"; + case 1175: return "new_DOFSpatialMotionArray"; + case 1176: return "DOFSpatialMotionArray_resize"; + case 1177: return "DOFSpatialMotionArray_isConsistent"; + case 1178: return "DOFSpatialMotionArray_paren"; + case 1179: return "delete_DOFSpatialMotionArray"; + case 1180: return "new_FrameFreeFloatingJacobian"; + case 1181: return "FrameFreeFloatingJacobian_resize"; + case 1182: return "FrameFreeFloatingJacobian_isConsistent"; + case 1183: return "delete_FrameFreeFloatingJacobian"; + case 1184: return "new_MomentumFreeFloatingJacobian"; + case 1185: return "MomentumFreeFloatingJacobian_resize"; + case 1186: return "MomentumFreeFloatingJacobian_isConsistent"; + case 1187: return "delete_MomentumFreeFloatingJacobian"; + case 1188: return "new_FreeFloatingMassMatrix"; + case 1189: return "FreeFloatingMassMatrix_resize"; + case 1190: return "delete_FreeFloatingMassMatrix"; + case 1191: return "new_FreeFloatingPos"; + case 1192: return "FreeFloatingPos_resize"; + case 1193: return "FreeFloatingPos_worldBasePos"; + case 1194: return "FreeFloatingPos_jointPos"; + case 1195: return "FreeFloatingPos_getNrOfPosCoords"; + case 1196: return "delete_FreeFloatingPos"; + case 1197: return "new_FreeFloatingGeneralizedTorques"; + case 1198: return "FreeFloatingGeneralizedTorques_resize"; + case 1199: return "FreeFloatingGeneralizedTorques_baseWrench"; + case 1200: return "FreeFloatingGeneralizedTorques_jointTorques"; + case 1201: return "FreeFloatingGeneralizedTorques_getNrOfDOFs"; + case 1202: return "delete_FreeFloatingGeneralizedTorques"; + case 1203: return "new_FreeFloatingVel"; + case 1204: return "FreeFloatingVel_resize"; + case 1205: return "FreeFloatingVel_baseVel"; + case 1206: return "FreeFloatingVel_jointVel"; + case 1207: return "FreeFloatingVel_getNrOfDOFs"; + case 1208: return "delete_FreeFloatingVel"; + case 1209: return "new_FreeFloatingAcc"; + case 1210: return "FreeFloatingAcc_resize"; + case 1211: return "FreeFloatingAcc_baseAcc"; + case 1212: return "FreeFloatingAcc_jointAcc"; + case 1213: return "FreeFloatingAcc_getNrOfDOFs"; + case 1214: return "delete_FreeFloatingAcc"; + case 1215: return "ContactWrench_contactId"; + case 1216: return "ContactWrench_contactPoint"; + case 1217: return "ContactWrench_contactWrench"; + case 1218: return "new_ContactWrench"; + case 1219: return "delete_ContactWrench"; + case 1220: return "new_LinkContactWrenches"; + case 1221: return "LinkContactWrenches_resize"; + case 1222: return "LinkContactWrenches_getNrOfContactsForLink"; + case 1223: return "LinkContactWrenches_setNrOfContactsForLink"; + case 1224: return "LinkContactWrenches_getNrOfLinks"; + case 1225: return "LinkContactWrenches_contactWrench"; + case 1226: return "LinkContactWrenches_computeNetWrenches"; + case 1227: return "LinkContactWrenches_toString"; + case 1228: return "delete_LinkContactWrenches"; + case 1229: return "_wrap_ForwardPositionKinematics"; + case 1230: return "_wrap_ForwardVelAccKinematics"; + case 1231: return "_wrap_ForwardPosVelAccKinematics"; + case 1232: return "_wrap_ForwardPosVelKinematics"; + case 1233: return "_wrap_ForwardAccKinematics"; + case 1234: return "_wrap_ForwardBiasAccKinematics"; + case 1235: return "_wrap_ComputeLinearAndAngularMomentum"; + case 1236: return "_wrap_ComputeLinearAndAngularMomentumDerivativeBias"; + case 1237: return "_wrap_RNEADynamicPhase"; + case 1238: return "_wrap_CompositeRigidBodyAlgorithm"; + case 1239: return "new_ArticulatedBodyAlgorithmInternalBuffers"; + case 1240: return "ArticulatedBodyAlgorithmInternalBuffers_resize"; + case 1241: return "ArticulatedBodyAlgorithmInternalBuffers_isConsistent"; + case 1242: return "ArticulatedBodyAlgorithmInternalBuffers_S_get"; + case 1243: return "ArticulatedBodyAlgorithmInternalBuffers_S_set"; + case 1244: return "ArticulatedBodyAlgorithmInternalBuffers_U_get"; + case 1245: return "ArticulatedBodyAlgorithmInternalBuffers_U_set"; + case 1246: return "ArticulatedBodyAlgorithmInternalBuffers_D_get"; + case 1247: return "ArticulatedBodyAlgorithmInternalBuffers_D_set"; + case 1248: return "ArticulatedBodyAlgorithmInternalBuffers_u_get"; + case 1249: return "ArticulatedBodyAlgorithmInternalBuffers_u_set"; + case 1250: return "ArticulatedBodyAlgorithmInternalBuffers_linksVel_get"; + case 1251: return "ArticulatedBodyAlgorithmInternalBuffers_linksVel_set"; + case 1252: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_get"; + case 1253: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_set"; + case 1254: return "ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_get"; + case 1255: return "ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_set"; + case 1256: return "ArticulatedBodyAlgorithmInternalBuffers_linkABIs_get"; + case 1257: return "ArticulatedBodyAlgorithmInternalBuffers_linkABIs_set"; + case 1258: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_get"; + case 1259: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_set"; + case 1260: return "delete_ArticulatedBodyAlgorithmInternalBuffers"; + case 1261: return "_wrap_ArticulatedBodyAlgorithm"; + case 1262: return "NR_OF_SENSOR_TYPES_get"; + case 1263: return "_wrap_isLinkSensor"; + case 1264: return "_wrap_isJointSensor"; + case 1265: return "_wrap_getSensorTypeSize"; + case 1266: return "delete_Sensor"; + case 1267: return "Sensor_getName"; + case 1268: return "Sensor_getSensorType"; + case 1269: return "Sensor_isValid"; + case 1270: return "Sensor_setName"; + case 1271: return "Sensor_clone"; + case 1272: return "Sensor_isConsistent"; + case 1273: return "Sensor_updateIndices"; + case 1274: return "Sensor_updateIndeces"; + case 1275: return "delete_JointSensor"; + case 1276: return "JointSensor_getParentJoint"; + case 1277: return "JointSensor_getParentJointIndex"; + case 1278: return "JointSensor_setParentJoint"; + case 1279: return "JointSensor_setParentJointIndex"; + case 1280: return "JointSensor_isConsistent"; + case 1281: return "delete_LinkSensor"; + case 1282: return "LinkSensor_getParentLink"; + case 1283: return "LinkSensor_getParentLinkIndex"; + case 1284: return "LinkSensor_getLinkSensorTransform"; + case 1285: return "LinkSensor_setParentLink"; + case 1286: return "LinkSensor_setParentLinkIndex"; + case 1287: return "LinkSensor_setLinkSensorTransform"; + case 1288: return "LinkSensor_isConsistent"; + case 1289: return "new_SensorsList"; + case 1290: return "delete_SensorsList"; + case 1291: return "SensorsList_addSensor"; + case 1292: return "SensorsList_setSerialization"; + case 1293: return "SensorsList_getSerialization"; + case 1294: return "SensorsList_getNrOfSensors"; + case 1295: return "SensorsList_getSensorIndex"; + case 1296: return "SensorsList_getSizeOfAllSensorsMeasurements"; + case 1297: return "SensorsList_getSensor"; + case 1298: return "SensorsList_isConsistent"; + case 1299: return "SensorsList_removeSensor"; + case 1300: return "SensorsList_removeAllSensorsOfType"; + case 1301: return "SensorsList_getSixAxisForceTorqueSensor"; + case 1302: return "SensorsList_getAccelerometerSensor"; + case 1303: return "SensorsList_getGyroscopeSensor"; + case 1304: return "SensorsList_getThreeAxisAngularAccelerometerSensor"; + case 1305: return "SensorsList_getThreeAxisForceTorqueContactSensor"; + case 1306: return "new_SensorsMeasurements"; + case 1307: return "delete_SensorsMeasurements"; + case 1308: return "SensorsMeasurements_setNrOfSensors"; + case 1309: return "SensorsMeasurements_getNrOfSensors"; + case 1310: return "SensorsMeasurements_resize"; + case 1311: return "SensorsMeasurements_toVector"; + case 1312: return "SensorsMeasurements_setMeasurement"; + case 1313: return "SensorsMeasurements_getMeasurement"; + case 1314: return "SensorsMeasurements_getSizeOfAllSensorsMeasurements"; + case 1315: return "new_SixAxisForceTorqueSensor"; + case 1316: return "delete_SixAxisForceTorqueSensor"; + case 1317: return "SixAxisForceTorqueSensor_setName"; + case 1318: return "SixAxisForceTorqueSensor_setFirstLinkSensorTransform"; + case 1319: return "SixAxisForceTorqueSensor_setSecondLinkSensorTransform"; + case 1320: return "SixAxisForceTorqueSensor_getFirstLinkIndex"; + case 1321: return "SixAxisForceTorqueSensor_getSecondLinkIndex"; + case 1322: return "SixAxisForceTorqueSensor_setFirstLinkName"; + case 1323: return "SixAxisForceTorqueSensor_setSecondLinkName"; + case 1324: return "SixAxisForceTorqueSensor_getFirstLinkName"; + case 1325: return "SixAxisForceTorqueSensor_getSecondLinkName"; + case 1326: return "SixAxisForceTorqueSensor_setParentJoint"; + case 1327: return "SixAxisForceTorqueSensor_setParentJointIndex"; + case 1328: return "SixAxisForceTorqueSensor_setAppliedWrenchLink"; + case 1329: return "SixAxisForceTorqueSensor_getName"; + case 1330: return "SixAxisForceTorqueSensor_getSensorType"; + case 1331: return "SixAxisForceTorqueSensor_getParentJoint"; + case 1332: return "SixAxisForceTorqueSensor_getParentJointIndex"; + case 1333: return "SixAxisForceTorqueSensor_isValid"; + case 1334: return "SixAxisForceTorqueSensor_clone"; + case 1335: return "SixAxisForceTorqueSensor_updateIndices"; + case 1336: return "SixAxisForceTorqueSensor_updateIndeces"; + case 1337: return "SixAxisForceTorqueSensor_getAppliedWrenchLink"; + case 1338: return "SixAxisForceTorqueSensor_isLinkAttachedToSensor"; + case 1339: return "SixAxisForceTorqueSensor_getLinkSensorTransform"; + case 1340: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLink"; + case 1341: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLinkMatrix"; + case 1342: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLinkInverseMatrix"; + case 1343: return "SixAxisForceTorqueSensor_predictMeasurement"; + case 1344: return "SixAxisForceTorqueSensor_toString"; + case 1345: return "new_AccelerometerSensor"; + case 1346: return "delete_AccelerometerSensor"; + case 1347: return "AccelerometerSensor_setName"; + case 1348: return "AccelerometerSensor_setLinkSensorTransform"; + case 1349: return "AccelerometerSensor_setParentLink"; + case 1350: return "AccelerometerSensor_setParentLinkIndex"; + case 1351: return "AccelerometerSensor_getName"; + case 1352: return "AccelerometerSensor_getSensorType"; + case 1353: return "AccelerometerSensor_getParentLink"; + case 1354: return "AccelerometerSensor_getParentLinkIndex"; + case 1355: return "AccelerometerSensor_getLinkSensorTransform"; + case 1356: return "AccelerometerSensor_isValid"; + case 1357: return "AccelerometerSensor_clone"; + case 1358: return "AccelerometerSensor_updateIndices"; + case 1359: return "AccelerometerSensor_updateIndeces"; + case 1360: return "AccelerometerSensor_predictMeasurement"; + case 1361: return "new_GyroscopeSensor"; + case 1362: return "delete_GyroscopeSensor"; + case 1363: return "GyroscopeSensor_setName"; + case 1364: return "GyroscopeSensor_setLinkSensorTransform"; + case 1365: return "GyroscopeSensor_setParentLink"; + case 1366: return "GyroscopeSensor_setParentLinkIndex"; + case 1367: return "GyroscopeSensor_getName"; + case 1368: return "GyroscopeSensor_getSensorType"; + case 1369: return "GyroscopeSensor_getParentLink"; + case 1370: return "GyroscopeSensor_getParentLinkIndex"; + case 1371: return "GyroscopeSensor_getLinkSensorTransform"; + case 1372: return "GyroscopeSensor_isValid"; + case 1373: return "GyroscopeSensor_clone"; + case 1374: return "GyroscopeSensor_updateIndices"; + case 1375: return "GyroscopeSensor_updateIndeces"; + case 1376: return "GyroscopeSensor_predictMeasurement"; + case 1377: return "new_ThreeAxisAngularAccelerometerSensor"; + case 1378: return "delete_ThreeAxisAngularAccelerometerSensor"; + case 1379: return "ThreeAxisAngularAccelerometerSensor_setName"; + case 1380: return "ThreeAxisAngularAccelerometerSensor_setLinkSensorTransform"; + case 1381: return "ThreeAxisAngularAccelerometerSensor_setParentLink"; + case 1382: return "ThreeAxisAngularAccelerometerSensor_setParentLinkIndex"; + case 1383: return "ThreeAxisAngularAccelerometerSensor_getName"; + case 1384: return "ThreeAxisAngularAccelerometerSensor_getSensorType"; + case 1385: return "ThreeAxisAngularAccelerometerSensor_getParentLink"; + case 1386: return "ThreeAxisAngularAccelerometerSensor_getParentLinkIndex"; + case 1387: return "ThreeAxisAngularAccelerometerSensor_getLinkSensorTransform"; + case 1388: return "ThreeAxisAngularAccelerometerSensor_isValid"; + case 1389: return "ThreeAxisAngularAccelerometerSensor_clone"; + case 1390: return "ThreeAxisAngularAccelerometerSensor_updateIndices"; + case 1391: return "ThreeAxisAngularAccelerometerSensor_predictMeasurement"; + case 1392: return "new_ThreeAxisForceTorqueContactSensor"; + case 1393: return "delete_ThreeAxisForceTorqueContactSensor"; + case 1394: return "ThreeAxisForceTorqueContactSensor_setName"; + case 1395: return "ThreeAxisForceTorqueContactSensor_setLinkSensorTransform"; + case 1396: return "ThreeAxisForceTorqueContactSensor_setParentLink"; + case 1397: return "ThreeAxisForceTorqueContactSensor_setParentLinkIndex"; + case 1398: return "ThreeAxisForceTorqueContactSensor_getName"; + case 1399: return "ThreeAxisForceTorqueContactSensor_getSensorType"; + case 1400: return "ThreeAxisForceTorqueContactSensor_getParentLink"; + case 1401: return "ThreeAxisForceTorqueContactSensor_getParentLinkIndex"; + case 1402: return "ThreeAxisForceTorqueContactSensor_getLinkSensorTransform"; + case 1403: return "ThreeAxisForceTorqueContactSensor_isValid"; + case 1404: return "ThreeAxisForceTorqueContactSensor_clone"; + case 1405: return "ThreeAxisForceTorqueContactSensor_updateIndices"; + case 1406: return "ThreeAxisForceTorqueContactSensor_setLoadCellLocations"; + case 1407: return "ThreeAxisForceTorqueContactSensor_getLoadCellLocations"; + case 1408: return "ThreeAxisForceTorqueContactSensor_computeThreeAxisForceTorqueFromLoadCellMeasurements"; + case 1409: return "ThreeAxisForceTorqueContactSensor_computeCenterOfPressureFromLoadCellMeasurements"; + case 1410: return "_wrap_predictSensorsMeasurements"; + case 1411: return "_wrap_predictSensorsMeasurementsFromRawBuffers"; + case 1412: return "URDFParserOptions_addSensorFramesAsAdditionalFrames_get"; + case 1413: return "URDFParserOptions_addSensorFramesAsAdditionalFrames_set"; + case 1414: return "URDFParserOptions_originalFilename_get"; + case 1415: return "URDFParserOptions_originalFilename_set"; + case 1416: return "new_URDFParserOptions"; + case 1417: return "delete_URDFParserOptions"; + case 1418: return "_wrap_modelFromURDF"; + case 1419: return "_wrap_modelFromURDFString"; + case 1420: return "_wrap_dofsListFromURDF"; + case 1421: return "_wrap_dofsListFromURDFString"; + case 1422: return "_wrap_sensorsFromURDF"; + case 1423: return "_wrap_sensorsFromURDFString"; + case 1424: return "ModelParserOptions_addSensorFramesAsAdditionalFrames_get"; + case 1425: return "ModelParserOptions_addSensorFramesAsAdditionalFrames_set"; + case 1426: return "ModelParserOptions_originalFilename_get"; + case 1427: return "ModelParserOptions_originalFilename_set"; + case 1428: return "new_ModelParserOptions"; + case 1429: return "delete_ModelParserOptions"; + case 1430: return "new_ModelLoader"; + case 1431: return "delete_ModelLoader"; + case 1432: return "ModelLoader_parsingOptions"; + case 1433: return "ModelLoader_setParsingOptions"; + case 1434: return "ModelLoader_loadModelFromString"; + case 1435: return "ModelLoader_loadModelFromFile"; + case 1436: return "ModelLoader_loadReducedModelFromFullModel"; + case 1437: return "ModelLoader_loadReducedModelFromString"; + case 1438: return "ModelLoader_loadReducedModelFromFile"; + case 1439: return "ModelLoader_model"; + case 1440: return "ModelLoader_sensors"; + case 1441: return "ModelLoader_isValid"; + case 1442: return "new_UnknownWrenchContact"; + case 1443: return "UnknownWrenchContact_unknownType_get"; + case 1444: return "UnknownWrenchContact_unknownType_set"; + case 1445: return "UnknownWrenchContact_contactPoint_get"; + case 1446: return "UnknownWrenchContact_contactPoint_set"; + case 1447: return "UnknownWrenchContact_forceDirection_get"; + case 1448: return "UnknownWrenchContact_forceDirection_set"; + case 1449: return "UnknownWrenchContact_knownWrench_get"; + case 1450: return "UnknownWrenchContact_knownWrench_set"; + case 1451: return "UnknownWrenchContact_contactId_get"; + case 1452: return "UnknownWrenchContact_contactId_set"; + case 1453: return "delete_UnknownWrenchContact"; + case 1454: return "new_LinkUnknownWrenchContacts"; + case 1455: return "LinkUnknownWrenchContacts_clear"; + case 1456: return "LinkUnknownWrenchContacts_resize"; + case 1457: return "LinkUnknownWrenchContacts_getNrOfContactsForLink"; + case 1458: return "LinkUnknownWrenchContacts_setNrOfContactsForLink"; + case 1459: return "LinkUnknownWrenchContacts_addNewContactForLink"; + case 1460: return "LinkUnknownWrenchContacts_addNewContactInFrame"; + case 1461: return "LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin"; + case 1462: return "LinkUnknownWrenchContacts_contactWrench"; + case 1463: return "LinkUnknownWrenchContacts_toString"; + case 1464: return "delete_LinkUnknownWrenchContacts"; + case 1465: return "new_estimateExternalWrenchesBuffers"; + case 1466: return "estimateExternalWrenchesBuffers_resize"; + case 1467: return "estimateExternalWrenchesBuffers_getNrOfSubModels"; + case 1468: return "estimateExternalWrenchesBuffers_getNrOfLinks"; + case 1469: return "estimateExternalWrenchesBuffers_isConsistent"; + case 1470: return "estimateExternalWrenchesBuffers_A_get"; + case 1471: return "estimateExternalWrenchesBuffers_A_set"; + case 1472: return "estimateExternalWrenchesBuffers_x_get"; + case 1473: return "estimateExternalWrenchesBuffers_x_set"; + case 1474: return "estimateExternalWrenchesBuffers_b_get"; + case 1475: return "estimateExternalWrenchesBuffers_b_set"; + case 1476: return "estimateExternalWrenchesBuffers_pinvA_get"; + case 1477: return "estimateExternalWrenchesBuffers_pinvA_set"; + case 1478: return "estimateExternalWrenchesBuffers_b_contacts_subtree_get"; + case 1479: return "estimateExternalWrenchesBuffers_b_contacts_subtree_set"; + case 1480: return "estimateExternalWrenchesBuffers_subModelBase_H_link_get"; + case 1481: return "estimateExternalWrenchesBuffers_subModelBase_H_link_set"; + case 1482: return "delete_estimateExternalWrenchesBuffers"; + case 1483: return "_wrap_estimateExternalWrenchesWithoutInternalFT"; + case 1484: return "_wrap_estimateExternalWrenches"; + case 1485: return "_wrap_dynamicsEstimationForwardVelAccKinematics"; + case 1486: return "_wrap_dynamicsEstimationForwardVelKinematics"; + case 1487: return "_wrap_computeLinkNetWrenchesWithoutGravity"; + case 1488: return "_wrap_estimateLinkContactWrenchesFromLinkNetExternalWrenches"; + case 1489: return "new_ExtWrenchesAndJointTorquesEstimator"; + case 1490: return "delete_ExtWrenchesAndJointTorquesEstimator"; + case 1491: return "ExtWrenchesAndJointTorquesEstimator_setModelAndSensors"; + case 1492: return "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile"; + case 1493: return "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs"; + case 1494: return "ExtWrenchesAndJointTorquesEstimator_model"; + case 1495: return "ExtWrenchesAndJointTorquesEstimator_sensors"; + case 1496: return "ExtWrenchesAndJointTorquesEstimator_submodels"; + case 1497: return "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase"; + case 1498: return "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase"; + case 1499: return "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements"; + case 1500: return "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques"; + case 1501: return "ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill"; + case 1502: return "ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity"; + case 1503: return "new_SimpleLeggedOdometry"; + case 1504: return "delete_SimpleLeggedOdometry"; + case 1505: return "SimpleLeggedOdometry_setModel"; + case 1506: return "SimpleLeggedOdometry_loadModelFromFile"; + case 1507: return "SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs"; + case 1508: return "SimpleLeggedOdometry_model"; + case 1509: return "SimpleLeggedOdometry_updateKinematics"; + case 1510: return "SimpleLeggedOdometry_init"; + case 1511: return "SimpleLeggedOdometry_changeFixedFrame"; + case 1512: return "SimpleLeggedOdometry_getCurrentFixedLink"; + case 1513: return "SimpleLeggedOdometry_getWorldLinkTransform"; + case 1514: return "_wrap_isLinkBerdyDynamicVariable"; + case 1515: return "_wrap_isJointBerdyDynamicVariable"; + case 1516: return "_wrap_isDOFBerdyDynamicVariable"; + case 1517: return "new_BerdyOptions"; + case 1518: return "BerdyOptions_berdyVariant_get"; + case 1519: return "BerdyOptions_berdyVariant_set"; + case 1520: return "BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_get"; + case 1521: return "BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set"; + case 1522: return "BerdyOptions_includeAllJointAccelerationsAsSensors_get"; + case 1523: return "BerdyOptions_includeAllJointAccelerationsAsSensors_set"; + case 1524: return "BerdyOptions_includeAllJointTorquesAsSensors_get"; + case 1525: return "BerdyOptions_includeAllJointTorquesAsSensors_set"; + case 1526: return "BerdyOptions_includeAllNetExternalWrenchesAsSensors_get"; + case 1527: return "BerdyOptions_includeAllNetExternalWrenchesAsSensors_set"; + case 1528: return "BerdyOptions_includeFixedBaseExternalWrench_get"; + case 1529: return "BerdyOptions_includeFixedBaseExternalWrench_set"; + case 1530: return "BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_get"; + case 1531: return "BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_set"; + case 1532: return "BerdyOptions_baseLink_get"; + case 1533: return "BerdyOptions_baseLink_set"; + case 1534: return "BerdyOptions_checkConsistency"; + case 1535: return "delete_BerdyOptions"; + case 1536: return "BerdySensor_type_get"; + case 1537: return "BerdySensor_type_set"; + case 1538: return "BerdySensor_id_get"; + case 1539: return "BerdySensor_id_set"; + case 1540: return "BerdySensor_range_get"; + case 1541: return "BerdySensor_range_set"; + case 1542: return "BerdySensor_eq"; + case 1543: return "BerdySensor_lt"; + case 1544: return "new_BerdySensor"; + case 1545: return "delete_BerdySensor"; + case 1546: return "BerdyDynamicVariable_type_get"; + case 1547: return "BerdyDynamicVariable_type_set"; + case 1548: return "BerdyDynamicVariable_id_get"; + case 1549: return "BerdyDynamicVariable_id_set"; + case 1550: return "BerdyDynamicVariable_range_get"; + case 1551: return "BerdyDynamicVariable_range_set"; + case 1552: return "BerdyDynamicVariable_eq"; + case 1553: return "BerdyDynamicVariable_lt"; + case 1554: return "new_BerdyDynamicVariable"; + case 1555: return "delete_BerdyDynamicVariable"; + case 1556: return "new_BerdyHelper"; + case 1557: return "BerdyHelper_dynamicTraversal"; + case 1558: return "BerdyHelper_model"; + case 1559: return "BerdyHelper_sensors"; + case 1560: return "BerdyHelper_isValid"; + case 1561: return "BerdyHelper_init"; + case 1562: return "BerdyHelper_getOptions"; + case 1563: return "BerdyHelper_getNrOfDynamicVariables"; + case 1564: return "BerdyHelper_getNrOfDynamicEquations"; + case 1565: return "BerdyHelper_getNrOfSensorsMeasurements"; + case 1566: return "BerdyHelper_resizeAndZeroBerdyMatrices"; + case 1567: return "BerdyHelper_getBerdyMatrices"; + case 1568: return "BerdyHelper_getSensorsOrdering"; + case 1569: return "BerdyHelper_getRangeSensorVariable"; + case 1570: return "BerdyHelper_getRangeDOFSensorVariable"; + case 1571: return "BerdyHelper_getRangeJointSensorVariable"; + case 1572: return "BerdyHelper_getRangeLinkSensorVariable"; + case 1573: return "BerdyHelper_getRangeLinkVariable"; + case 1574: return "BerdyHelper_getRangeJointVariable"; + case 1575: return "BerdyHelper_getRangeDOFVariable"; + case 1576: return "BerdyHelper_getDynamicVariablesOrdering"; + case 1577: return "BerdyHelper_serializeDynamicVariables"; + case 1578: return "BerdyHelper_serializeSensorVariables"; + case 1579: return "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA"; + case 1580: return "BerdyHelper_extractJointTorquesFromDynamicVariables"; + case 1581: return "BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables"; + case 1582: return "BerdyHelper_updateKinematicsFromFloatingBase"; + case 1583: return "BerdyHelper_updateKinematicsFromFixedBase"; + case 1584: return "BerdyHelper_updateKinematicsFromTraversalFixedBase"; + case 1585: return "BerdyHelper_setNetExternalWrenchMeasurementFrame"; + case 1586: return "BerdyHelper_getNetExternalWrenchMeasurementFrame"; + case 1587: return "delete_BerdyHelper"; + case 1588: return "new_BerdySparseMAPSolver"; + case 1589: return "delete_BerdySparseMAPSolver"; + case 1590: return "BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance"; + case 1591: return "BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance"; + case 1592: return "BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue"; + case 1593: return "BerdySparseMAPSolver_setMeasurementsPriorCovariance"; + case 1594: return "BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse"; + case 1595: return "BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse"; + case 1596: return "BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue"; + case 1597: return "BerdySparseMAPSolver_measurementsPriorCovarianceInverse"; + case 1598: return "BerdySparseMAPSolver_isValid"; + case 1599: return "BerdySparseMAPSolver_initialize"; + case 1600: return "BerdySparseMAPSolver_updateEstimateInformationFixedBase"; + case 1601: return "BerdySparseMAPSolver_updateEstimateInformationFloatingBase"; + case 1602: return "BerdySparseMAPSolver_doEstimate"; + case 1603: return "BerdySparseMAPSolver_getLastEstimate"; + case 1604: return "DynamicsRegressorParameter_category_get"; + case 1605: return "DynamicsRegressorParameter_category_set"; + case 1606: return "DynamicsRegressorParameter_elemIndex_get"; + case 1607: return "DynamicsRegressorParameter_elemIndex_set"; + case 1608: return "DynamicsRegressorParameter_type_get"; + case 1609: return "DynamicsRegressorParameter_type_set"; + case 1610: return "DynamicsRegressorParameter_lt"; + case 1611: return "DynamicsRegressorParameter_eq"; + case 1612: return "DynamicsRegressorParameter_ne"; + case 1613: return "new_DynamicsRegressorParameter"; + case 1614: return "delete_DynamicsRegressorParameter"; + case 1615: return "DynamicsRegressorParametersList_parameters_get"; + case 1616: return "DynamicsRegressorParametersList_parameters_set"; + case 1617: return "DynamicsRegressorParametersList_getDescriptionOfParameter"; + case 1618: return "DynamicsRegressorParametersList_addParam"; + case 1619: return "DynamicsRegressorParametersList_addList"; + case 1620: return "DynamicsRegressorParametersList_findParam"; + case 1621: return "DynamicsRegressorParametersList_getNrOfParameters"; + case 1622: return "new_DynamicsRegressorParametersList"; + case 1623: return "delete_DynamicsRegressorParametersList"; + case 1624: return "new_DynamicsRegressorGenerator"; + case 1625: return "delete_DynamicsRegressorGenerator"; + case 1626: return "DynamicsRegressorGenerator_loadRobotAndSensorsModelFromFile"; + case 1627: return "DynamicsRegressorGenerator_loadRobotAndSensorsModelFromString"; + case 1628: return "DynamicsRegressorGenerator_loadRegressorStructureFromFile"; + case 1629: return "DynamicsRegressorGenerator_loadRegressorStructureFromString"; + case 1630: return "DynamicsRegressorGenerator_isValid"; + case 1631: return "DynamicsRegressorGenerator_getNrOfParameters"; + case 1632: return "DynamicsRegressorGenerator_getNrOfOutputs"; + case 1633: return "DynamicsRegressorGenerator_getNrOfDegreesOfFreedom"; + case 1634: return "DynamicsRegressorGenerator_getDescriptionOfParameter"; + case 1635: return "DynamicsRegressorGenerator_getDescriptionOfParameters"; + case 1636: return "DynamicsRegressorGenerator_getDescriptionOfOutput"; + case 1637: return "DynamicsRegressorGenerator_getDescriptionOfOutputs"; + case 1638: return "DynamicsRegressorGenerator_getDescriptionOfDegreeOfFreedom"; + case 1639: return "DynamicsRegressorGenerator_getDescriptionOfDegreesOfFreedom"; + case 1640: return "DynamicsRegressorGenerator_getDescriptionOfLink"; + case 1641: return "DynamicsRegressorGenerator_getDescriptionOfLinks"; + case 1642: return "DynamicsRegressorGenerator_getNrOfLinks"; + case 1643: return "DynamicsRegressorGenerator_getNrOfFakeLinks"; + case 1644: return "DynamicsRegressorGenerator_getBaseLinkName"; + case 1645: return "DynamicsRegressorGenerator_getSensorsModel"; + case 1646: return "DynamicsRegressorGenerator_setRobotState"; + case 1647: return "DynamicsRegressorGenerator_getSensorsMeasurements"; + case 1648: return "DynamicsRegressorGenerator_setTorqueSensorMeasurement"; + case 1649: return "DynamicsRegressorGenerator_computeRegressor"; + case 1650: return "DynamicsRegressorGenerator_getModelParameters"; + case 1651: return "DynamicsRegressorGenerator_computeFloatingBaseIdentifiableSubspace"; + case 1652: return "DynamicsRegressorGenerator_computeFixedBaseIdentifiableSubspace"; + case 1653: return "DynamicsRegressorGenerator_generate_random_regressors"; + case 1654: return "new_KinDynComputations"; + case 1655: return "delete_KinDynComputations"; + case 1656: return "KinDynComputations_loadRobotModel"; + case 1657: return "KinDynComputations_loadRobotModelFromFile"; + case 1658: return "KinDynComputations_loadRobotModelFromString"; + case 1659: return "KinDynComputations_isValid"; + case 1660: return "KinDynComputations_setFrameVelocityRepresentation"; + case 1661: return "KinDynComputations_getFrameVelocityRepresentation"; + case 1662: return "KinDynComputations_getNrOfDegreesOfFreedom"; + case 1663: return "KinDynComputations_getDescriptionOfDegreeOfFreedom"; + case 1664: return "KinDynComputations_getDescriptionOfDegreesOfFreedom"; + case 1665: return "KinDynComputations_getNrOfLinks"; + case 1666: return "KinDynComputations_getNrOfFrames"; + case 1667: return "KinDynComputations_getFloatingBase"; + case 1668: return "KinDynComputations_setFloatingBase"; + case 1669: return "KinDynComputations_model"; + case 1670: return "KinDynComputations_getRobotModel"; + case 1671: return "KinDynComputations_getRelativeJacobianSparsityPattern"; + case 1672: return "KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern"; + case 1673: return "KinDynComputations_setJointPos"; + case 1674: return "KinDynComputations_setRobotState"; + case 1675: return "KinDynComputations_getRobotState"; + case 1676: return "KinDynComputations_getWorldBaseTransform"; + case 1677: return "KinDynComputations_getBaseTwist"; + case 1678: return "KinDynComputations_getJointPos"; + case 1679: return "KinDynComputations_getJointVel"; + case 1680: return "KinDynComputations_getModelVel"; + case 1681: return "KinDynComputations_getFrameIndex"; + case 1682: return "KinDynComputations_getFrameName"; + case 1683: return "KinDynComputations_getWorldTransform"; + case 1684: return "KinDynComputations_getRelativeTransformExplicit"; + case 1685: return "KinDynComputations_getRelativeTransform"; + case 1686: return "KinDynComputations_getFrameVel"; + case 1687: return "KinDynComputations_getFrameFreeFloatingJacobian"; + case 1688: return "KinDynComputations_getRelativeJacobian"; + case 1689: return "KinDynComputations_getRelativeJacobianExplicit"; + case 1690: return "KinDynComputations_getFrameBiasAcc"; + case 1691: return "KinDynComputations_getCenterOfMassPosition"; + case 1692: return "KinDynComputations_getCenterOfMassVelocity"; + case 1693: return "KinDynComputations_getCenterOfMassJacobian"; + case 1694: return "KinDynComputations_getCenterOfMassBiasAcc"; + case 1695: return "KinDynComputations_getAverageVelocity"; + case 1696: return "KinDynComputations_getAverageVelocityJacobian"; + case 1697: return "KinDynComputations_getCentroidalAverageVelocity"; + case 1698: return "KinDynComputations_getCentroidalAverageVelocityJacobian"; + case 1699: return "KinDynComputations_getLinearAngularMomentum"; + case 1700: return "KinDynComputations_getLinearAngularMomentumJacobian"; + case 1701: return "KinDynComputations_getCentroidalTotalMomentum"; + case 1702: return "KinDynComputations_getFreeFloatingMassMatrix"; + case 1703: return "KinDynComputations_inverseDynamics"; + case 1704: return "KinDynComputations_generalizedBiasForces"; + case 1705: return "KinDynComputations_generalizedGravityForces"; + case 1706: return "delete_ICamera"; + case 1707: return "ICamera_setPosition"; + case 1708: return "ICamera_setTarget"; + case 1709: return "ICamera_setUpVector"; + case 1710: return "ColorViz_r_get"; + case 1711: return "ColorViz_r_set"; + case 1712: return "ColorViz_g_get"; + case 1713: return "ColorViz_g_set"; + case 1714: return "ColorViz_b_get"; + case 1715: return "ColorViz_b_set"; + case 1716: return "ColorViz_a_get"; + case 1717: return "ColorViz_a_set"; + case 1718: return "new_ColorViz"; + case 1719: return "delete_ColorViz"; + case 1720: return "delete_ILight"; + case 1721: return "ILight_getName"; + case 1722: return "ILight_setType"; + case 1723: return "ILight_getType"; + case 1724: return "ILight_setPosition"; + case 1725: return "ILight_getPosition"; + case 1726: return "ILight_setDirection"; + case 1727: return "ILight_getDirection"; + case 1728: return "ILight_setAmbientColor"; + case 1729: return "ILight_getAmbientColor"; + case 1730: return "ILight_setSpecularColor"; + case 1731: return "ILight_getSpecularColor"; + case 1732: return "ILight_setDiffuseColor"; + case 1733: return "ILight_getDiffuseColor"; + case 1734: return "delete_IEnvironment"; + case 1735: return "IEnvironment_getElements"; + case 1736: return "IEnvironment_setElementVisibility"; + case 1737: return "IEnvironment_setBackgroundColor"; + case 1738: return "IEnvironment_setAmbientLight"; + case 1739: return "IEnvironment_getLights"; + case 1740: return "IEnvironment_addLight"; + case 1741: return "IEnvironment_lightViz"; + case 1742: return "IEnvironment_removeLight"; + case 1743: return "delete_IJetsVisualization"; + case 1744: return "IJetsVisualization_setJetsFrames"; + case 1745: return "IJetsVisualization_getNrOfJets"; + case 1746: return "IJetsVisualization_getJetDirection"; + case 1747: return "IJetsVisualization_setJetDirection"; + case 1748: return "IJetsVisualization_setJetColor"; + case 1749: return "IJetsVisualization_setJetsDimensions"; + case 1750: return "IJetsVisualization_setJetsIntensity"; + case 1751: return "delete_IModelVisualization"; + case 1752: return "IModelVisualization_setPositions"; + case 1753: return "IModelVisualization_setLinkPositions"; + case 1754: return "IModelVisualization_model"; + case 1755: return "IModelVisualization_getInstanceName"; + case 1756: return "IModelVisualization_setModelVisibility"; + case 1757: return "IModelVisualization_setModelColor"; + case 1758: return "IModelVisualization_resetModelColor"; + case 1759: return "IModelVisualization_getLinkNames"; + case 1760: return "IModelVisualization_setLinkVisibility"; + case 1761: return "IModelVisualization_getFeatures"; + case 1762: return "IModelVisualization_setFeatureVisibility"; + case 1763: return "IModelVisualization_jets"; + case 1764: return "VisualizerOptions_verbose_get"; + case 1765: return "VisualizerOptions_verbose_set"; + case 1766: return "VisualizerOptions_winWidth_get"; + case 1767: return "VisualizerOptions_winWidth_set"; + case 1768: return "VisualizerOptions_winHeight_get"; + case 1769: return "VisualizerOptions_winHeight_set"; + case 1770: return "VisualizerOptions_rootFrameArrowsDimension_get"; + case 1771: return "VisualizerOptions_rootFrameArrowsDimension_set"; + case 1772: return "new_VisualizerOptions"; + case 1773: return "delete_VisualizerOptions"; + case 1774: return "new_Visualizer"; + case 1775: return "delete_Visualizer"; + case 1776: return "Visualizer_init"; + case 1777: return "Visualizer_getNrOfVisualizedModels"; + case 1778: return "Visualizer_getModelInstanceName"; + case 1779: return "Visualizer_getModelInstanceIndex"; + case 1780: return "Visualizer_addModel"; + case 1781: return "Visualizer_modelViz"; + case 1782: return "Visualizer_camera"; + case 1783: return "Visualizer_enviroment"; + case 1784: return "Visualizer_run"; + case 1785: return "Visualizer_draw"; + case 1786: return "Visualizer_drawToFile"; + case 1787: return "Visualizer_close"; + case 1788: return "new_DynamicsComputations"; + case 1789: return "delete_DynamicsComputations"; + case 1790: return "DynamicsComputations_loadRobotModelFromFile"; + case 1791: return "DynamicsComputations_loadRobotModelFromString"; + case 1792: return "DynamicsComputations_isValid"; + case 1793: return "DynamicsComputations_getNrOfDegreesOfFreedom"; + case 1794: return "DynamicsComputations_getDescriptionOfDegreeOfFreedom"; + case 1795: return "DynamicsComputations_getDescriptionOfDegreesOfFreedom"; + case 1796: return "DynamicsComputations_getNrOfLinks"; + case 1797: return "DynamicsComputations_getNrOfFrames"; + case 1798: return "DynamicsComputations_getFloatingBase"; + case 1799: return "DynamicsComputations_setFloatingBase"; + case 1800: return "DynamicsComputations_setRobotState"; + case 1801: return "DynamicsComputations_getWorldBaseTransform"; + case 1802: return "DynamicsComputations_getBaseTwist"; + case 1803: return "DynamicsComputations_getJointPos"; + case 1804: return "DynamicsComputations_getJointVel"; + case 1805: return "DynamicsComputations_getFrameIndex"; + case 1806: return "DynamicsComputations_getFrameName"; + case 1807: return "DynamicsComputations_getWorldTransform"; + case 1808: return "DynamicsComputations_getRelativeTransform"; + case 1809: return "DynamicsComputations_getFrameTwist"; + case 1810: return "DynamicsComputations_getFrameTwistInWorldOrient"; + case 1811: return "DynamicsComputations_getFrameProperSpatialAcceleration"; + case 1812: return "DynamicsComputations_getLinkIndex"; + case 1813: return "DynamicsComputations_getLinkInertia"; + case 1814: return "DynamicsComputations_getJointIndex"; + case 1815: return "DynamicsComputations_getJointName"; + case 1816: return "DynamicsComputations_getJointLimits"; + case 1817: return "DynamicsComputations_inverseDynamics"; + case 1818: return "DynamicsComputations_getFreeFloatingMassMatrix"; + case 1819: return "DynamicsComputations_getFrameJacobian"; + case 1820: return "DynamicsComputations_getDynamicsRegressor"; + case 1821: return "DynamicsComputations_getModelDynamicsParameters"; + case 1822: return "DynamicsComputations_getCenterOfMass"; + case 1823: return "DynamicsComputations_getCenterOfMassJacobian"; default: return 0; } } @@ -90011,1703 +91094,1734 @@ void mexFunction(int resc, mxArray *resv[], int argc, const mxArray *argv[]) { case 93: flag=_wrap_BerdyDynamicVariables_reserve(resc,resv,argc,(mxArray**)(argv)); break; case 94: flag=_wrap_BerdyDynamicVariables_capacity(resc,resv,argc,(mxArray**)(argv)); break; case 95: flag=_wrap_delete_BerdyDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break; - case 96: flag=_wrap_IndexRange_offset_get(resc,resv,argc,(mxArray**)(argv)); break; - case 97: flag=_wrap_IndexRange_offset_set(resc,resv,argc,(mxArray**)(argv)); break; - case 98: flag=_wrap_IndexRange_size_get(resc,resv,argc,(mxArray**)(argv)); break; - case 99: flag=_wrap_IndexRange_size_set(resc,resv,argc,(mxArray**)(argv)); break; - case 100: flag=_wrap_IndexRange_isValid(resc,resv,argc,(mxArray**)(argv)); break; - case 101: flag=_wrap_IndexRange_InvalidRange(resc,resv,argc,(mxArray**)(argv)); break; - case 102: flag=_wrap_new_IndexRange(resc,resv,argc,(mxArray**)(argv)); break; - case 103: flag=_wrap_delete_IndexRange(resc,resv,argc,(mxArray**)(argv)); break; - case 104: flag=_wrap_checkDoublesAreEqual(resc,resv,argc,(mxArray**)(argv)); break; - case 105: flag=_wrap_new_MatrixDynSize(resc,resv,argc,(mxArray**)(argv)); break; - case 106: flag=_wrap_delete_MatrixDynSize(resc,resv,argc,(mxArray**)(argv)); break; - case 107: flag=_wrap_MatrixDynSize_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 108: flag=_wrap_MatrixDynSize_getVal(resc,resv,argc,(mxArray**)(argv)); break; - case 109: flag=_wrap_MatrixDynSize_setVal(resc,resv,argc,(mxArray**)(argv)); break; - case 110: flag=_wrap_MatrixDynSize_rows(resc,resv,argc,(mxArray**)(argv)); break; - case 111: flag=_wrap_MatrixDynSize_cols(resc,resv,argc,(mxArray**)(argv)); break; - case 112: flag=_wrap_MatrixDynSize_data(resc,resv,argc,(mxArray**)(argv)); break; - case 113: flag=_wrap_MatrixDynSize_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 114: flag=_wrap_MatrixDynSize_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 115: flag=_wrap_MatrixDynSize_reserve(resc,resv,argc,(mxArray**)(argv)); break; - case 116: flag=_wrap_MatrixDynSize_capacity(resc,resv,argc,(mxArray**)(argv)); break; - case 117: flag=_wrap_MatrixDynSize_shrink_to_fit(resc,resv,argc,(mxArray**)(argv)); break; - case 118: flag=_wrap_MatrixDynSize_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 119: flag=_wrap_MatrixDynSize_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 120: flag=_wrap_MatrixDynSize_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 121: flag=_wrap_MatrixDynSize_display(resc,resv,argc,(mxArray**)(argv)); break; - case 122: flag=_wrap_MatrixDynSize_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 123: flag=_wrap_MatrixDynSize_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 124: flag=_wrap_new_SparseMatrixRowMajor(resc,resv,argc,(mxArray**)(argv)); break; - case 125: flag=_wrap_delete_SparseMatrixRowMajor(resc,resv,argc,(mxArray**)(argv)); break; - case 126: flag=_wrap_SparseMatrixRowMajor_numberOfNonZeros(resc,resv,argc,(mxArray**)(argv)); break; - case 127: flag=_wrap_SparseMatrixRowMajor_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 128: flag=_wrap_SparseMatrixRowMajor_reserve(resc,resv,argc,(mxArray**)(argv)); break; - case 129: flag=_wrap_SparseMatrixRowMajor_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 130: flag=_wrap_SparseMatrixRowMajor_setFromConstTriplets(resc,resv,argc,(mxArray**)(argv)); break; - case 131: flag=_wrap_SparseMatrixRowMajor_setFromTriplets(resc,resv,argc,(mxArray**)(argv)); break; - case 132: flag=_wrap_SparseMatrixRowMajor_getValue(resc,resv,argc,(mxArray**)(argv)); break; - case 133: flag=_wrap_SparseMatrixRowMajor_setValue(resc,resv,argc,(mxArray**)(argv)); break; - case 134: flag=_wrap_SparseMatrixRowMajor_rows(resc,resv,argc,(mxArray**)(argv)); break; - case 135: flag=_wrap_SparseMatrixRowMajor_columns(resc,resv,argc,(mxArray**)(argv)); break; - case 136: flag=_wrap_SparseMatrixRowMajor_description(resc,resv,argc,(mxArray**)(argv)); break; - case 137: flag=_wrap_SparseMatrixRowMajor_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 138: flag=_wrap_SparseMatrixRowMajor_toMatlabDense(resc,resv,argc,(mxArray**)(argv)); break; - case 139: flag=_wrap_SparseMatrixRowMajor_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 140: flag=_wrap_new_SparseMatrixColMajor(resc,resv,argc,(mxArray**)(argv)); break; - case 141: flag=_wrap_delete_SparseMatrixColMajor(resc,resv,argc,(mxArray**)(argv)); break; - case 142: flag=_wrap_SparseMatrixColMajor_numberOfNonZeros(resc,resv,argc,(mxArray**)(argv)); break; - case 143: flag=_wrap_SparseMatrixColMajor_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 144: flag=_wrap_SparseMatrixColMajor_reserve(resc,resv,argc,(mxArray**)(argv)); break; - case 145: flag=_wrap_SparseMatrixColMajor_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 146: flag=_wrap_SparseMatrixColMajor_setFromConstTriplets(resc,resv,argc,(mxArray**)(argv)); break; - case 147: flag=_wrap_SparseMatrixColMajor_setFromTriplets(resc,resv,argc,(mxArray**)(argv)); break; - case 148: flag=_wrap_SparseMatrixColMajor_getValue(resc,resv,argc,(mxArray**)(argv)); break; - case 149: flag=_wrap_SparseMatrixColMajor_setValue(resc,resv,argc,(mxArray**)(argv)); break; - case 150: flag=_wrap_SparseMatrixColMajor_rows(resc,resv,argc,(mxArray**)(argv)); break; - case 151: flag=_wrap_SparseMatrixColMajor_columns(resc,resv,argc,(mxArray**)(argv)); break; - case 152: flag=_wrap_SparseMatrixColMajor_description(resc,resv,argc,(mxArray**)(argv)); break; - case 153: flag=_wrap_SparseMatrixColMajor_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 154: flag=_wrap_SparseMatrixColMajor_toMatlabDense(resc,resv,argc,(mxArray**)(argv)); break; - case 155: flag=_wrap_SparseMatrixColMajor_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 156: flag=_wrap_new_VectorDynSize(resc,resv,argc,(mxArray**)(argv)); break; - case 157: flag=_wrap_delete_VectorDynSize(resc,resv,argc,(mxArray**)(argv)); break; - case 158: flag=_wrap_VectorDynSize_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 159: flag=_wrap_VectorDynSize_getVal(resc,resv,argc,(mxArray**)(argv)); break; - case 160: flag=_wrap_VectorDynSize_setVal(resc,resv,argc,(mxArray**)(argv)); break; - case 161: flag=_wrap_VectorDynSize_size(resc,resv,argc,(mxArray**)(argv)); break; - case 162: flag=_wrap_VectorDynSize_data(resc,resv,argc,(mxArray**)(argv)); break; - case 163: flag=_wrap_VectorDynSize_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 164: flag=_wrap_VectorDynSize_reserve(resc,resv,argc,(mxArray**)(argv)); break; - case 165: flag=_wrap_VectorDynSize_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 166: flag=_wrap_VectorDynSize_shrink_to_fit(resc,resv,argc,(mxArray**)(argv)); break; - case 167: flag=_wrap_VectorDynSize_capacity(resc,resv,argc,(mxArray**)(argv)); break; - case 168: flag=_wrap_VectorDynSize_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 169: flag=_wrap_VectorDynSize_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 170: flag=_wrap_VectorDynSize_display(resc,resv,argc,(mxArray**)(argv)); break; - case 171: flag=_wrap_VectorDynSize_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 172: flag=_wrap_VectorDynSize_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 173: flag=_wrap_new_Matrix1x6(resc,resv,argc,(mxArray**)(argv)); break; - case 174: flag=_wrap_Matrix1x6_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 175: flag=_wrap_Matrix1x6_getVal(resc,resv,argc,(mxArray**)(argv)); break; - case 176: flag=_wrap_Matrix1x6_setVal(resc,resv,argc,(mxArray**)(argv)); break; - case 177: flag=_wrap_Matrix1x6_rows(resc,resv,argc,(mxArray**)(argv)); break; - case 178: flag=_wrap_Matrix1x6_cols(resc,resv,argc,(mxArray**)(argv)); break; - case 179: flag=_wrap_Matrix1x6_data(resc,resv,argc,(mxArray**)(argv)); break; - case 180: flag=_wrap_Matrix1x6_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 181: flag=_wrap_Matrix1x6_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 182: flag=_wrap_Matrix1x6_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 183: flag=_wrap_Matrix1x6_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 184: flag=_wrap_Matrix1x6_display(resc,resv,argc,(mxArray**)(argv)); break; - case 185: flag=_wrap_Matrix1x6_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 186: flag=_wrap_Matrix1x6_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 187: flag=_wrap_delete_Matrix1x6(resc,resv,argc,(mxArray**)(argv)); break; - case 188: flag=_wrap_new_Matrix2x3(resc,resv,argc,(mxArray**)(argv)); break; - case 189: flag=_wrap_Matrix2x3_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 190: flag=_wrap_Matrix2x3_getVal(resc,resv,argc,(mxArray**)(argv)); break; - case 191: flag=_wrap_Matrix2x3_setVal(resc,resv,argc,(mxArray**)(argv)); break; - case 192: flag=_wrap_Matrix2x3_rows(resc,resv,argc,(mxArray**)(argv)); break; - case 193: flag=_wrap_Matrix2x3_cols(resc,resv,argc,(mxArray**)(argv)); break; - case 194: flag=_wrap_Matrix2x3_data(resc,resv,argc,(mxArray**)(argv)); break; - case 195: flag=_wrap_Matrix2x3_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 196: flag=_wrap_Matrix2x3_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 197: flag=_wrap_Matrix2x3_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 198: flag=_wrap_Matrix2x3_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 199: flag=_wrap_Matrix2x3_display(resc,resv,argc,(mxArray**)(argv)); break; - case 200: flag=_wrap_Matrix2x3_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 201: flag=_wrap_Matrix2x3_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 202: flag=_wrap_delete_Matrix2x3(resc,resv,argc,(mxArray**)(argv)); break; - case 203: flag=_wrap_new_Matrix3x3(resc,resv,argc,(mxArray**)(argv)); break; - case 204: flag=_wrap_Matrix3x3_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 205: flag=_wrap_Matrix3x3_getVal(resc,resv,argc,(mxArray**)(argv)); break; - case 206: flag=_wrap_Matrix3x3_setVal(resc,resv,argc,(mxArray**)(argv)); break; - case 207: flag=_wrap_Matrix3x3_rows(resc,resv,argc,(mxArray**)(argv)); break; - case 208: flag=_wrap_Matrix3x3_cols(resc,resv,argc,(mxArray**)(argv)); break; - case 209: flag=_wrap_Matrix3x3_data(resc,resv,argc,(mxArray**)(argv)); break; - case 210: flag=_wrap_Matrix3x3_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 211: flag=_wrap_Matrix3x3_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 212: flag=_wrap_Matrix3x3_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 213: flag=_wrap_Matrix3x3_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 214: flag=_wrap_Matrix3x3_display(resc,resv,argc,(mxArray**)(argv)); break; - case 215: flag=_wrap_Matrix3x3_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 216: flag=_wrap_Matrix3x3_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 217: flag=_wrap_delete_Matrix3x3(resc,resv,argc,(mxArray**)(argv)); break; - case 218: flag=_wrap_new_Matrix4x4(resc,resv,argc,(mxArray**)(argv)); break; - case 219: flag=_wrap_Matrix4x4_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 220: flag=_wrap_Matrix4x4_getVal(resc,resv,argc,(mxArray**)(argv)); break; - case 221: flag=_wrap_Matrix4x4_setVal(resc,resv,argc,(mxArray**)(argv)); break; - case 222: flag=_wrap_Matrix4x4_rows(resc,resv,argc,(mxArray**)(argv)); break; - case 223: flag=_wrap_Matrix4x4_cols(resc,resv,argc,(mxArray**)(argv)); break; - case 224: flag=_wrap_Matrix4x4_data(resc,resv,argc,(mxArray**)(argv)); break; - case 225: flag=_wrap_Matrix4x4_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 226: flag=_wrap_Matrix4x4_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 227: flag=_wrap_Matrix4x4_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 228: flag=_wrap_Matrix4x4_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 229: flag=_wrap_Matrix4x4_display(resc,resv,argc,(mxArray**)(argv)); break; - case 230: flag=_wrap_Matrix4x4_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 231: flag=_wrap_Matrix4x4_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 232: flag=_wrap_delete_Matrix4x4(resc,resv,argc,(mxArray**)(argv)); break; - case 233: flag=_wrap_new_Matrix6x6(resc,resv,argc,(mxArray**)(argv)); break; - case 234: flag=_wrap_Matrix6x6_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 235: flag=_wrap_Matrix6x6_getVal(resc,resv,argc,(mxArray**)(argv)); break; - case 236: flag=_wrap_Matrix6x6_setVal(resc,resv,argc,(mxArray**)(argv)); break; - case 237: flag=_wrap_Matrix6x6_rows(resc,resv,argc,(mxArray**)(argv)); break; - case 238: flag=_wrap_Matrix6x6_cols(resc,resv,argc,(mxArray**)(argv)); break; - case 239: flag=_wrap_Matrix6x6_data(resc,resv,argc,(mxArray**)(argv)); break; - case 240: flag=_wrap_Matrix6x6_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 241: flag=_wrap_Matrix6x6_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 242: flag=_wrap_Matrix6x6_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 243: flag=_wrap_Matrix6x6_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 244: flag=_wrap_Matrix6x6_display(resc,resv,argc,(mxArray**)(argv)); break; - case 245: flag=_wrap_Matrix6x6_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 246: flag=_wrap_Matrix6x6_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 247: flag=_wrap_delete_Matrix6x6(resc,resv,argc,(mxArray**)(argv)); break; - case 248: flag=_wrap_new_Matrix6x10(resc,resv,argc,(mxArray**)(argv)); break; - case 249: flag=_wrap_Matrix6x10_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 250: flag=_wrap_Matrix6x10_getVal(resc,resv,argc,(mxArray**)(argv)); break; - case 251: flag=_wrap_Matrix6x10_setVal(resc,resv,argc,(mxArray**)(argv)); break; - case 252: flag=_wrap_Matrix6x10_rows(resc,resv,argc,(mxArray**)(argv)); break; - case 253: flag=_wrap_Matrix6x10_cols(resc,resv,argc,(mxArray**)(argv)); break; - case 254: flag=_wrap_Matrix6x10_data(resc,resv,argc,(mxArray**)(argv)); break; - case 255: flag=_wrap_Matrix6x10_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 256: flag=_wrap_Matrix6x10_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 257: flag=_wrap_Matrix6x10_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 258: flag=_wrap_Matrix6x10_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 259: flag=_wrap_Matrix6x10_display(resc,resv,argc,(mxArray**)(argv)); break; - case 260: flag=_wrap_Matrix6x10_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 261: flag=_wrap_Matrix6x10_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 262: flag=_wrap_delete_Matrix6x10(resc,resv,argc,(mxArray**)(argv)); break; - case 263: flag=_wrap_new_Matrix10x16(resc,resv,argc,(mxArray**)(argv)); break; - case 264: flag=_wrap_Matrix10x16_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 265: flag=_wrap_Matrix10x16_getVal(resc,resv,argc,(mxArray**)(argv)); break; - case 266: flag=_wrap_Matrix10x16_setVal(resc,resv,argc,(mxArray**)(argv)); break; - case 267: flag=_wrap_Matrix10x16_rows(resc,resv,argc,(mxArray**)(argv)); break; - case 268: flag=_wrap_Matrix10x16_cols(resc,resv,argc,(mxArray**)(argv)); break; - case 269: flag=_wrap_Matrix10x16_data(resc,resv,argc,(mxArray**)(argv)); break; - case 270: flag=_wrap_Matrix10x16_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 271: flag=_wrap_Matrix10x16_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 272: flag=_wrap_Matrix10x16_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 273: flag=_wrap_Matrix10x16_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 274: flag=_wrap_Matrix10x16_display(resc,resv,argc,(mxArray**)(argv)); break; - case 275: flag=_wrap_Matrix10x16_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 276: flag=_wrap_Matrix10x16_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 277: flag=_wrap_delete_Matrix10x16(resc,resv,argc,(mxArray**)(argv)); break; - case 278: flag=_wrap_new_Vector3(resc,resv,argc,(mxArray**)(argv)); break; - case 279: flag=_wrap_Vector3_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 280: flag=_wrap_Vector3_getVal(resc,resv,argc,(mxArray**)(argv)); break; - case 281: flag=_wrap_Vector3_setVal(resc,resv,argc,(mxArray**)(argv)); break; - case 282: flag=_wrap_Vector3_size(resc,resv,argc,(mxArray**)(argv)); break; - case 283: flag=_wrap_Vector3_data(resc,resv,argc,(mxArray**)(argv)); break; - case 284: flag=_wrap_Vector3_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 285: flag=_wrap_Vector3_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 286: flag=_wrap_Vector3_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 287: flag=_wrap_Vector3_display(resc,resv,argc,(mxArray**)(argv)); break; - case 288: flag=_wrap_Vector3_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 289: flag=_wrap_Vector3_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 290: flag=_wrap_delete_Vector3(resc,resv,argc,(mxArray**)(argv)); break; - case 291: flag=_wrap_new_Vector4(resc,resv,argc,(mxArray**)(argv)); break; - case 292: flag=_wrap_Vector4_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 293: flag=_wrap_Vector4_getVal(resc,resv,argc,(mxArray**)(argv)); break; - case 294: flag=_wrap_Vector4_setVal(resc,resv,argc,(mxArray**)(argv)); break; - case 295: flag=_wrap_Vector4_size(resc,resv,argc,(mxArray**)(argv)); break; - case 296: flag=_wrap_Vector4_data(resc,resv,argc,(mxArray**)(argv)); break; - case 297: flag=_wrap_Vector4_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 298: flag=_wrap_Vector4_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 299: flag=_wrap_Vector4_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 300: flag=_wrap_Vector4_display(resc,resv,argc,(mxArray**)(argv)); break; - case 301: flag=_wrap_Vector4_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 302: flag=_wrap_Vector4_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 303: flag=_wrap_delete_Vector4(resc,resv,argc,(mxArray**)(argv)); break; - case 304: flag=_wrap_new_Vector6(resc,resv,argc,(mxArray**)(argv)); break; - case 305: flag=_wrap_Vector6_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 306: flag=_wrap_Vector6_getVal(resc,resv,argc,(mxArray**)(argv)); break; - case 307: flag=_wrap_Vector6_setVal(resc,resv,argc,(mxArray**)(argv)); break; - case 308: flag=_wrap_Vector6_size(resc,resv,argc,(mxArray**)(argv)); break; - case 309: flag=_wrap_Vector6_data(resc,resv,argc,(mxArray**)(argv)); break; - case 310: flag=_wrap_Vector6_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 311: flag=_wrap_Vector6_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 312: flag=_wrap_Vector6_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 313: flag=_wrap_Vector6_display(resc,resv,argc,(mxArray**)(argv)); break; - case 314: flag=_wrap_Vector6_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 315: flag=_wrap_Vector6_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 316: flag=_wrap_delete_Vector6(resc,resv,argc,(mxArray**)(argv)); break; - case 317: flag=_wrap_new_Vector10(resc,resv,argc,(mxArray**)(argv)); break; - case 318: flag=_wrap_Vector10_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 319: flag=_wrap_Vector10_getVal(resc,resv,argc,(mxArray**)(argv)); break; - case 320: flag=_wrap_Vector10_setVal(resc,resv,argc,(mxArray**)(argv)); break; - case 321: flag=_wrap_Vector10_size(resc,resv,argc,(mxArray**)(argv)); break; - case 322: flag=_wrap_Vector10_data(resc,resv,argc,(mxArray**)(argv)); break; - case 323: flag=_wrap_Vector10_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 324: flag=_wrap_Vector10_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 325: flag=_wrap_Vector10_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 326: flag=_wrap_Vector10_display(resc,resv,argc,(mxArray**)(argv)); break; - case 327: flag=_wrap_Vector10_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 328: flag=_wrap_Vector10_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 329: flag=_wrap_delete_Vector10(resc,resv,argc,(mxArray**)(argv)); break; - case 330: flag=_wrap_new_Vector16(resc,resv,argc,(mxArray**)(argv)); break; - case 331: flag=_wrap_Vector16_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 332: flag=_wrap_Vector16_getVal(resc,resv,argc,(mxArray**)(argv)); break; - case 333: flag=_wrap_Vector16_setVal(resc,resv,argc,(mxArray**)(argv)); break; - case 334: flag=_wrap_Vector16_size(resc,resv,argc,(mxArray**)(argv)); break; - case 335: flag=_wrap_Vector16_data(resc,resv,argc,(mxArray**)(argv)); break; - case 336: flag=_wrap_Vector16_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 337: flag=_wrap_Vector16_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break; - case 338: flag=_wrap_Vector16_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 339: flag=_wrap_Vector16_display(resc,resv,argc,(mxArray**)(argv)); break; - case 340: flag=_wrap_Vector16_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 341: flag=_wrap_Vector16_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 342: flag=_wrap_delete_Vector16(resc,resv,argc,(mxArray**)(argv)); break; - case 343: flag=_wrap_new_PositionRaw(resc,resv,argc,(mxArray**)(argv)); break; - case 344: flag=_wrap_PositionRaw_changePoint(resc,resv,argc,(mxArray**)(argv)); break; - case 345: flag=_wrap_PositionRaw_changeRefPoint(resc,resv,argc,(mxArray**)(argv)); break; - case 346: flag=_wrap_PositionRaw_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 347: flag=_wrap_PositionRaw_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 348: flag=_wrap_PositionRaw_changePointOf(resc,resv,argc,(mxArray**)(argv)); break; - case 349: flag=_wrap_PositionRaw_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 350: flag=_wrap_PositionRaw_display(resc,resv,argc,(mxArray**)(argv)); break; - case 351: flag=_wrap_delete_PositionRaw(resc,resv,argc,(mxArray**)(argv)); break; - case 352: flag=_wrap_new_PositionSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 353: flag=_wrap_PositionSemantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break; - case 354: flag=_wrap_PositionSemantics_getPoint(resc,resv,argc,(mxArray**)(argv)); break; - case 355: flag=_wrap_PositionSemantics_getBody(resc,resv,argc,(mxArray**)(argv)); break; - case 356: flag=_wrap_PositionSemantics_getReferencePoint(resc,resv,argc,(mxArray**)(argv)); break; - case 357: flag=_wrap_PositionSemantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break; - case 358: flag=_wrap_PositionSemantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 359: flag=_wrap_PositionSemantics_setPoint(resc,resv,argc,(mxArray**)(argv)); break; - case 360: flag=_wrap_PositionSemantics_setBody(resc,resv,argc,(mxArray**)(argv)); break; - case 361: flag=_wrap_PositionSemantics_setReferencePoint(resc,resv,argc,(mxArray**)(argv)); break; - case 362: flag=_wrap_PositionSemantics_setRefBody(resc,resv,argc,(mxArray**)(argv)); break; - case 363: flag=_wrap_PositionSemantics_setCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 364: flag=_wrap_PositionSemantics_changePoint(resc,resv,argc,(mxArray**)(argv)); break; - case 365: flag=_wrap_PositionSemantics_changeRefPoint(resc,resv,argc,(mxArray**)(argv)); break; - case 366: flag=_wrap_PositionSemantics_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 367: flag=_wrap_PositionSemantics_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 368: flag=_wrap_PositionSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 369: flag=_wrap_PositionSemantics_display(resc,resv,argc,(mxArray**)(argv)); break; - case 370: flag=_wrap_delete_PositionSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 371: flag=_wrap_new_Position(resc,resv,argc,(mxArray**)(argv)); break; - case 372: flag=_wrap_Position_getSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 373: flag=_wrap_Position_changePoint(resc,resv,argc,(mxArray**)(argv)); break; - case 374: flag=_wrap_Position_changeRefPoint(resc,resv,argc,(mxArray**)(argv)); break; - case 375: flag=_wrap_Position_changeCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 376: flag=_wrap_Position_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 377: flag=_wrap_Position_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 378: flag=_wrap_Position_changePointOf(resc,resv,argc,(mxArray**)(argv)); break; - case 379: flag=_wrap_Position_plus(resc,resv,argc,(mxArray**)(argv)); break; - case 380: flag=_wrap_Position_minus(resc,resv,argc,(mxArray**)(argv)); break; - case 381: flag=_wrap_Position_uminus(resc,resv,argc,(mxArray**)(argv)); break; - case 382: flag=_wrap_Position_mtimes(resc,resv,argc,(mxArray**)(argv)); break; - case 383: flag=_wrap_Position_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 384: flag=_wrap_Position_display(resc,resv,argc,(mxArray**)(argv)); break; - case 385: flag=_wrap_Position_Zero(resc,resv,argc,(mxArray**)(argv)); break; - case 386: flag=_wrap_delete_Position(resc,resv,argc,(mxArray**)(argv)); break; - case 387: flag=_wrap_new_GeomVector3Semantics__LinearMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 388: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break; - case 389: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_getBody(resc,resv,argc,(mxArray**)(argv)); break; - case 390: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break; - case 391: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 392: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_isUnknown(resc,resv,argc,(mxArray**)(argv)); break; - case 393: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 394: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 395: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 396: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_dot(resc,resv,argc,(mxArray**)(argv)); break; - case 397: flag=_wrap_delete_GeomVector3Semantics__LinearMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 398: flag=_wrap_new_GeomVector3Semantics__AngularMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 399: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break; - case 400: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_getBody(resc,resv,argc,(mxArray**)(argv)); break; - case 401: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break; - case 402: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 403: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_isUnknown(resc,resv,argc,(mxArray**)(argv)); break; - case 404: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 405: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 406: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 407: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_dot(resc,resv,argc,(mxArray**)(argv)); break; - case 408: flag=_wrap_delete_GeomVector3Semantics__AngularMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 409: flag=_wrap_new_GeomVector3Semantics__LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 410: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break; - case 411: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_getBody(resc,resv,argc,(mxArray**)(argv)); break; - case 412: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break; - case 413: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 414: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_isUnknown(resc,resv,argc,(mxArray**)(argv)); break; - case 415: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 416: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 417: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 418: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_dot(resc,resv,argc,(mxArray**)(argv)); break; - case 419: flag=_wrap_delete_GeomVector3Semantics__LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 420: flag=_wrap_new_GeomVector3Semantics__AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 421: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break; - case 422: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_getBody(resc,resv,argc,(mxArray**)(argv)); break; - case 423: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break; - case 424: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 425: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_isUnknown(resc,resv,argc,(mxArray**)(argv)); break; - case 426: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 427: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 428: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 429: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_dot(resc,resv,argc,(mxArray**)(argv)); break; - case 430: flag=_wrap_delete_GeomVector3Semantics__AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 431: flag=_wrap_GeomVector3__LinearMotionVector3_semantics_get(resc,resv,argc,(mxArray**)(argv)); break; - case 432: flag=_wrap_GeomVector3__LinearMotionVector3_semantics_set(resc,resv,argc,(mxArray**)(argv)); break; - case 433: flag=_wrap_new_GeomVector3__LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 434: flag=_wrap_GeomVector3__LinearMotionVector3_setSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 435: flag=_wrap_GeomVector3__LinearMotionVector3_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 436: flag=_wrap_GeomVector3__LinearMotionVector3_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 437: flag=_wrap_GeomVector3__LinearMotionVector3_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 438: flag=_wrap_GeomVector3__LinearMotionVector3_dot(resc,resv,argc,(mxArray**)(argv)); break; - case 439: flag=_wrap_GeomVector3__LinearMotionVector3_plus(resc,resv,argc,(mxArray**)(argv)); break; - case 440: flag=_wrap_GeomVector3__LinearMotionVector3_minus(resc,resv,argc,(mxArray**)(argv)); break; - case 441: flag=_wrap_GeomVector3__LinearMotionVector3_uminus(resc,resv,argc,(mxArray**)(argv)); break; - case 442: flag=_wrap_delete_GeomVector3__LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 443: flag=_wrap_GeomVector3__AngularMotionVector3_semantics_get(resc,resv,argc,(mxArray**)(argv)); break; - case 444: flag=_wrap_GeomVector3__AngularMotionVector3_semantics_set(resc,resv,argc,(mxArray**)(argv)); break; - case 445: flag=_wrap_new_GeomVector3__AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 446: flag=_wrap_GeomVector3__AngularMotionVector3_setSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 447: flag=_wrap_GeomVector3__AngularMotionVector3_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 448: flag=_wrap_GeomVector3__AngularMotionVector3_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 449: flag=_wrap_GeomVector3__AngularMotionVector3_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 450: flag=_wrap_GeomVector3__AngularMotionVector3_dot(resc,resv,argc,(mxArray**)(argv)); break; - case 451: flag=_wrap_GeomVector3__AngularMotionVector3_plus(resc,resv,argc,(mxArray**)(argv)); break; - case 452: flag=_wrap_GeomVector3__AngularMotionVector3_minus(resc,resv,argc,(mxArray**)(argv)); break; - case 453: flag=_wrap_GeomVector3__AngularMotionVector3_uminus(resc,resv,argc,(mxArray**)(argv)); break; - case 454: flag=_wrap_delete_GeomVector3__AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 455: flag=_wrap_GeomVector3__LinearForceVector3_semantics_get(resc,resv,argc,(mxArray**)(argv)); break; - case 456: flag=_wrap_GeomVector3__LinearForceVector3_semantics_set(resc,resv,argc,(mxArray**)(argv)); break; - case 457: flag=_wrap_new_GeomVector3__LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 458: flag=_wrap_GeomVector3__LinearForceVector3_setSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 459: flag=_wrap_GeomVector3__LinearForceVector3_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 460: flag=_wrap_GeomVector3__LinearForceVector3_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 461: flag=_wrap_GeomVector3__LinearForceVector3_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 462: flag=_wrap_GeomVector3__LinearForceVector3_dot(resc,resv,argc,(mxArray**)(argv)); break; - case 463: flag=_wrap_GeomVector3__LinearForceVector3_plus(resc,resv,argc,(mxArray**)(argv)); break; - case 464: flag=_wrap_GeomVector3__LinearForceVector3_minus(resc,resv,argc,(mxArray**)(argv)); break; - case 465: flag=_wrap_GeomVector3__LinearForceVector3_uminus(resc,resv,argc,(mxArray**)(argv)); break; - case 466: flag=_wrap_delete_GeomVector3__LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 467: flag=_wrap_GeomVector3__AngularForceVector3_semantics_get(resc,resv,argc,(mxArray**)(argv)); break; - case 468: flag=_wrap_GeomVector3__AngularForceVector3_semantics_set(resc,resv,argc,(mxArray**)(argv)); break; - case 469: flag=_wrap_new_GeomVector3__AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 470: flag=_wrap_GeomVector3__AngularForceVector3_setSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 471: flag=_wrap_GeomVector3__AngularForceVector3_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 472: flag=_wrap_GeomVector3__AngularForceVector3_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 473: flag=_wrap_GeomVector3__AngularForceVector3_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 474: flag=_wrap_GeomVector3__AngularForceVector3_dot(resc,resv,argc,(mxArray**)(argv)); break; - case 475: flag=_wrap_GeomVector3__AngularForceVector3_plus(resc,resv,argc,(mxArray**)(argv)); break; - case 476: flag=_wrap_GeomVector3__AngularForceVector3_minus(resc,resv,argc,(mxArray**)(argv)); break; - case 477: flag=_wrap_GeomVector3__AngularForceVector3_uminus(resc,resv,argc,(mxArray**)(argv)); break; - case 478: flag=_wrap_delete_GeomVector3__AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 479: flag=_wrap_new_ForceVector3Semantics__LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 480: flag=_wrap_ForceVector3Semantics__LinearForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 481: flag=_wrap_ForceVector3Semantics__LinearForceVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 482: flag=_wrap_delete_ForceVector3Semantics__LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 483: flag=_wrap_new_ForceVector3Semantics__AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 484: flag=_wrap_ForceVector3Semantics__AngularForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 485: flag=_wrap_ForceVector3Semantics__AngularForceVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 486: flag=_wrap_delete_ForceVector3Semantics__AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 487: flag=_wrap_new_MotionVector3__LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 488: flag=_wrap_MotionVector3__LinearMotionVector3_cross(resc,resv,argc,(mxArray**)(argv)); break; - case 489: flag=_wrap_delete_MotionVector3__LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 490: flag=_wrap_new_MotionVector3__AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 491: flag=_wrap_MotionVector3__AngularMotionVector3_cross(resc,resv,argc,(mxArray**)(argv)); break; - case 492: flag=_wrap_delete_MotionVector3__AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 493: flag=_wrap_new_ForceVector3__LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 494: flag=_wrap_delete_ForceVector3__LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 495: flag=_wrap_new_ForceVector3__AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 496: flag=_wrap_delete_ForceVector3__AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 497: flag=_wrap_new_LinearMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 498: flag=_wrap_LinearMotionVector3Semantics_changePoint(resc,resv,argc,(mxArray**)(argv)); break; - case 499: flag=_wrap_LinearMotionVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 500: flag=_wrap_delete_LinearMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 501: flag=_wrap_new_LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 502: flag=_wrap_LinearMotionVector3_changePoint(resc,resv,argc,(mxArray**)(argv)); break; - case 503: flag=_wrap_delete_LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 504: flag=_wrap_new_AngularMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 505: flag=_wrap_delete_AngularMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 506: flag=_wrap_new_AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 507: flag=_wrap_AngularMotionVector3_exp(resc,resv,argc,(mxArray**)(argv)); break; - case 508: flag=_wrap_delete_AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 509: flag=_wrap_new_LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 510: flag=_wrap_delete_LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 511: flag=_wrap_new_LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 512: flag=_wrap_delete_LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 513: flag=_wrap_new_AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 514: flag=_wrap_AngularForceVector3Semantics_changePoint(resc,resv,argc,(mxArray**)(argv)); break; - case 515: flag=_wrap_AngularForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 516: flag=_wrap_delete_AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; - case 517: flag=_wrap_new_AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 518: flag=_wrap_AngularForceVector3_changePoint(resc,resv,argc,(mxArray**)(argv)); break; - case 519: flag=_wrap_delete_AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break; - case 520: flag=_wrap_new_SpatialMotionVectorSemanticsBase(resc,resv,argc,(mxArray**)(argv)); break; - case 521: flag=_wrap_SpatialMotionVectorSemanticsBase_check_linear2angularConsistency(resc,resv,argc,(mxArray**)(argv)); break; - case 522: flag=_wrap_SpatialMotionVectorSemanticsBase_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 523: flag=_wrap_SpatialMotionVectorSemanticsBase_display(resc,resv,argc,(mxArray**)(argv)); break; - case 524: flag=_wrap_delete_SpatialMotionVectorSemanticsBase(resc,resv,argc,(mxArray**)(argv)); break; - case 525: flag=_wrap_new_SpatialForceVectorSemanticsBase(resc,resv,argc,(mxArray**)(argv)); break; - case 526: flag=_wrap_SpatialForceVectorSemanticsBase_check_linear2angularConsistency(resc,resv,argc,(mxArray**)(argv)); break; - case 527: flag=_wrap_SpatialForceVectorSemanticsBase_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 528: flag=_wrap_SpatialForceVectorSemanticsBase_display(resc,resv,argc,(mxArray**)(argv)); break; - case 529: flag=_wrap_delete_SpatialForceVectorSemanticsBase(resc,resv,argc,(mxArray**)(argv)); break; - case 530: flag=_wrap_new_SpatialMotionVectorBase(resc,resv,argc,(mxArray**)(argv)); break; - case 531: flag=_wrap_SpatialMotionVectorBase_getLinearVec3(resc,resv,argc,(mxArray**)(argv)); break; - case 532: flag=_wrap_SpatialMotionVectorBase_getAngularVec3(resc,resv,argc,(mxArray**)(argv)); break; - case 533: flag=_wrap_SpatialMotionVectorBase_setLinearVec3(resc,resv,argc,(mxArray**)(argv)); break; - case 534: flag=_wrap_SpatialMotionVectorBase_setAngularVec3(resc,resv,argc,(mxArray**)(argv)); break; - case 535: flag=_wrap_SpatialMotionVectorBase_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 536: flag=_wrap_SpatialMotionVectorBase_getVal(resc,resv,argc,(mxArray**)(argv)); break; - case 537: flag=_wrap_SpatialMotionVectorBase_setVal(resc,resv,argc,(mxArray**)(argv)); break; - case 538: flag=_wrap_SpatialMotionVectorBase_size(resc,resv,argc,(mxArray**)(argv)); break; - case 539: flag=_wrap_SpatialMotionVectorBase_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 540: flag=_wrap_SpatialMotionVectorBase_changePoint(resc,resv,argc,(mxArray**)(argv)); break; - case 541: flag=_wrap_SpatialMotionVectorBase_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 542: flag=_wrap_SpatialMotionVectorBase_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 543: flag=_wrap_SpatialMotionVectorBase_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 544: flag=_wrap_SpatialMotionVectorBase_dot(resc,resv,argc,(mxArray**)(argv)); break; - case 545: flag=_wrap_SpatialMotionVectorBase_plus(resc,resv,argc,(mxArray**)(argv)); break; - case 546: flag=_wrap_SpatialMotionVectorBase_minus(resc,resv,argc,(mxArray**)(argv)); break; - case 547: flag=_wrap_SpatialMotionVectorBase_uminus(resc,resv,argc,(mxArray**)(argv)); break; - case 548: flag=_wrap_SpatialMotionVectorBase_Zero(resc,resv,argc,(mxArray**)(argv)); break; - case 549: flag=_wrap_SpatialMotionVectorBase_asVector(resc,resv,argc,(mxArray**)(argv)); break; - case 550: flag=_wrap_SpatialMotionVectorBase_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 551: flag=_wrap_SpatialMotionVectorBase_display(resc,resv,argc,(mxArray**)(argv)); break; - case 552: flag=_wrap_SpatialMotionVectorBase_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 553: flag=_wrap_SpatialMotionVectorBase_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 554: flag=_wrap_delete_SpatialMotionVectorBase(resc,resv,argc,(mxArray**)(argv)); break; - case 555: flag=_wrap_new_SpatialForceVectorBase(resc,resv,argc,(mxArray**)(argv)); break; - case 556: flag=_wrap_SpatialForceVectorBase_getLinearVec3(resc,resv,argc,(mxArray**)(argv)); break; - case 557: flag=_wrap_SpatialForceVectorBase_getAngularVec3(resc,resv,argc,(mxArray**)(argv)); break; - case 558: flag=_wrap_SpatialForceVectorBase_setLinearVec3(resc,resv,argc,(mxArray**)(argv)); break; - case 559: flag=_wrap_SpatialForceVectorBase_setAngularVec3(resc,resv,argc,(mxArray**)(argv)); break; - case 560: flag=_wrap_SpatialForceVectorBase_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 561: flag=_wrap_SpatialForceVectorBase_getVal(resc,resv,argc,(mxArray**)(argv)); break; - case 562: flag=_wrap_SpatialForceVectorBase_setVal(resc,resv,argc,(mxArray**)(argv)); break; - case 563: flag=_wrap_SpatialForceVectorBase_size(resc,resv,argc,(mxArray**)(argv)); break; - case 564: flag=_wrap_SpatialForceVectorBase_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 565: flag=_wrap_SpatialForceVectorBase_changePoint(resc,resv,argc,(mxArray**)(argv)); break; - case 566: flag=_wrap_SpatialForceVectorBase_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 567: flag=_wrap_SpatialForceVectorBase_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 568: flag=_wrap_SpatialForceVectorBase_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 569: flag=_wrap_SpatialForceVectorBase_dot(resc,resv,argc,(mxArray**)(argv)); break; - case 570: flag=_wrap_SpatialForceVectorBase_plus(resc,resv,argc,(mxArray**)(argv)); break; - case 571: flag=_wrap_SpatialForceVectorBase_minus(resc,resv,argc,(mxArray**)(argv)); break; - case 572: flag=_wrap_SpatialForceVectorBase_uminus(resc,resv,argc,(mxArray**)(argv)); break; - case 573: flag=_wrap_SpatialForceVectorBase_Zero(resc,resv,argc,(mxArray**)(argv)); break; - case 574: flag=_wrap_SpatialForceVectorBase_asVector(resc,resv,argc,(mxArray**)(argv)); break; - case 575: flag=_wrap_SpatialForceVectorBase_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 576: flag=_wrap_SpatialForceVectorBase_display(resc,resv,argc,(mxArray**)(argv)); break; - case 577: flag=_wrap_SpatialForceVectorBase_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 578: flag=_wrap_SpatialForceVectorBase_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; - case 579: flag=_wrap_delete_SpatialForceVectorBase(resc,resv,argc,(mxArray**)(argv)); break; - case 580: flag=_wrap_new_Dummy(resc,resv,argc,(mxArray**)(argv)); break; - case 581: flag=_wrap_delete_Dummy(resc,resv,argc,(mxArray**)(argv)); break; - case 582: flag=_wrap_new_SpatialMotionVector(resc,resv,argc,(mxArray**)(argv)); break; - case 583: flag=_wrap_SpatialMotionVector_mtimes(resc,resv,argc,(mxArray**)(argv)); break; - case 584: flag=_wrap_SpatialMotionVector_cross(resc,resv,argc,(mxArray**)(argv)); break; - case 585: flag=_wrap_SpatialMotionVector_asCrossProductMatrix(resc,resv,argc,(mxArray**)(argv)); break; - case 586: flag=_wrap_SpatialMotionVector_asCrossProductMatrixWrench(resc,resv,argc,(mxArray**)(argv)); break; - case 587: flag=_wrap_SpatialMotionVector_exp(resc,resv,argc,(mxArray**)(argv)); break; - case 588: flag=_wrap_delete_SpatialMotionVector(resc,resv,argc,(mxArray**)(argv)); break; - case 589: flag=_wrap_new_SpatialForceVector(resc,resv,argc,(mxArray**)(argv)); break; - case 590: flag=_wrap_delete_SpatialForceVector(resc,resv,argc,(mxArray**)(argv)); break; - case 591: flag=_wrap_SpatialForceVector_mtimes(resc,resv,argc,(mxArray**)(argv)); break; - case 592: flag=_wrap_new_Twist(resc,resv,argc,(mxArray**)(argv)); break; - case 593: flag=_wrap_Twist_plus(resc,resv,argc,(mxArray**)(argv)); break; - case 594: flag=_wrap_Twist_minus(resc,resv,argc,(mxArray**)(argv)); break; - case 595: flag=_wrap_Twist_uminus(resc,resv,argc,(mxArray**)(argv)); break; - case 596: flag=_wrap_Twist_mtimes(resc,resv,argc,(mxArray**)(argv)); break; - case 597: flag=_wrap_delete_Twist(resc,resv,argc,(mxArray**)(argv)); break; - case 598: flag=_wrap_new_Wrench(resc,resv,argc,(mxArray**)(argv)); break; - case 599: flag=_wrap_Wrench_plus(resc,resv,argc,(mxArray**)(argv)); break; - case 600: flag=_wrap_Wrench_minus(resc,resv,argc,(mxArray**)(argv)); break; - case 601: flag=_wrap_Wrench_uminus(resc,resv,argc,(mxArray**)(argv)); break; - case 602: flag=_wrap_delete_Wrench(resc,resv,argc,(mxArray**)(argv)); break; - case 603: flag=_wrap_new_SpatialMomentum(resc,resv,argc,(mxArray**)(argv)); break; - case 604: flag=_wrap_SpatialMomentum_plus(resc,resv,argc,(mxArray**)(argv)); break; - case 605: flag=_wrap_SpatialMomentum_minus(resc,resv,argc,(mxArray**)(argv)); break; - case 606: flag=_wrap_SpatialMomentum_uminus(resc,resv,argc,(mxArray**)(argv)); break; - case 607: flag=_wrap_delete_SpatialMomentum(resc,resv,argc,(mxArray**)(argv)); break; - case 608: flag=_wrap_new_SpatialAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 609: flag=_wrap_SpatialAcc_plus(resc,resv,argc,(mxArray**)(argv)); break; - case 610: flag=_wrap_SpatialAcc_minus(resc,resv,argc,(mxArray**)(argv)); break; - case 611: flag=_wrap_SpatialAcc_uminus(resc,resv,argc,(mxArray**)(argv)); break; - case 612: flag=_wrap_delete_SpatialAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 613: flag=_wrap_new_ClassicalAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 614: flag=_wrap_ClassicalAcc_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 615: flag=_wrap_ClassicalAcc_Zero(resc,resv,argc,(mxArray**)(argv)); break; - case 616: flag=_wrap_ClassicalAcc_fromSpatial(resc,resv,argc,(mxArray**)(argv)); break; - case 617: flag=_wrap_ClassicalAcc_toSpatial(resc,resv,argc,(mxArray**)(argv)); break; - case 618: flag=_wrap_delete_ClassicalAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 619: flag=_wrap_new_Direction(resc,resv,argc,(mxArray**)(argv)); break; - case 620: flag=_wrap_Direction_Normalize(resc,resv,argc,(mxArray**)(argv)); break; - case 621: flag=_wrap_Direction_isParallel(resc,resv,argc,(mxArray**)(argv)); break; - case 622: flag=_wrap_Direction_isPerpendicular(resc,resv,argc,(mxArray**)(argv)); break; - case 623: flag=_wrap_Direction_reverse(resc,resv,argc,(mxArray**)(argv)); break; - case 624: flag=_wrap_Direction_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 625: flag=_wrap_Direction_display(resc,resv,argc,(mxArray**)(argv)); break; - case 626: flag=_wrap_Direction_Default(resc,resv,argc,(mxArray**)(argv)); break; - case 627: flag=_wrap_delete_Direction(resc,resv,argc,(mxArray**)(argv)); break; - case 628: flag=_wrap_new_Axis(resc,resv,argc,(mxArray**)(argv)); break; - case 629: flag=_wrap_Axis_getDirection(resc,resv,argc,(mxArray**)(argv)); break; - case 630: flag=_wrap_Axis_getOrigin(resc,resv,argc,(mxArray**)(argv)); break; - case 631: flag=_wrap_Axis_setDirection(resc,resv,argc,(mxArray**)(argv)); break; - case 632: flag=_wrap_Axis_setOrigin(resc,resv,argc,(mxArray**)(argv)); break; - case 633: flag=_wrap_Axis_getRotationTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 634: flag=_wrap_Axis_getRotationTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 635: flag=_wrap_Axis_getRotationTwist(resc,resv,argc,(mxArray**)(argv)); break; - case 636: flag=_wrap_Axis_getRotationSpatialAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 637: flag=_wrap_Axis_getTranslationTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 638: flag=_wrap_Axis_getTranslationTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 639: flag=_wrap_Axis_getTranslationTwist(resc,resv,argc,(mxArray**)(argv)); break; - case 640: flag=_wrap_Axis_getTranslationSpatialAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 641: flag=_wrap_Axis_isParallel(resc,resv,argc,(mxArray**)(argv)); break; - case 642: flag=_wrap_Axis_reverse(resc,resv,argc,(mxArray**)(argv)); break; - case 643: flag=_wrap_Axis_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 644: flag=_wrap_Axis_display(resc,resv,argc,(mxArray**)(argv)); break; - case 645: flag=_wrap_delete_Axis(resc,resv,argc,(mxArray**)(argv)); break; - case 646: flag=_wrap_new_RotationalInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break; - case 647: flag=_wrap_RotationalInertiaRaw_Zero(resc,resv,argc,(mxArray**)(argv)); break; - case 648: flag=_wrap_delete_RotationalInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break; - case 649: flag=_wrap_new_SpatialInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break; - case 650: flag=_wrap_SpatialInertiaRaw_fromRotationalInertiaWrtCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break; - case 651: flag=_wrap_SpatialInertiaRaw_getMass(resc,resv,argc,(mxArray**)(argv)); break; - case 652: flag=_wrap_SpatialInertiaRaw_getCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break; - case 653: flag=_wrap_SpatialInertiaRaw_getRotationalInertiaWrtFrameOrigin(resc,resv,argc,(mxArray**)(argv)); break; - case 654: flag=_wrap_SpatialInertiaRaw_getRotationalInertiaWrtCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break; - case 655: flag=_wrap_SpatialInertiaRaw_combine(resc,resv,argc,(mxArray**)(argv)); break; - case 656: flag=_wrap_SpatialInertiaRaw_multiply(resc,resv,argc,(mxArray**)(argv)); break; - case 657: flag=_wrap_SpatialInertiaRaw_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 658: flag=_wrap_delete_SpatialInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break; - case 659: flag=_wrap_new_SpatialInertia(resc,resv,argc,(mxArray**)(argv)); break; - case 660: flag=_wrap_SpatialInertia_combine(resc,resv,argc,(mxArray**)(argv)); break; - case 661: flag=_wrap_SpatialInertia_asMatrix(resc,resv,argc,(mxArray**)(argv)); break; - case 662: flag=_wrap_SpatialInertia_applyInverse(resc,resv,argc,(mxArray**)(argv)); break; - case 663: flag=_wrap_SpatialInertia_getInverse(resc,resv,argc,(mxArray**)(argv)); break; - case 664: flag=_wrap_SpatialInertia_plus(resc,resv,argc,(mxArray**)(argv)); break; - case 665: flag=_wrap_SpatialInertia_mtimes(resc,resv,argc,(mxArray**)(argv)); break; - case 666: flag=_wrap_SpatialInertia_biasWrench(resc,resv,argc,(mxArray**)(argv)); break; - case 667: flag=_wrap_SpatialInertia_biasWrenchDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 668: flag=_wrap_SpatialInertia_Zero(resc,resv,argc,(mxArray**)(argv)); break; - case 669: flag=_wrap_SpatialInertia_asVector(resc,resv,argc,(mxArray**)(argv)); break; - case 670: flag=_wrap_SpatialInertia_fromVector(resc,resv,argc,(mxArray**)(argv)); break; - case 671: flag=_wrap_SpatialInertia_isPhysicallyConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 672: flag=_wrap_SpatialInertia_momentumRegressor(resc,resv,argc,(mxArray**)(argv)); break; - case 673: flag=_wrap_SpatialInertia_momentumDerivativeRegressor(resc,resv,argc,(mxArray**)(argv)); break; - case 674: flag=_wrap_SpatialInertia_momentumDerivativeSlotineLiRegressor(resc,resv,argc,(mxArray**)(argv)); break; - case 675: flag=_wrap_delete_SpatialInertia(resc,resv,argc,(mxArray**)(argv)); break; - case 676: flag=_wrap_new_ArticulatedBodyInertia(resc,resv,argc,(mxArray**)(argv)); break; - case 677: flag=_wrap_ArticulatedBodyInertia_getLinearLinearSubmatrix(resc,resv,argc,(mxArray**)(argv)); break; - case 678: flag=_wrap_ArticulatedBodyInertia_getLinearAngularSubmatrix(resc,resv,argc,(mxArray**)(argv)); break; - case 679: flag=_wrap_ArticulatedBodyInertia_getAngularAngularSubmatrix(resc,resv,argc,(mxArray**)(argv)); break; - case 680: flag=_wrap_ArticulatedBodyInertia_combine(resc,resv,argc,(mxArray**)(argv)); break; - case 681: flag=_wrap_ArticulatedBodyInertia_applyInverse(resc,resv,argc,(mxArray**)(argv)); break; - case 682: flag=_wrap_ArticulatedBodyInertia_asMatrix(resc,resv,argc,(mxArray**)(argv)); break; - case 683: flag=_wrap_ArticulatedBodyInertia_getInverse(resc,resv,argc,(mxArray**)(argv)); break; - case 684: flag=_wrap_ArticulatedBodyInertia_plus(resc,resv,argc,(mxArray**)(argv)); break; - case 685: flag=_wrap_ArticulatedBodyInertia_minus(resc,resv,argc,(mxArray**)(argv)); break; - case 686: flag=_wrap_ArticulatedBodyInertia_mtimes(resc,resv,argc,(mxArray**)(argv)); break; - case 687: flag=_wrap_ArticulatedBodyInertia_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 688: flag=_wrap_ArticulatedBodyInertia_ABADyadHelper(resc,resv,argc,(mxArray**)(argv)); break; - case 689: flag=_wrap_ArticulatedBodyInertia_ABADyadHelperLin(resc,resv,argc,(mxArray**)(argv)); break; - case 690: flag=_wrap_delete_ArticulatedBodyInertia(resc,resv,argc,(mxArray**)(argv)); break; - case 691: flag=_wrap_RigidBodyInertiaNonLinearParametrization_mass_get(resc,resv,argc,(mxArray**)(argv)); break; - case 692: flag=_wrap_RigidBodyInertiaNonLinearParametrization_mass_set(resc,resv,argc,(mxArray**)(argv)); break; - case 693: flag=_wrap_RigidBodyInertiaNonLinearParametrization_com_get(resc,resv,argc,(mxArray**)(argv)); break; - case 694: flag=_wrap_RigidBodyInertiaNonLinearParametrization_com_set(resc,resv,argc,(mxArray**)(argv)); break; - case 695: flag=_wrap_RigidBodyInertiaNonLinearParametrization_link_R_centroidal_get(resc,resv,argc,(mxArray**)(argv)); break; - case 696: flag=_wrap_RigidBodyInertiaNonLinearParametrization_link_R_centroidal_set(resc,resv,argc,(mxArray**)(argv)); break; - case 697: flag=_wrap_RigidBodyInertiaNonLinearParametrization_centralSecondMomentOfMass_get(resc,resv,argc,(mxArray**)(argv)); break; - case 698: flag=_wrap_RigidBodyInertiaNonLinearParametrization_centralSecondMomentOfMass_set(resc,resv,argc,(mxArray**)(argv)); break; - case 699: flag=_wrap_RigidBodyInertiaNonLinearParametrization_getLinkCentroidalTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 700: flag=_wrap_RigidBodyInertiaNonLinearParametrization_fromRigidBodyInertia(resc,resv,argc,(mxArray**)(argv)); break; - case 701: flag=_wrap_RigidBodyInertiaNonLinearParametrization_fromInertialParameters(resc,resv,argc,(mxArray**)(argv)); break; - case 702: flag=_wrap_RigidBodyInertiaNonLinearParametrization_toRigidBodyInertia(resc,resv,argc,(mxArray**)(argv)); break; - case 703: flag=_wrap_RigidBodyInertiaNonLinearParametrization_isPhysicallyConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 704: flag=_wrap_RigidBodyInertiaNonLinearParametrization_asVectorWithRotationAsVec(resc,resv,argc,(mxArray**)(argv)); break; - case 705: flag=_wrap_RigidBodyInertiaNonLinearParametrization_fromVectorWithRotationAsVec(resc,resv,argc,(mxArray**)(argv)); break; - case 706: flag=_wrap_RigidBodyInertiaNonLinearParametrization_getGradientWithRotationAsVec(resc,resv,argc,(mxArray**)(argv)); break; - case 707: flag=_wrap_new_RigidBodyInertiaNonLinearParametrization(resc,resv,argc,(mxArray**)(argv)); break; - case 708: flag=_wrap_delete_RigidBodyInertiaNonLinearParametrization(resc,resv,argc,(mxArray**)(argv)); break; - case 709: flag=_wrap_new_RotationRaw(resc,resv,argc,(mxArray**)(argv)); break; - case 710: flag=_wrap_RotationRaw_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 711: flag=_wrap_RotationRaw_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 712: flag=_wrap_RotationRaw_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 713: flag=_wrap_RotationRaw_inverse2(resc,resv,argc,(mxArray**)(argv)); break; - case 714: flag=_wrap_RotationRaw_changeCoordFrameOf(resc,resv,argc,(mxArray**)(argv)); break; - case 715: flag=_wrap_RotationRaw_RotX(resc,resv,argc,(mxArray**)(argv)); break; - case 716: flag=_wrap_RotationRaw_RotY(resc,resv,argc,(mxArray**)(argv)); break; - case 717: flag=_wrap_RotationRaw_RotZ(resc,resv,argc,(mxArray**)(argv)); break; - case 718: flag=_wrap_RotationRaw_RPY(resc,resv,argc,(mxArray**)(argv)); break; - case 719: flag=_wrap_RotationRaw_Identity(resc,resv,argc,(mxArray**)(argv)); break; - case 720: flag=_wrap_RotationRaw_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 721: flag=_wrap_RotationRaw_display(resc,resv,argc,(mxArray**)(argv)); break; - case 722: flag=_wrap_delete_RotationRaw(resc,resv,argc,(mxArray**)(argv)); break; - case 723: flag=_wrap_new_RotationSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 724: flag=_wrap_RotationSemantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break; - case 725: flag=_wrap_RotationSemantics_getOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 726: flag=_wrap_RotationSemantics_getBody(resc,resv,argc,(mxArray**)(argv)); break; - case 727: flag=_wrap_RotationSemantics_getReferenceOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 728: flag=_wrap_RotationSemantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break; - case 729: flag=_wrap_RotationSemantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 730: flag=_wrap_RotationSemantics_setOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 731: flag=_wrap_RotationSemantics_setBody(resc,resv,argc,(mxArray**)(argv)); break; - case 732: flag=_wrap_RotationSemantics_setReferenceOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 733: flag=_wrap_RotationSemantics_setRefBody(resc,resv,argc,(mxArray**)(argv)); break; - case 734: flag=_wrap_RotationSemantics_setCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 735: flag=_wrap_RotationSemantics_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 736: flag=_wrap_RotationSemantics_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 737: flag=_wrap_RotationSemantics_changeCoordFrameOf(resc,resv,argc,(mxArray**)(argv)); break; - case 738: flag=_wrap_RotationSemantics_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 739: flag=_wrap_RotationSemantics_inverse2(resc,resv,argc,(mxArray**)(argv)); break; - case 740: flag=_wrap_RotationSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 741: flag=_wrap_RotationSemantics_display(resc,resv,argc,(mxArray**)(argv)); break; - case 742: flag=_wrap_delete_RotationSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 743: flag=_wrap_new_Rotation(resc,resv,argc,(mxArray**)(argv)); break; - case 744: flag=_wrap_Rotation_getSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 745: flag=_wrap_Rotation_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 746: flag=_wrap_Rotation_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 747: flag=_wrap_Rotation_changeCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 748: flag=_wrap_Rotation_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 749: flag=_wrap_Rotation_inverse2(resc,resv,argc,(mxArray**)(argv)); break; - case 750: flag=_wrap_Rotation_changeCoordFrameOf(resc,resv,argc,(mxArray**)(argv)); break; - case 751: flag=_wrap_Rotation_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 752: flag=_wrap_Rotation_mtimes(resc,resv,argc,(mxArray**)(argv)); break; - case 753: flag=_wrap_Rotation_log(resc,resv,argc,(mxArray**)(argv)); break; - case 754: flag=_wrap_Rotation_fromQuaternion(resc,resv,argc,(mxArray**)(argv)); break; - case 755: flag=_wrap_Rotation_getRPY(resc,resv,argc,(mxArray**)(argv)); break; - case 756: flag=_wrap_Rotation_asRPY(resc,resv,argc,(mxArray**)(argv)); break; - case 757: flag=_wrap_Rotation_getQuaternion(resc,resv,argc,(mxArray**)(argv)); break; - case 758: flag=_wrap_Rotation_asQuaternion(resc,resv,argc,(mxArray**)(argv)); break; - case 759: flag=_wrap_Rotation_RotX(resc,resv,argc,(mxArray**)(argv)); break; - case 760: flag=_wrap_Rotation_RotY(resc,resv,argc,(mxArray**)(argv)); break; - case 761: flag=_wrap_Rotation_RotZ(resc,resv,argc,(mxArray**)(argv)); break; - case 762: flag=_wrap_Rotation_RotAxis(resc,resv,argc,(mxArray**)(argv)); break; - case 763: flag=_wrap_Rotation_RotAxisDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 764: flag=_wrap_Rotation_RPY(resc,resv,argc,(mxArray**)(argv)); break; - case 765: flag=_wrap_Rotation_RPYRightTrivializedDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 766: flag=_wrap_Rotation_RPYRightTrivializedDerivativeInverse(resc,resv,argc,(mxArray**)(argv)); break; - case 767: flag=_wrap_Rotation_QuaternionRightTrivializedDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 768: flag=_wrap_Rotation_QuaternionRightTrivializedDerivativeInverse(resc,resv,argc,(mxArray**)(argv)); break; - case 769: flag=_wrap_Rotation_Identity(resc,resv,argc,(mxArray**)(argv)); break; - case 770: flag=_wrap_Rotation_RotationFromQuaternion(resc,resv,argc,(mxArray**)(argv)); break; - case 771: flag=_wrap_Rotation_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 772: flag=_wrap_Rotation_display(resc,resv,argc,(mxArray**)(argv)); break; - case 773: flag=_wrap_delete_Rotation(resc,resv,argc,(mxArray**)(argv)); break; - case 774: flag=_wrap_new_TransformSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 775: flag=_wrap_TransformSemantics_getRotationSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 776: flag=_wrap_TransformSemantics_getPositionSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 777: flag=_wrap_TransformSemantics_setRotationSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 778: flag=_wrap_TransformSemantics_setPositionSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 779: flag=_wrap_TransformSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 780: flag=_wrap_TransformSemantics_display(resc,resv,argc,(mxArray**)(argv)); break; - case 781: flag=_wrap_delete_TransformSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 782: flag=_wrap_new_Transform(resc,resv,argc,(mxArray**)(argv)); break; - case 783: flag=_wrap_Transform_fromHomogeneousTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 784: flag=_wrap_Transform_getSemantics(resc,resv,argc,(mxArray**)(argv)); break; - case 785: flag=_wrap_Transform_getRotation(resc,resv,argc,(mxArray**)(argv)); break; - case 786: flag=_wrap_Transform_getPosition(resc,resv,argc,(mxArray**)(argv)); break; - case 787: flag=_wrap_Transform_setRotation(resc,resv,argc,(mxArray**)(argv)); break; - case 788: flag=_wrap_Transform_setPosition(resc,resv,argc,(mxArray**)(argv)); break; - case 789: flag=_wrap_Transform_compose(resc,resv,argc,(mxArray**)(argv)); break; - case 790: flag=_wrap_Transform_inverse2(resc,resv,argc,(mxArray**)(argv)); break; - case 791: flag=_wrap_Transform_inverse(resc,resv,argc,(mxArray**)(argv)); break; - case 792: flag=_wrap_Transform_mtimes(resc,resv,argc,(mxArray**)(argv)); break; - case 793: flag=_wrap_Transform_Identity(resc,resv,argc,(mxArray**)(argv)); break; - case 794: flag=_wrap_Transform_asHomogeneousTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 795: flag=_wrap_Transform_asAdjointTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 796: flag=_wrap_Transform_asAdjointTransformWrench(resc,resv,argc,(mxArray**)(argv)); break; - case 797: flag=_wrap_Transform_log(resc,resv,argc,(mxArray**)(argv)); break; - case 798: flag=_wrap_Transform_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 799: flag=_wrap_Transform_display(resc,resv,argc,(mxArray**)(argv)); break; - case 800: flag=_wrap_delete_Transform(resc,resv,argc,(mxArray**)(argv)); break; - case 801: flag=_wrap_new_TransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 802: flag=_wrap_delete_TransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 803: flag=_wrap_TransformDerivative_getRotationDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 804: flag=_wrap_TransformDerivative_getPositionDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 805: flag=_wrap_TransformDerivative_setRotationDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 806: flag=_wrap_TransformDerivative_setPositionDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 807: flag=_wrap_TransformDerivative_Zero(resc,resv,argc,(mxArray**)(argv)); break; - case 808: flag=_wrap_TransformDerivative_asHomogeneousTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 809: flag=_wrap_TransformDerivative_asAdjointTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 810: flag=_wrap_TransformDerivative_asAdjointTransformWrenchDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 811: flag=_wrap_TransformDerivative_mtimes(resc,resv,argc,(mxArray**)(argv)); break; - case 812: flag=_wrap_TransformDerivative_derivativeOfInverse(resc,resv,argc,(mxArray**)(argv)); break; - case 813: flag=_wrap_TransformDerivative_transform(resc,resv,argc,(mxArray**)(argv)); break; - case 814: flag=_wrap_LINK_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break; - case 815: flag=_wrap_LINK_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break; - case 816: flag=_wrap_LINK_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break; - case 817: flag=_wrap_LINK_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break; - case 818: flag=_wrap_JOINT_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break; - case 819: flag=_wrap_JOINT_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break; - case 820: flag=_wrap_JOINT_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break; - case 821: flag=_wrap_JOINT_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break; - case 822: flag=_wrap_DOF_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break; - case 823: flag=_wrap_DOF_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break; - case 824: flag=_wrap_DOF_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break; - case 825: flag=_wrap_DOF_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break; - case 826: flag=_wrap_FRAME_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break; - case 827: flag=_wrap_FRAME_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break; - case 828: flag=_wrap_FRAME_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break; - case 829: flag=_wrap_FRAME_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break; - case 830: flag=_wrap_TRAVERSAL_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break; - case 831: flag=_wrap_TRAVERSAL_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break; - case 832: flag=_wrap_new_LinkPositions(resc,resv,argc,(mxArray**)(argv)); break; - case 833: flag=_wrap_LinkPositions_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 834: flag=_wrap_LinkPositions_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 835: flag=_wrap_LinkPositions_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 836: flag=_wrap_LinkPositions_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 837: flag=_wrap_LinkPositions_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 838: flag=_wrap_delete_LinkPositions(resc,resv,argc,(mxArray**)(argv)); break; - case 839: flag=_wrap_new_LinkWrenches(resc,resv,argc,(mxArray**)(argv)); break; - case 840: flag=_wrap_LinkWrenches_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 841: flag=_wrap_LinkWrenches_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 842: flag=_wrap_LinkWrenches_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 843: flag=_wrap_LinkWrenches_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 844: flag=_wrap_LinkWrenches_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 845: flag=_wrap_LinkWrenches_zero(resc,resv,argc,(mxArray**)(argv)); break; - case 846: flag=_wrap_delete_LinkWrenches(resc,resv,argc,(mxArray**)(argv)); break; - case 847: flag=_wrap_new_LinkInertias(resc,resv,argc,(mxArray**)(argv)); break; - case 848: flag=_wrap_LinkInertias_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 849: flag=_wrap_LinkInertias_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 850: flag=_wrap_LinkInertias_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 851: flag=_wrap_delete_LinkInertias(resc,resv,argc,(mxArray**)(argv)); break; - case 852: flag=_wrap_new_LinkArticulatedBodyInertias(resc,resv,argc,(mxArray**)(argv)); break; - case 853: flag=_wrap_LinkArticulatedBodyInertias_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 854: flag=_wrap_LinkArticulatedBodyInertias_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 855: flag=_wrap_LinkArticulatedBodyInertias_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 856: flag=_wrap_delete_LinkArticulatedBodyInertias(resc,resv,argc,(mxArray**)(argv)); break; - case 857: flag=_wrap_new_LinkVelArray(resc,resv,argc,(mxArray**)(argv)); break; - case 858: flag=_wrap_LinkVelArray_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 859: flag=_wrap_LinkVelArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 860: flag=_wrap_LinkVelArray_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 861: flag=_wrap_LinkVelArray_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 862: flag=_wrap_LinkVelArray_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 863: flag=_wrap_delete_LinkVelArray(resc,resv,argc,(mxArray**)(argv)); break; - case 864: flag=_wrap_new_LinkAccArray(resc,resv,argc,(mxArray**)(argv)); break; - case 865: flag=_wrap_LinkAccArray_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 866: flag=_wrap_LinkAccArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 867: flag=_wrap_LinkAccArray_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 868: flag=_wrap_LinkAccArray_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 869: flag=_wrap_LinkAccArray_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 870: flag=_wrap_delete_LinkAccArray(resc,resv,argc,(mxArray**)(argv)); break; - case 871: flag=_wrap_new_Link(resc,resv,argc,(mxArray**)(argv)); break; - case 872: flag=_wrap_Link_inertia(resc,resv,argc,(mxArray**)(argv)); break; - case 873: flag=_wrap_Link_setInertia(resc,resv,argc,(mxArray**)(argv)); break; - case 874: flag=_wrap_Link_getInertia(resc,resv,argc,(mxArray**)(argv)); break; - case 875: flag=_wrap_Link_setIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 876: flag=_wrap_Link_getIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 877: flag=_wrap_delete_Link(resc,resv,argc,(mxArray**)(argv)); break; - case 878: flag=_wrap_delete_IJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 879: flag=_wrap_IJoint_clone(resc,resv,argc,(mxArray**)(argv)); break; - case 880: flag=_wrap_IJoint_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; - case 881: flag=_wrap_IJoint_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; - case 882: flag=_wrap_IJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 883: flag=_wrap_IJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 884: flag=_wrap_IJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break; - case 885: flag=_wrap_IJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break; - case 886: flag=_wrap_IJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 887: flag=_wrap_IJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 888: flag=_wrap_IJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 889: flag=_wrap_IJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break; - case 890: flag=_wrap_IJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 891: flag=_wrap_IJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 892: flag=_wrap_IJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break; - case 893: flag=_wrap_IJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 894: flag=_wrap_IJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 895: flag=_wrap_IJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break; - case 896: flag=_wrap_IJoint_setIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 897: flag=_wrap_IJoint_getIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 898: flag=_wrap_IJoint_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 899: flag=_wrap_IJoint_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 900: flag=_wrap_IJoint_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 901: flag=_wrap_IJoint_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 902: flag=_wrap_IJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 903: flag=_wrap_IJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 904: flag=_wrap_IJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 905: flag=_wrap_IJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break; - case 906: flag=_wrap_IJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break; - case 907: flag=_wrap_IJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 908: flag=_wrap_IJoint_isRevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 909: flag=_wrap_IJoint_isFixedJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 910: flag=_wrap_IJoint_asRevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 911: flag=_wrap_IJoint_asFixedJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 912: flag=_wrap_new_FixedJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 913: flag=_wrap_delete_FixedJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 914: flag=_wrap_FixedJoint_clone(resc,resv,argc,(mxArray**)(argv)); break; - case 915: flag=_wrap_FixedJoint_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; - case 916: flag=_wrap_FixedJoint_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; - case 917: flag=_wrap_FixedJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 918: flag=_wrap_FixedJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 919: flag=_wrap_FixedJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break; - case 920: flag=_wrap_FixedJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break; - case 921: flag=_wrap_FixedJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 922: flag=_wrap_FixedJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 923: flag=_wrap_FixedJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 924: flag=_wrap_FixedJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break; - case 925: flag=_wrap_FixedJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 926: flag=_wrap_FixedJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 927: flag=_wrap_FixedJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break; - case 928: flag=_wrap_FixedJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 929: flag=_wrap_FixedJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 930: flag=_wrap_FixedJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break; - case 931: flag=_wrap_FixedJoint_setIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 932: flag=_wrap_FixedJoint_getIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 933: flag=_wrap_FixedJoint_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 934: flag=_wrap_FixedJoint_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 935: flag=_wrap_FixedJoint_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 936: flag=_wrap_FixedJoint_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 937: flag=_wrap_FixedJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 938: flag=_wrap_FixedJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 939: flag=_wrap_FixedJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 940: flag=_wrap_FixedJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break; - case 941: flag=_wrap_FixedJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break; - case 942: flag=_wrap_FixedJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 943: flag=_wrap_delete_MovableJointImpl1(resc,resv,argc,(mxArray**)(argv)); break; - case 944: flag=_wrap_MovableJointImpl1_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; - case 945: flag=_wrap_MovableJointImpl1_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; - case 946: flag=_wrap_MovableJointImpl1_setIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 947: flag=_wrap_MovableJointImpl1_getIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 948: flag=_wrap_MovableJointImpl1_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 949: flag=_wrap_MovableJointImpl1_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 950: flag=_wrap_MovableJointImpl1_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 951: flag=_wrap_MovableJointImpl1_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 952: flag=_wrap_delete_MovableJointImpl2(resc,resv,argc,(mxArray**)(argv)); break; - case 953: flag=_wrap_MovableJointImpl2_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; - case 954: flag=_wrap_MovableJointImpl2_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; - case 955: flag=_wrap_MovableJointImpl2_setIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 956: flag=_wrap_MovableJointImpl2_getIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 957: flag=_wrap_MovableJointImpl2_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 958: flag=_wrap_MovableJointImpl2_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 959: flag=_wrap_MovableJointImpl2_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 960: flag=_wrap_MovableJointImpl2_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 961: flag=_wrap_delete_MovableJointImpl3(resc,resv,argc,(mxArray**)(argv)); break; - case 962: flag=_wrap_MovableJointImpl3_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; - case 963: flag=_wrap_MovableJointImpl3_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; - case 964: flag=_wrap_MovableJointImpl3_setIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 965: flag=_wrap_MovableJointImpl3_getIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 966: flag=_wrap_MovableJointImpl3_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 967: flag=_wrap_MovableJointImpl3_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 968: flag=_wrap_MovableJointImpl3_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 969: flag=_wrap_MovableJointImpl3_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 970: flag=_wrap_delete_MovableJointImpl4(resc,resv,argc,(mxArray**)(argv)); break; - case 971: flag=_wrap_MovableJointImpl4_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; - case 972: flag=_wrap_MovableJointImpl4_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; - case 973: flag=_wrap_MovableJointImpl4_setIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 974: flag=_wrap_MovableJointImpl4_getIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 975: flag=_wrap_MovableJointImpl4_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 976: flag=_wrap_MovableJointImpl4_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 977: flag=_wrap_MovableJointImpl4_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 978: flag=_wrap_MovableJointImpl4_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 979: flag=_wrap_delete_MovableJointImpl5(resc,resv,argc,(mxArray**)(argv)); break; - case 980: flag=_wrap_MovableJointImpl5_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; - case 981: flag=_wrap_MovableJointImpl5_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; - case 982: flag=_wrap_MovableJointImpl5_setIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 983: flag=_wrap_MovableJointImpl5_getIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 984: flag=_wrap_MovableJointImpl5_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 985: flag=_wrap_MovableJointImpl5_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 986: flag=_wrap_MovableJointImpl5_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 987: flag=_wrap_MovableJointImpl5_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 988: flag=_wrap_delete_MovableJointImpl6(resc,resv,argc,(mxArray**)(argv)); break; - case 989: flag=_wrap_MovableJointImpl6_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; - case 990: flag=_wrap_MovableJointImpl6_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; - case 991: flag=_wrap_MovableJointImpl6_setIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 992: flag=_wrap_MovableJointImpl6_getIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 993: flag=_wrap_MovableJointImpl6_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 994: flag=_wrap_MovableJointImpl6_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 995: flag=_wrap_MovableJointImpl6_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 996: flag=_wrap_MovableJointImpl6_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; - case 997: flag=_wrap_new_RevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 998: flag=_wrap_delete_RevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 999: flag=_wrap_RevoluteJoint_clone(resc,resv,argc,(mxArray**)(argv)); break; - case 1000: flag=_wrap_RevoluteJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 1001: flag=_wrap_RevoluteJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1002: flag=_wrap_RevoluteJoint_setAxis(resc,resv,argc,(mxArray**)(argv)); break; - case 1003: flag=_wrap_RevoluteJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1004: flag=_wrap_RevoluteJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1005: flag=_wrap_RevoluteJoint_getAxis(resc,resv,argc,(mxArray**)(argv)); break; - case 1006: flag=_wrap_RevoluteJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1007: flag=_wrap_RevoluteJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1008: flag=_wrap_RevoluteJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 1009: flag=_wrap_RevoluteJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break; - case 1010: flag=_wrap_RevoluteJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 1011: flag=_wrap_RevoluteJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break; - case 1012: flag=_wrap_RevoluteJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 1013: flag=_wrap_RevoluteJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 1014: flag=_wrap_RevoluteJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 1015: flag=_wrap_RevoluteJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break; - case 1016: flag=_wrap_RevoluteJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 1017: flag=_wrap_RevoluteJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 1018: flag=_wrap_RevoluteJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 1019: flag=_wrap_RevoluteJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break; - case 1020: flag=_wrap_RevoluteJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break; - case 1021: flag=_wrap_RevoluteJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 1022: flag=_wrap_new_PrismaticJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 1023: flag=_wrap_delete_PrismaticJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 1024: flag=_wrap_PrismaticJoint_clone(resc,resv,argc,(mxArray**)(argv)); break; - case 1025: flag=_wrap_PrismaticJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 1026: flag=_wrap_PrismaticJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1027: flag=_wrap_PrismaticJoint_setAxis(resc,resv,argc,(mxArray**)(argv)); break; - case 1028: flag=_wrap_PrismaticJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1029: flag=_wrap_PrismaticJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1030: flag=_wrap_PrismaticJoint_getAxis(resc,resv,argc,(mxArray**)(argv)); break; - case 1031: flag=_wrap_PrismaticJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1032: flag=_wrap_PrismaticJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1033: flag=_wrap_PrismaticJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; - case 1034: flag=_wrap_PrismaticJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break; - case 1035: flag=_wrap_PrismaticJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 1036: flag=_wrap_PrismaticJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break; - case 1037: flag=_wrap_PrismaticJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 1038: flag=_wrap_PrismaticJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 1039: flag=_wrap_PrismaticJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 1040: flag=_wrap_PrismaticJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break; - case 1041: flag=_wrap_PrismaticJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 1042: flag=_wrap_PrismaticJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 1043: flag=_wrap_PrismaticJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 1044: flag=_wrap_PrismaticJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break; - case 1045: flag=_wrap_PrismaticJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break; - case 1046: flag=_wrap_PrismaticJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 1047: flag=_wrap_new_Traversal(resc,resv,argc,(mxArray**)(argv)); break; - case 1048: flag=_wrap_delete_Traversal(resc,resv,argc,(mxArray**)(argv)); break; - case 1049: flag=_wrap_Traversal_getNrOfVisitedLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 1050: flag=_wrap_Traversal_getLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1051: flag=_wrap_Traversal_getBaseLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1052: flag=_wrap_Traversal_getParentLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1053: flag=_wrap_Traversal_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 1054: flag=_wrap_Traversal_getParentLinkFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1055: flag=_wrap_Traversal_getParentJointFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1056: flag=_wrap_Traversal_getTraversalIndexFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1057: flag=_wrap_Traversal_reset(resc,resv,argc,(mxArray**)(argv)); break; - case 1058: flag=_wrap_Traversal_addTraversalBase(resc,resv,argc,(mxArray**)(argv)); break; - case 1059: flag=_wrap_Traversal_addTraversalElement(resc,resv,argc,(mxArray**)(argv)); break; - case 1060: flag=_wrap_Traversal_isParentOf(resc,resv,argc,(mxArray**)(argv)); break; - case 1061: flag=_wrap_Traversal_getChildLinkIndexFromJointIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1062: flag=_wrap_Traversal_getParentLinkIndexFromJointIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1063: flag=_wrap_Traversal_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 1064: flag=_wrap_delete_SolidShape(resc,resv,argc,(mxArray**)(argv)); break; - case 1065: flag=_wrap_SolidShape_clone(resc,resv,argc,(mxArray**)(argv)); break; - case 1066: flag=_wrap_SolidShape_name_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1067: flag=_wrap_SolidShape_name_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1068: flag=_wrap_SolidShape_link_H_geometry_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1069: flag=_wrap_SolidShape_link_H_geometry_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1070: flag=_wrap_SolidShape_material_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1071: flag=_wrap_SolidShape_material_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1072: flag=_wrap_SolidShape_isSphere(resc,resv,argc,(mxArray**)(argv)); break; - case 1073: flag=_wrap_SolidShape_isBox(resc,resv,argc,(mxArray**)(argv)); break; - case 1074: flag=_wrap_SolidShape_isCylinder(resc,resv,argc,(mxArray**)(argv)); break; - case 1075: flag=_wrap_SolidShape_isExternalMesh(resc,resv,argc,(mxArray**)(argv)); break; - case 1076: flag=_wrap_SolidShape_asSphere(resc,resv,argc,(mxArray**)(argv)); break; - case 1077: flag=_wrap_SolidShape_asBox(resc,resv,argc,(mxArray**)(argv)); break; - case 1078: flag=_wrap_SolidShape_asCylinder(resc,resv,argc,(mxArray**)(argv)); break; - case 1079: flag=_wrap_SolidShape_asExternalMesh(resc,resv,argc,(mxArray**)(argv)); break; - case 1080: flag=_wrap_delete_Sphere(resc,resv,argc,(mxArray**)(argv)); break; - case 1081: flag=_wrap_Sphere_clone(resc,resv,argc,(mxArray**)(argv)); break; - case 1082: flag=_wrap_Sphere_radius_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1083: flag=_wrap_Sphere_radius_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1084: flag=_wrap_new_Sphere(resc,resv,argc,(mxArray**)(argv)); break; - case 1085: flag=_wrap_delete_Box(resc,resv,argc,(mxArray**)(argv)); break; - case 1086: flag=_wrap_Box_clone(resc,resv,argc,(mxArray**)(argv)); break; - case 1087: flag=_wrap_Box_x_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1088: flag=_wrap_Box_x_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1089: flag=_wrap_Box_y_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1090: flag=_wrap_Box_y_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1091: flag=_wrap_Box_z_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1092: flag=_wrap_Box_z_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1093: flag=_wrap_new_Box(resc,resv,argc,(mxArray**)(argv)); break; - case 1094: flag=_wrap_delete_Cylinder(resc,resv,argc,(mxArray**)(argv)); break; - case 1095: flag=_wrap_Cylinder_clone(resc,resv,argc,(mxArray**)(argv)); break; - case 1096: flag=_wrap_Cylinder_length_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1097: flag=_wrap_Cylinder_length_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1098: flag=_wrap_Cylinder_radius_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1099: flag=_wrap_Cylinder_radius_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1100: flag=_wrap_new_Cylinder(resc,resv,argc,(mxArray**)(argv)); break; - case 1101: flag=_wrap_delete_ExternalMesh(resc,resv,argc,(mxArray**)(argv)); break; - case 1102: flag=_wrap_ExternalMesh_clone(resc,resv,argc,(mxArray**)(argv)); break; - case 1103: flag=_wrap_ExternalMesh_filename_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1104: flag=_wrap_ExternalMesh_filename_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1105: flag=_wrap_ExternalMesh_scale_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1106: flag=_wrap_ExternalMesh_scale_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1107: flag=_wrap_new_ExternalMesh(resc,resv,argc,(mxArray**)(argv)); break; - case 1108: flag=_wrap_new_ModelSolidShapes(resc,resv,argc,(mxArray**)(argv)); break; - case 1109: flag=_wrap_ModelSolidShapes_clear(resc,resv,argc,(mxArray**)(argv)); break; - case 1110: flag=_wrap_delete_ModelSolidShapes(resc,resv,argc,(mxArray**)(argv)); break; - case 1111: flag=_wrap_ModelSolidShapes_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1112: flag=_wrap_ModelSolidShapes_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 1113: flag=_wrap_ModelSolidShapes_linkSolidShapes_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1114: flag=_wrap_ModelSolidShapes_linkSolidShapes_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1115: flag=_wrap_Neighbor_neighborLink_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1116: flag=_wrap_Neighbor_neighborLink_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1117: flag=_wrap_Neighbor_neighborJoint_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1118: flag=_wrap_Neighbor_neighborJoint_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1119: flag=_wrap_new_Neighbor(resc,resv,argc,(mxArray**)(argv)); break; - case 1120: flag=_wrap_delete_Neighbor(resc,resv,argc,(mxArray**)(argv)); break; - case 1121: flag=_wrap_new_Model(resc,resv,argc,(mxArray**)(argv)); break; - case 1122: flag=_wrap_Model_copy(resc,resv,argc,(mxArray**)(argv)); break; - case 1123: flag=_wrap_delete_Model(resc,resv,argc,(mxArray**)(argv)); break; - case 1124: flag=_wrap_Model_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 1125: flag=_wrap_Model_getLinkName(resc,resv,argc,(mxArray**)(argv)); break; - case 1126: flag=_wrap_Model_getLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1127: flag=_wrap_Model_isValidLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1128: flag=_wrap_Model_getLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1129: flag=_wrap_Model_addLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1130: flag=_wrap_Model_getNrOfJoints(resc,resv,argc,(mxArray**)(argv)); break; - case 1131: flag=_wrap_Model_getJointName(resc,resv,argc,(mxArray**)(argv)); break; - case 1132: flag=_wrap_Model_getJointIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1133: flag=_wrap_Model_getJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 1134: flag=_wrap_Model_isValidJointIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1135: flag=_wrap_Model_isLinkNameUsed(resc,resv,argc,(mxArray**)(argv)); break; - case 1136: flag=_wrap_Model_isJointNameUsed(resc,resv,argc,(mxArray**)(argv)); break; - case 1137: flag=_wrap_Model_isFrameNameUsed(resc,resv,argc,(mxArray**)(argv)); break; - case 1138: flag=_wrap_Model_addJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 1139: flag=_wrap_Model_addJointAndLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1140: flag=_wrap_Model_insertLinkToExistingJointAndAddJointForDisplacedLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1141: flag=_wrap_Model_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; - case 1142: flag=_wrap_Model_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; - case 1143: flag=_wrap_Model_getNrOfFrames(resc,resv,argc,(mxArray**)(argv)); break; - case 1144: flag=_wrap_Model_addAdditionalFrameToLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1145: flag=_wrap_Model_getFrameName(resc,resv,argc,(mxArray**)(argv)); break; - case 1146: flag=_wrap_Model_getFrameIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1147: flag=_wrap_Model_isValidFrameIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1148: flag=_wrap_Model_getFrameTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1149: flag=_wrap_Model_getFrameLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1150: flag=_wrap_Model_getNrOfNeighbors(resc,resv,argc,(mxArray**)(argv)); break; - case 1151: flag=_wrap_Model_getNeighbor(resc,resv,argc,(mxArray**)(argv)); break; - case 1152: flag=_wrap_Model_setDefaultBaseLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1153: flag=_wrap_Model_getDefaultBaseLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1154: flag=_wrap_Model_computeFullTreeTraversal(resc,resv,argc,(mxArray**)(argv)); break; - case 1155: flag=_wrap_Model_getInertialParameters(resc,resv,argc,(mxArray**)(argv)); break; - case 1156: flag=_wrap_Model_updateInertialParameters(resc,resv,argc,(mxArray**)(argv)); break; - case 1157: flag=_wrap_Model_visualSolidShapes(resc,resv,argc,(mxArray**)(argv)); break; - case 1158: flag=_wrap_Model_collisionSolidShapes(resc,resv,argc,(mxArray**)(argv)); break; - case 1159: flag=_wrap_Model_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 1160: flag=_wrap_new_JointPosDoubleArray(resc,resv,argc,(mxArray**)(argv)); break; - case 1161: flag=_wrap_JointPosDoubleArray_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1162: flag=_wrap_JointPosDoubleArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 1163: flag=_wrap_delete_JointPosDoubleArray(resc,resv,argc,(mxArray**)(argv)); break; - case 1164: flag=_wrap_new_JointDOFsDoubleArray(resc,resv,argc,(mxArray**)(argv)); break; - case 1165: flag=_wrap_JointDOFsDoubleArray_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1166: flag=_wrap_JointDOFsDoubleArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 1167: flag=_wrap_delete_JointDOFsDoubleArray(resc,resv,argc,(mxArray**)(argv)); break; - case 1168: flag=_wrap_new_DOFSpatialForceArray(resc,resv,argc,(mxArray**)(argv)); break; - case 1169: flag=_wrap_DOFSpatialForceArray_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1170: flag=_wrap_DOFSpatialForceArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 1171: flag=_wrap_DOFSpatialForceArray_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 1172: flag=_wrap_delete_DOFSpatialForceArray(resc,resv,argc,(mxArray**)(argv)); break; - case 1173: flag=_wrap_new_DOFSpatialMotionArray(resc,resv,argc,(mxArray**)(argv)); break; - case 1174: flag=_wrap_DOFSpatialMotionArray_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1175: flag=_wrap_DOFSpatialMotionArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 1176: flag=_wrap_DOFSpatialMotionArray_paren(resc,resv,argc,(mxArray**)(argv)); break; - case 1177: flag=_wrap_delete_DOFSpatialMotionArray(resc,resv,argc,(mxArray**)(argv)); break; - case 1178: flag=_wrap_new_FrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break; - case 1179: flag=_wrap_FrameFreeFloatingJacobian_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1180: flag=_wrap_FrameFreeFloatingJacobian_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 1181: flag=_wrap_delete_FrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break; - case 1182: flag=_wrap_new_MomentumFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break; - case 1183: flag=_wrap_MomentumFreeFloatingJacobian_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1184: flag=_wrap_MomentumFreeFloatingJacobian_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 1185: flag=_wrap_delete_MomentumFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break; - case 1186: flag=_wrap_new_FreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break; - case 1187: flag=_wrap_FreeFloatingMassMatrix_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1188: flag=_wrap_delete_FreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break; - case 1189: flag=_wrap_new_FreeFloatingPos(resc,resv,argc,(mxArray**)(argv)); break; - case 1190: flag=_wrap_FreeFloatingPos_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1191: flag=_wrap_FreeFloatingPos_worldBasePos(resc,resv,argc,(mxArray**)(argv)); break; - case 1192: flag=_wrap_FreeFloatingPos_jointPos(resc,resv,argc,(mxArray**)(argv)); break; - case 1193: flag=_wrap_FreeFloatingPos_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; - case 1194: flag=_wrap_delete_FreeFloatingPos(resc,resv,argc,(mxArray**)(argv)); break; - case 1195: flag=_wrap_new_FreeFloatingGeneralizedTorques(resc,resv,argc,(mxArray**)(argv)); break; - case 1196: flag=_wrap_FreeFloatingGeneralizedTorques_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1197: flag=_wrap_FreeFloatingGeneralizedTorques_baseWrench(resc,resv,argc,(mxArray**)(argv)); break; - case 1198: flag=_wrap_FreeFloatingGeneralizedTorques_jointTorques(resc,resv,argc,(mxArray**)(argv)); break; - case 1199: flag=_wrap_FreeFloatingGeneralizedTorques_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; - case 1200: flag=_wrap_delete_FreeFloatingGeneralizedTorques(resc,resv,argc,(mxArray**)(argv)); break; - case 1201: flag=_wrap_new_FreeFloatingVel(resc,resv,argc,(mxArray**)(argv)); break; - case 1202: flag=_wrap_FreeFloatingVel_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1203: flag=_wrap_FreeFloatingVel_baseVel(resc,resv,argc,(mxArray**)(argv)); break; - case 1204: flag=_wrap_FreeFloatingVel_jointVel(resc,resv,argc,(mxArray**)(argv)); break; - case 1205: flag=_wrap_FreeFloatingVel_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; - case 1206: flag=_wrap_delete_FreeFloatingVel(resc,resv,argc,(mxArray**)(argv)); break; - case 1207: flag=_wrap_new_FreeFloatingAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 1208: flag=_wrap_FreeFloatingAcc_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1209: flag=_wrap_FreeFloatingAcc_baseAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 1210: flag=_wrap_FreeFloatingAcc_jointAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 1211: flag=_wrap_FreeFloatingAcc_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; - case 1212: flag=_wrap_delete_FreeFloatingAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 1213: flag=_wrap_ContactWrench_contactId(resc,resv,argc,(mxArray**)(argv)); break; - case 1214: flag=_wrap_ContactWrench_contactPoint(resc,resv,argc,(mxArray**)(argv)); break; - case 1215: flag=_wrap_ContactWrench_contactWrench(resc,resv,argc,(mxArray**)(argv)); break; - case 1216: flag=_wrap_new_ContactWrench(resc,resv,argc,(mxArray**)(argv)); break; - case 1217: flag=_wrap_delete_ContactWrench(resc,resv,argc,(mxArray**)(argv)); break; - case 1218: flag=_wrap_new_LinkContactWrenches(resc,resv,argc,(mxArray**)(argv)); break; - case 1219: flag=_wrap_LinkContactWrenches_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1220: flag=_wrap_LinkContactWrenches_getNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1221: flag=_wrap_LinkContactWrenches_setNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1222: flag=_wrap_LinkContactWrenches_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 1223: flag=_wrap_LinkContactWrenches_contactWrench(resc,resv,argc,(mxArray**)(argv)); break; - case 1224: flag=_wrap_LinkContactWrenches_computeNetWrenches(resc,resv,argc,(mxArray**)(argv)); break; - case 1225: flag=_wrap_LinkContactWrenches_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 1226: flag=_wrap_delete_LinkContactWrenches(resc,resv,argc,(mxArray**)(argv)); break; - case 1227: flag=_wrap_ForwardPositionKinematics(resc,resv,argc,(mxArray**)(argv)); break; - case 1228: flag=_wrap_ForwardVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break; - case 1229: flag=_wrap_ForwardPosVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break; - case 1230: flag=_wrap_ForwardPosVelKinematics(resc,resv,argc,(mxArray**)(argv)); break; - case 1231: flag=_wrap_ForwardAccKinematics(resc,resv,argc,(mxArray**)(argv)); break; - case 1232: flag=_wrap_ForwardBiasAccKinematics(resc,resv,argc,(mxArray**)(argv)); break; - case 1233: flag=_wrap_ComputeLinearAndAngularMomentum(resc,resv,argc,(mxArray**)(argv)); break; - case 1234: flag=_wrap_ComputeLinearAndAngularMomentumDerivativeBias(resc,resv,argc,(mxArray**)(argv)); break; - case 1235: flag=_wrap_RNEADynamicPhase(resc,resv,argc,(mxArray**)(argv)); break; - case 1236: flag=_wrap_CompositeRigidBodyAlgorithm(resc,resv,argc,(mxArray**)(argv)); break; - case 1237: flag=_wrap_new_ArticulatedBodyAlgorithmInternalBuffers(resc,resv,argc,(mxArray**)(argv)); break; - case 1238: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1239: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 1240: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_S_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1241: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_S_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1242: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_U_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1243: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_U_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1244: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_D_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1245: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_D_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1246: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_u_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1247: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_u_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1248: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksVel_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1249: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksVel_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1250: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1251: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1252: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1253: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1254: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linkABIs_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1255: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linkABIs_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1256: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1257: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1258: flag=_wrap_delete_ArticulatedBodyAlgorithmInternalBuffers(resc,resv,argc,(mxArray**)(argv)); break; - case 1259: flag=_wrap_ArticulatedBodyAlgorithm(resc,resv,argc,(mxArray**)(argv)); break; - case 1260: flag=_wrap_NR_OF_SENSOR_TYPES_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1261: flag=_wrap_isLinkSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1262: flag=_wrap_isJointSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1263: flag=_wrap_getSensorTypeSize(resc,resv,argc,(mxArray**)(argv)); break; - case 1264: flag=_wrap_delete_Sensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1265: flag=_wrap_Sensor_getName(resc,resv,argc,(mxArray**)(argv)); break; - case 1266: flag=_wrap_Sensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break; - case 1267: flag=_wrap_Sensor_isValid(resc,resv,argc,(mxArray**)(argv)); break; - case 1268: flag=_wrap_Sensor_setName(resc,resv,argc,(mxArray**)(argv)); break; - case 1269: flag=_wrap_Sensor_clone(resc,resv,argc,(mxArray**)(argv)); break; - case 1270: flag=_wrap_Sensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 1271: flag=_wrap_Sensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break; - case 1272: flag=_wrap_Sensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break; - case 1273: flag=_wrap_delete_JointSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1274: flag=_wrap_JointSensor_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 1275: flag=_wrap_JointSensor_getParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1276: flag=_wrap_JointSensor_setParentJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 1277: flag=_wrap_JointSensor_setParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1278: flag=_wrap_JointSensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 1279: flag=_wrap_delete_LinkSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1280: flag=_wrap_LinkSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1281: flag=_wrap_LinkSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1282: flag=_wrap_LinkSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1283: flag=_wrap_LinkSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1284: flag=_wrap_LinkSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1285: flag=_wrap_LinkSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1286: flag=_wrap_LinkSensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 1287: flag=_wrap_new_SensorsList(resc,resv,argc,(mxArray**)(argv)); break; - case 1288: flag=_wrap_delete_SensorsList(resc,resv,argc,(mxArray**)(argv)); break; - case 1289: flag=_wrap_SensorsList_addSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1290: flag=_wrap_SensorsList_setSerialization(resc,resv,argc,(mxArray**)(argv)); break; - case 1291: flag=_wrap_SensorsList_getSerialization(resc,resv,argc,(mxArray**)(argv)); break; - case 1292: flag=_wrap_SensorsList_getNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break; - case 1293: flag=_wrap_SensorsList_getSensorIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1294: flag=_wrap_SensorsList_getSizeOfAllSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break; - case 1295: flag=_wrap_SensorsList_getSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1296: flag=_wrap_SensorsList_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 1297: flag=_wrap_SensorsList_removeSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1298: flag=_wrap_SensorsList_removeAllSensorsOfType(resc,resv,argc,(mxArray**)(argv)); break; - case 1299: flag=_wrap_SensorsList_getSixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1300: flag=_wrap_SensorsList_getAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1301: flag=_wrap_SensorsList_getGyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1302: flag=_wrap_SensorsList_getThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1303: flag=_wrap_new_SensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break; - case 1304: flag=_wrap_delete_SensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break; - case 1305: flag=_wrap_SensorsMeasurements_setNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break; - case 1306: flag=_wrap_SensorsMeasurements_getNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break; - case 1307: flag=_wrap_SensorsMeasurements_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1308: flag=_wrap_SensorsMeasurements_toVector(resc,resv,argc,(mxArray**)(argv)); break; - case 1309: flag=_wrap_SensorsMeasurements_setMeasurement(resc,resv,argc,(mxArray**)(argv)); break; - case 1310: flag=_wrap_SensorsMeasurements_getMeasurement(resc,resv,argc,(mxArray**)(argv)); break; - case 1311: flag=_wrap_SensorsMeasurements_getSizeOfAllSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break; - case 1312: flag=_wrap_new_SixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1313: flag=_wrap_delete_SixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1314: flag=_wrap_SixAxisForceTorqueSensor_setName(resc,resv,argc,(mxArray**)(argv)); break; - case 1315: flag=_wrap_SixAxisForceTorqueSensor_setFirstLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1316: flag=_wrap_SixAxisForceTorqueSensor_setSecondLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1317: flag=_wrap_SixAxisForceTorqueSensor_getFirstLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1318: flag=_wrap_SixAxisForceTorqueSensor_getSecondLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1319: flag=_wrap_SixAxisForceTorqueSensor_setFirstLinkName(resc,resv,argc,(mxArray**)(argv)); break; - case 1320: flag=_wrap_SixAxisForceTorqueSensor_setSecondLinkName(resc,resv,argc,(mxArray**)(argv)); break; - case 1321: flag=_wrap_SixAxisForceTorqueSensor_getFirstLinkName(resc,resv,argc,(mxArray**)(argv)); break; - case 1322: flag=_wrap_SixAxisForceTorqueSensor_getSecondLinkName(resc,resv,argc,(mxArray**)(argv)); break; - case 1323: flag=_wrap_SixAxisForceTorqueSensor_setParentJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 1324: flag=_wrap_SixAxisForceTorqueSensor_setParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1325: flag=_wrap_SixAxisForceTorqueSensor_setAppliedWrenchLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1326: flag=_wrap_SixAxisForceTorqueSensor_getName(resc,resv,argc,(mxArray**)(argv)); break; - case 1327: flag=_wrap_SixAxisForceTorqueSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break; - case 1328: flag=_wrap_SixAxisForceTorqueSensor_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break; - case 1329: flag=_wrap_SixAxisForceTorqueSensor_getParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1330: flag=_wrap_SixAxisForceTorqueSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break; - case 1331: flag=_wrap_SixAxisForceTorqueSensor_clone(resc,resv,argc,(mxArray**)(argv)); break; - case 1332: flag=_wrap_SixAxisForceTorqueSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break; - case 1333: flag=_wrap_SixAxisForceTorqueSensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break; - case 1334: flag=_wrap_SixAxisForceTorqueSensor_getAppliedWrenchLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1335: flag=_wrap_SixAxisForceTorqueSensor_isLinkAttachedToSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1336: flag=_wrap_SixAxisForceTorqueSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1337: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1338: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLinkMatrix(resc,resv,argc,(mxArray**)(argv)); break; - case 1339: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLinkInverseMatrix(resc,resv,argc,(mxArray**)(argv)); break; - case 1340: flag=_wrap_SixAxisForceTorqueSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break; - case 1341: flag=_wrap_SixAxisForceTorqueSensor_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 1342: flag=_wrap_new_AccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1343: flag=_wrap_delete_AccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1344: flag=_wrap_AccelerometerSensor_setName(resc,resv,argc,(mxArray**)(argv)); break; - case 1345: flag=_wrap_AccelerometerSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1346: flag=_wrap_AccelerometerSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1347: flag=_wrap_AccelerometerSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1348: flag=_wrap_AccelerometerSensor_getName(resc,resv,argc,(mxArray**)(argv)); break; - case 1349: flag=_wrap_AccelerometerSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break; - case 1350: flag=_wrap_AccelerometerSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1351: flag=_wrap_AccelerometerSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1352: flag=_wrap_AccelerometerSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1353: flag=_wrap_AccelerometerSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break; - case 1354: flag=_wrap_AccelerometerSensor_clone(resc,resv,argc,(mxArray**)(argv)); break; - case 1355: flag=_wrap_AccelerometerSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break; - case 1356: flag=_wrap_AccelerometerSensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break; - case 1357: flag=_wrap_AccelerometerSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break; - case 1358: flag=_wrap_new_GyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1359: flag=_wrap_delete_GyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1360: flag=_wrap_GyroscopeSensor_setName(resc,resv,argc,(mxArray**)(argv)); break; - case 1361: flag=_wrap_GyroscopeSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1362: flag=_wrap_GyroscopeSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1363: flag=_wrap_GyroscopeSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1364: flag=_wrap_GyroscopeSensor_getName(resc,resv,argc,(mxArray**)(argv)); break; - case 1365: flag=_wrap_GyroscopeSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break; - case 1366: flag=_wrap_GyroscopeSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1367: flag=_wrap_GyroscopeSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1368: flag=_wrap_GyroscopeSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1369: flag=_wrap_GyroscopeSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break; - case 1370: flag=_wrap_GyroscopeSensor_clone(resc,resv,argc,(mxArray**)(argv)); break; - case 1371: flag=_wrap_GyroscopeSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break; - case 1372: flag=_wrap_GyroscopeSensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break; - case 1373: flag=_wrap_GyroscopeSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break; - case 1374: flag=_wrap_new_ThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1375: flag=_wrap_delete_ThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1376: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setName(resc,resv,argc,(mxArray**)(argv)); break; - case 1377: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1378: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1379: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1380: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getName(resc,resv,argc,(mxArray**)(argv)); break; - case 1381: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break; - case 1382: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1383: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1384: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1385: flag=_wrap_ThreeAxisAngularAccelerometerSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break; - case 1386: flag=_wrap_ThreeAxisAngularAccelerometerSensor_clone(resc,resv,argc,(mxArray**)(argv)); break; - case 1387: flag=_wrap_ThreeAxisAngularAccelerometerSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break; - case 1388: flag=_wrap_ThreeAxisAngularAccelerometerSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break; - case 1389: flag=_wrap_predictSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break; - case 1390: flag=_wrap_predictSensorsMeasurementsFromRawBuffers(resc,resv,argc,(mxArray**)(argv)); break; - case 1391: flag=_wrap_URDFParserOptions_addSensorFramesAsAdditionalFrames_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1392: flag=_wrap_URDFParserOptions_addSensorFramesAsAdditionalFrames_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1393: flag=_wrap_URDFParserOptions_originalFilename_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1394: flag=_wrap_URDFParserOptions_originalFilename_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1395: flag=_wrap_new_URDFParserOptions(resc,resv,argc,(mxArray**)(argv)); break; - case 1396: flag=_wrap_delete_URDFParserOptions(resc,resv,argc,(mxArray**)(argv)); break; - case 1397: flag=_wrap_modelFromURDF(resc,resv,argc,(mxArray**)(argv)); break; - case 1398: flag=_wrap_modelFromURDFString(resc,resv,argc,(mxArray**)(argv)); break; - case 1399: flag=_wrap_dofsListFromURDF(resc,resv,argc,(mxArray**)(argv)); break; - case 1400: flag=_wrap_dofsListFromURDFString(resc,resv,argc,(mxArray**)(argv)); break; - case 1401: flag=_wrap_sensorsFromURDF(resc,resv,argc,(mxArray**)(argv)); break; - case 1402: flag=_wrap_sensorsFromURDFString(resc,resv,argc,(mxArray**)(argv)); break; - case 1403: flag=_wrap_new_ModelLoader(resc,resv,argc,(mxArray**)(argv)); break; - case 1404: flag=_wrap_ModelLoader_loadModelFromString(resc,resv,argc,(mxArray**)(argv)); break; - case 1405: flag=_wrap_ModelLoader_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break; - case 1406: flag=_wrap_ModelLoader_loadReducedModelFromFullModel(resc,resv,argc,(mxArray**)(argv)); break; - case 1407: flag=_wrap_ModelLoader_loadReducedModelFromString(resc,resv,argc,(mxArray**)(argv)); break; - case 1408: flag=_wrap_ModelLoader_loadReducedModelFromFile(resc,resv,argc,(mxArray**)(argv)); break; - case 1409: flag=_wrap_ModelLoader_model(resc,resv,argc,(mxArray**)(argv)); break; - case 1410: flag=_wrap_ModelLoader_sensors(resc,resv,argc,(mxArray**)(argv)); break; - case 1411: flag=_wrap_ModelLoader_isValid(resc,resv,argc,(mxArray**)(argv)); break; - case 1412: flag=_wrap_delete_ModelLoader(resc,resv,argc,(mxArray**)(argv)); break; - case 1413: flag=_wrap_new_UnknownWrenchContact(resc,resv,argc,(mxArray**)(argv)); break; - case 1414: flag=_wrap_UnknownWrenchContact_unknownType_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1415: flag=_wrap_UnknownWrenchContact_unknownType_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1416: flag=_wrap_UnknownWrenchContact_contactPoint_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1417: flag=_wrap_UnknownWrenchContact_contactPoint_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1418: flag=_wrap_UnknownWrenchContact_forceDirection_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1419: flag=_wrap_UnknownWrenchContact_forceDirection_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1420: flag=_wrap_UnknownWrenchContact_knownWrench_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1421: flag=_wrap_UnknownWrenchContact_knownWrench_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1422: flag=_wrap_UnknownWrenchContact_contactId_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1423: flag=_wrap_UnknownWrenchContact_contactId_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1424: flag=_wrap_delete_UnknownWrenchContact(resc,resv,argc,(mxArray**)(argv)); break; - case 1425: flag=_wrap_new_LinkUnknownWrenchContacts(resc,resv,argc,(mxArray**)(argv)); break; - case 1426: flag=_wrap_LinkUnknownWrenchContacts_clear(resc,resv,argc,(mxArray**)(argv)); break; - case 1427: flag=_wrap_LinkUnknownWrenchContacts_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1428: flag=_wrap_LinkUnknownWrenchContacts_getNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1429: flag=_wrap_LinkUnknownWrenchContacts_setNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1430: flag=_wrap_LinkUnknownWrenchContacts_addNewContactForLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1431: flag=_wrap_LinkUnknownWrenchContacts_addNewContactInFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 1432: flag=_wrap_LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin(resc,resv,argc,(mxArray**)(argv)); break; - case 1433: flag=_wrap_LinkUnknownWrenchContacts_contactWrench(resc,resv,argc,(mxArray**)(argv)); break; - case 1434: flag=_wrap_LinkUnknownWrenchContacts_toString(resc,resv,argc,(mxArray**)(argv)); break; - case 1435: flag=_wrap_delete_LinkUnknownWrenchContacts(resc,resv,argc,(mxArray**)(argv)); break; - case 1436: flag=_wrap_new_estimateExternalWrenchesBuffers(resc,resv,argc,(mxArray**)(argv)); break; - case 1437: flag=_wrap_estimateExternalWrenchesBuffers_resize(resc,resv,argc,(mxArray**)(argv)); break; - case 1438: flag=_wrap_estimateExternalWrenchesBuffers_getNrOfSubModels(resc,resv,argc,(mxArray**)(argv)); break; - case 1439: flag=_wrap_estimateExternalWrenchesBuffers_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 1440: flag=_wrap_estimateExternalWrenchesBuffers_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; - case 1441: flag=_wrap_estimateExternalWrenchesBuffers_A_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1442: flag=_wrap_estimateExternalWrenchesBuffers_A_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1443: flag=_wrap_estimateExternalWrenchesBuffers_x_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1444: flag=_wrap_estimateExternalWrenchesBuffers_x_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1445: flag=_wrap_estimateExternalWrenchesBuffers_b_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1446: flag=_wrap_estimateExternalWrenchesBuffers_b_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1447: flag=_wrap_estimateExternalWrenchesBuffers_pinvA_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1448: flag=_wrap_estimateExternalWrenchesBuffers_pinvA_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1449: flag=_wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1450: flag=_wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1451: flag=_wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1452: flag=_wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1453: flag=_wrap_delete_estimateExternalWrenchesBuffers(resc,resv,argc,(mxArray**)(argv)); break; - case 1454: flag=_wrap_estimateExternalWrenchesWithoutInternalFT(resc,resv,argc,(mxArray**)(argv)); break; - case 1455: flag=_wrap_estimateExternalWrenches(resc,resv,argc,(mxArray**)(argv)); break; - case 1456: flag=_wrap_dynamicsEstimationForwardVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break; - case 1457: flag=_wrap_dynamicsEstimationForwardVelKinematics(resc,resv,argc,(mxArray**)(argv)); break; - case 1458: flag=_wrap_computeLinkNetWrenchesWithoutGravity(resc,resv,argc,(mxArray**)(argv)); break; - case 1459: flag=_wrap_estimateLinkContactWrenchesFromLinkNetExternalWrenches(resc,resv,argc,(mxArray**)(argv)); break; - case 1460: flag=_wrap_new_ExtWrenchesAndJointTorquesEstimator(resc,resv,argc,(mxArray**)(argv)); break; - case 1461: flag=_wrap_delete_ExtWrenchesAndJointTorquesEstimator(resc,resv,argc,(mxArray**)(argv)); break; - case 1462: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_setModelAndSensors(resc,resv,argc,(mxArray**)(argv)); break; - case 1463: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile(resc,resv,argc,(mxArray**)(argv)); break; - case 1464: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs(resc,resv,argc,(mxArray**)(argv)); break; - case 1465: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_model(resc,resv,argc,(mxArray**)(argv)); break; - case 1466: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_sensors(resc,resv,argc,(mxArray**)(argv)); break; - case 1467: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_submodels(resc,resv,argc,(mxArray**)(argv)); break; - case 1468: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase(resc,resv,argc,(mxArray**)(argv)); break; - case 1469: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase(resc,resv,argc,(mxArray**)(argv)); break; - case 1470: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break; - case 1471: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques(resc,resv,argc,(mxArray**)(argv)); break; - case 1472: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill(resc,resv,argc,(mxArray**)(argv)); break; - case 1473: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity(resc,resv,argc,(mxArray**)(argv)); break; - case 1474: flag=_wrap_new_SimpleLeggedOdometry(resc,resv,argc,(mxArray**)(argv)); break; - case 1475: flag=_wrap_delete_SimpleLeggedOdometry(resc,resv,argc,(mxArray**)(argv)); break; - case 1476: flag=_wrap_SimpleLeggedOdometry_setModel(resc,resv,argc,(mxArray**)(argv)); break; - case 1477: flag=_wrap_SimpleLeggedOdometry_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break; - case 1478: flag=_wrap_SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs(resc,resv,argc,(mxArray**)(argv)); break; - case 1479: flag=_wrap_SimpleLeggedOdometry_model(resc,resv,argc,(mxArray**)(argv)); break; - case 1480: flag=_wrap_SimpleLeggedOdometry_updateKinematics(resc,resv,argc,(mxArray**)(argv)); break; - case 1481: flag=_wrap_SimpleLeggedOdometry_init(resc,resv,argc,(mxArray**)(argv)); break; - case 1482: flag=_wrap_SimpleLeggedOdometry_changeFixedFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 1483: flag=_wrap_SimpleLeggedOdometry_getCurrentFixedLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1484: flag=_wrap_SimpleLeggedOdometry_getWorldLinkTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1485: flag=_wrap_isLinkBerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break; - case 1486: flag=_wrap_isJointBerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break; - case 1487: flag=_wrap_isDOFBerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break; - case 1488: flag=_wrap_new_BerdyOptions(resc,resv,argc,(mxArray**)(argv)); break; - case 1489: flag=_wrap_BerdyOptions_berdyVariant_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1490: flag=_wrap_BerdyOptions_berdyVariant_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1491: flag=_wrap_BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1492: flag=_wrap_BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1493: flag=_wrap_BerdyOptions_includeAllJointAccelerationsAsSensors_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1494: flag=_wrap_BerdyOptions_includeAllJointAccelerationsAsSensors_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1495: flag=_wrap_BerdyOptions_includeAllJointTorquesAsSensors_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1496: flag=_wrap_BerdyOptions_includeAllJointTorquesAsSensors_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1497: flag=_wrap_BerdyOptions_includeAllNetExternalWrenchesAsSensors_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1498: flag=_wrap_BerdyOptions_includeAllNetExternalWrenchesAsSensors_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1499: flag=_wrap_BerdyOptions_includeFixedBaseExternalWrench_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1500: flag=_wrap_BerdyOptions_includeFixedBaseExternalWrench_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1501: flag=_wrap_BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1502: flag=_wrap_BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1503: flag=_wrap_BerdyOptions_baseLink_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1504: flag=_wrap_BerdyOptions_baseLink_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1505: flag=_wrap_BerdyOptions_checkConsistency(resc,resv,argc,(mxArray**)(argv)); break; - case 1506: flag=_wrap_delete_BerdyOptions(resc,resv,argc,(mxArray**)(argv)); break; - case 1507: flag=_wrap_BerdySensor_type_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1508: flag=_wrap_BerdySensor_type_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1509: flag=_wrap_BerdySensor_id_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1510: flag=_wrap_BerdySensor_id_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1511: flag=_wrap_BerdySensor_range_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1512: flag=_wrap_BerdySensor_range_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1513: flag=_wrap_BerdySensor_eq(resc,resv,argc,(mxArray**)(argv)); break; - case 1514: flag=_wrap_BerdySensor_lt(resc,resv,argc,(mxArray**)(argv)); break; - case 1515: flag=_wrap_new_BerdySensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1516: flag=_wrap_delete_BerdySensor(resc,resv,argc,(mxArray**)(argv)); break; - case 1517: flag=_wrap_BerdyDynamicVariable_type_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1518: flag=_wrap_BerdyDynamicVariable_type_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1519: flag=_wrap_BerdyDynamicVariable_id_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1520: flag=_wrap_BerdyDynamicVariable_id_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1521: flag=_wrap_BerdyDynamicVariable_range_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1522: flag=_wrap_BerdyDynamicVariable_range_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1523: flag=_wrap_BerdyDynamicVariable_eq(resc,resv,argc,(mxArray**)(argv)); break; - case 1524: flag=_wrap_BerdyDynamicVariable_lt(resc,resv,argc,(mxArray**)(argv)); break; - case 1525: flag=_wrap_new_BerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break; - case 1526: flag=_wrap_delete_BerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break; - case 1527: flag=_wrap_new_BerdyHelper(resc,resv,argc,(mxArray**)(argv)); break; - case 1528: flag=_wrap_BerdyHelper_dynamicTraversal(resc,resv,argc,(mxArray**)(argv)); break; - case 1529: flag=_wrap_BerdyHelper_model(resc,resv,argc,(mxArray**)(argv)); break; - case 1530: flag=_wrap_BerdyHelper_sensors(resc,resv,argc,(mxArray**)(argv)); break; - case 1531: flag=_wrap_BerdyHelper_isValid(resc,resv,argc,(mxArray**)(argv)); break; - case 1532: flag=_wrap_BerdyHelper_init(resc,resv,argc,(mxArray**)(argv)); break; - case 1533: flag=_wrap_BerdyHelper_getOptions(resc,resv,argc,(mxArray**)(argv)); break; - case 1534: flag=_wrap_BerdyHelper_getNrOfDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break; - case 1535: flag=_wrap_BerdyHelper_getNrOfDynamicEquations(resc,resv,argc,(mxArray**)(argv)); break; - case 1536: flag=_wrap_BerdyHelper_getNrOfSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break; - case 1537: flag=_wrap_BerdyHelper_resizeAndZeroBerdyMatrices(resc,resv,argc,(mxArray**)(argv)); break; - case 1538: flag=_wrap_BerdyHelper_getBerdyMatrices(resc,resv,argc,(mxArray**)(argv)); break; - case 1539: flag=_wrap_BerdyHelper_getSensorsOrdering(resc,resv,argc,(mxArray**)(argv)); break; - case 1540: flag=_wrap_BerdyHelper_getRangeSensorVariable(resc,resv,argc,(mxArray**)(argv)); break; - case 1541: flag=_wrap_BerdyHelper_getRangeDOFSensorVariable(resc,resv,argc,(mxArray**)(argv)); break; - case 1542: flag=_wrap_BerdyHelper_getRangeJointSensorVariable(resc,resv,argc,(mxArray**)(argv)); break; - case 1543: flag=_wrap_BerdyHelper_getRangeLinkSensorVariable(resc,resv,argc,(mxArray**)(argv)); break; - case 1544: flag=_wrap_BerdyHelper_getRangeLinkVariable(resc,resv,argc,(mxArray**)(argv)); break; - case 1545: flag=_wrap_BerdyHelper_getRangeJointVariable(resc,resv,argc,(mxArray**)(argv)); break; - case 1546: flag=_wrap_BerdyHelper_getRangeDOFVariable(resc,resv,argc,(mxArray**)(argv)); break; - case 1547: flag=_wrap_BerdyHelper_getDynamicVariablesOrdering(resc,resv,argc,(mxArray**)(argv)); break; - case 1548: flag=_wrap_BerdyHelper_serializeDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break; - case 1549: flag=_wrap_BerdyHelper_serializeSensorVariables(resc,resv,argc,(mxArray**)(argv)); break; - case 1550: flag=_wrap_BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA(resc,resv,argc,(mxArray**)(argv)); break; - case 1551: flag=_wrap_BerdyHelper_extractJointTorquesFromDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break; - case 1552: flag=_wrap_BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break; - case 1553: flag=_wrap_BerdyHelper_updateKinematicsFromFloatingBase(resc,resv,argc,(mxArray**)(argv)); break; - case 1554: flag=_wrap_BerdyHelper_updateKinematicsFromFixedBase(resc,resv,argc,(mxArray**)(argv)); break; - case 1555: flag=_wrap_BerdyHelper_updateKinematicsFromTraversalFixedBase(resc,resv,argc,(mxArray**)(argv)); break; - case 1556: flag=_wrap_BerdyHelper_setNetExternalWrenchMeasurementFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 1557: flag=_wrap_BerdyHelper_getNetExternalWrenchMeasurementFrame(resc,resv,argc,(mxArray**)(argv)); break; - case 1558: flag=_wrap_delete_BerdyHelper(resc,resv,argc,(mxArray**)(argv)); break; - case 1559: flag=_wrap_new_BerdySparseMAPSolver(resc,resv,argc,(mxArray**)(argv)); break; - case 1560: flag=_wrap_delete_BerdySparseMAPSolver(resc,resv,argc,(mxArray**)(argv)); break; - case 1561: flag=_wrap_BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance(resc,resv,argc,(mxArray**)(argv)); break; - case 1562: flag=_wrap_BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance(resc,resv,argc,(mxArray**)(argv)); break; - case 1563: flag=_wrap_BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue(resc,resv,argc,(mxArray**)(argv)); break; - case 1564: flag=_wrap_BerdySparseMAPSolver_setMeasurementsPriorCovariance(resc,resv,argc,(mxArray**)(argv)); break; - case 1565: flag=_wrap_BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse(resc,resv,argc,(mxArray**)(argv)); break; - case 1566: flag=_wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse(resc,resv,argc,(mxArray**)(argv)); break; - case 1567: flag=_wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue(resc,resv,argc,(mxArray**)(argv)); break; - case 1568: flag=_wrap_BerdySparseMAPSolver_measurementsPriorCovarianceInverse(resc,resv,argc,(mxArray**)(argv)); break; - case 1569: flag=_wrap_BerdySparseMAPSolver_isValid(resc,resv,argc,(mxArray**)(argv)); break; - case 1570: flag=_wrap_BerdySparseMAPSolver_initialize(resc,resv,argc,(mxArray**)(argv)); break; - case 1571: flag=_wrap_BerdySparseMAPSolver_updateEstimateInformationFixedBase(resc,resv,argc,(mxArray**)(argv)); break; - case 1572: flag=_wrap_BerdySparseMAPSolver_updateEstimateInformationFloatingBase(resc,resv,argc,(mxArray**)(argv)); break; - case 1573: flag=_wrap_BerdySparseMAPSolver_doEstimate(resc,resv,argc,(mxArray**)(argv)); break; - case 1574: flag=_wrap_BerdySparseMAPSolver_getLastEstimate(resc,resv,argc,(mxArray**)(argv)); break; - case 1575: flag=_wrap_DynamicsRegressorParameter_category_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1576: flag=_wrap_DynamicsRegressorParameter_category_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1577: flag=_wrap_DynamicsRegressorParameter_elemIndex_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1578: flag=_wrap_DynamicsRegressorParameter_elemIndex_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1579: flag=_wrap_DynamicsRegressorParameter_type_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1580: flag=_wrap_DynamicsRegressorParameter_type_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1581: flag=_wrap_DynamicsRegressorParameter_lt(resc,resv,argc,(mxArray**)(argv)); break; - case 1582: flag=_wrap_DynamicsRegressorParameter_eq(resc,resv,argc,(mxArray**)(argv)); break; - case 1583: flag=_wrap_DynamicsRegressorParameter_ne(resc,resv,argc,(mxArray**)(argv)); break; - case 1584: flag=_wrap_new_DynamicsRegressorParameter(resc,resv,argc,(mxArray**)(argv)); break; - case 1585: flag=_wrap_delete_DynamicsRegressorParameter(resc,resv,argc,(mxArray**)(argv)); break; - case 1586: flag=_wrap_DynamicsRegressorParametersList_parameters_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1587: flag=_wrap_DynamicsRegressorParametersList_parameters_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1588: flag=_wrap_DynamicsRegressorParametersList_getDescriptionOfParameter(resc,resv,argc,(mxArray**)(argv)); break; - case 1589: flag=_wrap_DynamicsRegressorParametersList_addParam(resc,resv,argc,(mxArray**)(argv)); break; - case 1590: flag=_wrap_DynamicsRegressorParametersList_addList(resc,resv,argc,(mxArray**)(argv)); break; - case 1591: flag=_wrap_DynamicsRegressorParametersList_findParam(resc,resv,argc,(mxArray**)(argv)); break; - case 1592: flag=_wrap_DynamicsRegressorParametersList_getNrOfParameters(resc,resv,argc,(mxArray**)(argv)); break; - case 1593: flag=_wrap_new_DynamicsRegressorParametersList(resc,resv,argc,(mxArray**)(argv)); break; - case 1594: flag=_wrap_delete_DynamicsRegressorParametersList(resc,resv,argc,(mxArray**)(argv)); break; - case 1595: flag=_wrap_new_DynamicsRegressorGenerator(resc,resv,argc,(mxArray**)(argv)); break; - case 1596: flag=_wrap_delete_DynamicsRegressorGenerator(resc,resv,argc,(mxArray**)(argv)); break; - case 1597: flag=_wrap_DynamicsRegressorGenerator_loadRobotAndSensorsModelFromFile(resc,resv,argc,(mxArray**)(argv)); break; - case 1598: flag=_wrap_DynamicsRegressorGenerator_loadRobotAndSensorsModelFromString(resc,resv,argc,(mxArray**)(argv)); break; - case 1599: flag=_wrap_DynamicsRegressorGenerator_loadRegressorStructureFromFile(resc,resv,argc,(mxArray**)(argv)); break; - case 1600: flag=_wrap_DynamicsRegressorGenerator_loadRegressorStructureFromString(resc,resv,argc,(mxArray**)(argv)); break; - case 1601: flag=_wrap_DynamicsRegressorGenerator_isValid(resc,resv,argc,(mxArray**)(argv)); break; - case 1602: flag=_wrap_DynamicsRegressorGenerator_getNrOfParameters(resc,resv,argc,(mxArray**)(argv)); break; - case 1603: flag=_wrap_DynamicsRegressorGenerator_getNrOfOutputs(resc,resv,argc,(mxArray**)(argv)); break; - case 1604: flag=_wrap_DynamicsRegressorGenerator_getNrOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; - case 1605: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfParameter(resc,resv,argc,(mxArray**)(argv)); break; - case 1606: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfParameters(resc,resv,argc,(mxArray**)(argv)); break; - case 1607: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfOutput(resc,resv,argc,(mxArray**)(argv)); break; - case 1608: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfOutputs(resc,resv,argc,(mxArray**)(argv)); break; - case 1609: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfDegreeOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; - case 1610: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; - case 1611: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfLink(resc,resv,argc,(mxArray**)(argv)); break; - case 1612: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 1613: flag=_wrap_DynamicsRegressorGenerator_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 1614: flag=_wrap_DynamicsRegressorGenerator_getNrOfFakeLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 1615: flag=_wrap_DynamicsRegressorGenerator_getBaseLinkName(resc,resv,argc,(mxArray**)(argv)); break; - case 1616: flag=_wrap_DynamicsRegressorGenerator_getSensorsModel(resc,resv,argc,(mxArray**)(argv)); break; - case 1617: flag=_wrap_DynamicsRegressorGenerator_setRobotState(resc,resv,argc,(mxArray**)(argv)); break; - case 1618: flag=_wrap_DynamicsRegressorGenerator_getSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break; - case 1619: flag=_wrap_DynamicsRegressorGenerator_setTorqueSensorMeasurement(resc,resv,argc,(mxArray**)(argv)); break; - case 1620: flag=_wrap_DynamicsRegressorGenerator_computeRegressor(resc,resv,argc,(mxArray**)(argv)); break; - case 1621: flag=_wrap_DynamicsRegressorGenerator_getModelParameters(resc,resv,argc,(mxArray**)(argv)); break; - case 1622: flag=_wrap_DynamicsRegressorGenerator_computeFloatingBaseIdentifiableSubspace(resc,resv,argc,(mxArray**)(argv)); break; - case 1623: flag=_wrap_DynamicsRegressorGenerator_computeFixedBaseIdentifiableSubspace(resc,resv,argc,(mxArray**)(argv)); break; - case 1624: flag=_wrap_DynamicsRegressorGenerator_generate_random_regressors(resc,resv,argc,(mxArray**)(argv)); break; - case 1625: flag=_wrap_new_KinDynComputations(resc,resv,argc,(mxArray**)(argv)); break; - case 1626: flag=_wrap_delete_KinDynComputations(resc,resv,argc,(mxArray**)(argv)); break; - case 1627: flag=_wrap_KinDynComputations_loadRobotModel(resc,resv,argc,(mxArray**)(argv)); break; - case 1628: flag=_wrap_KinDynComputations_loadRobotModelFromFile(resc,resv,argc,(mxArray**)(argv)); break; - case 1629: flag=_wrap_KinDynComputations_loadRobotModelFromString(resc,resv,argc,(mxArray**)(argv)); break; - case 1630: flag=_wrap_KinDynComputations_isValid(resc,resv,argc,(mxArray**)(argv)); break; - case 1631: flag=_wrap_KinDynComputations_setFrameVelocityRepresentation(resc,resv,argc,(mxArray**)(argv)); break; - case 1632: flag=_wrap_KinDynComputations_getFrameVelocityRepresentation(resc,resv,argc,(mxArray**)(argv)); break; - case 1633: flag=_wrap_KinDynComputations_getNrOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; - case 1634: flag=_wrap_KinDynComputations_getDescriptionOfDegreeOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; - case 1635: flag=_wrap_KinDynComputations_getDescriptionOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; - case 1636: flag=_wrap_KinDynComputations_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 1637: flag=_wrap_KinDynComputations_getNrOfFrames(resc,resv,argc,(mxArray**)(argv)); break; - case 1638: flag=_wrap_KinDynComputations_getFloatingBase(resc,resv,argc,(mxArray**)(argv)); break; - case 1639: flag=_wrap_KinDynComputations_setFloatingBase(resc,resv,argc,(mxArray**)(argv)); break; - case 1640: flag=_wrap_KinDynComputations_model(resc,resv,argc,(mxArray**)(argv)); break; - case 1641: flag=_wrap_KinDynComputations_getRobotModel(resc,resv,argc,(mxArray**)(argv)); break; - case 1642: flag=_wrap_KinDynComputations_setJointPos(resc,resv,argc,(mxArray**)(argv)); break; - case 1643: flag=_wrap_KinDynComputations_setRobotState(resc,resv,argc,(mxArray**)(argv)); break; - case 1644: flag=_wrap_KinDynComputations_getRobotState(resc,resv,argc,(mxArray**)(argv)); break; - case 1645: flag=_wrap_KinDynComputations_getWorldBaseTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1646: flag=_wrap_KinDynComputations_getBaseTwist(resc,resv,argc,(mxArray**)(argv)); break; - case 1647: flag=_wrap_KinDynComputations_getJointPos(resc,resv,argc,(mxArray**)(argv)); break; - case 1648: flag=_wrap_KinDynComputations_getJointVel(resc,resv,argc,(mxArray**)(argv)); break; - case 1649: flag=_wrap_KinDynComputations_getModelVel(resc,resv,argc,(mxArray**)(argv)); break; - case 1650: flag=_wrap_KinDynComputations_getFrameIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1651: flag=_wrap_KinDynComputations_getFrameName(resc,resv,argc,(mxArray**)(argv)); break; - case 1652: flag=_wrap_KinDynComputations_getWorldTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1653: flag=_wrap_KinDynComputations_getRelativeTransformExplicit(resc,resv,argc,(mxArray**)(argv)); break; - case 1654: flag=_wrap_KinDynComputations_getRelativeTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1655: flag=_wrap_KinDynComputations_getFrameVel(resc,resv,argc,(mxArray**)(argv)); break; - case 1656: flag=_wrap_KinDynComputations_getFrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break; - case 1657: flag=_wrap_KinDynComputations_getRelativeJacobian(resc,resv,argc,(mxArray**)(argv)); break; - case 1658: flag=_wrap_KinDynComputations_getRelativeJacobianExplicit(resc,resv,argc,(mxArray**)(argv)); break; - case 1659: flag=_wrap_KinDynComputations_getFrameBiasAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 1660: flag=_wrap_KinDynComputations_getCenterOfMassPosition(resc,resv,argc,(mxArray**)(argv)); break; - case 1661: flag=_wrap_KinDynComputations_getCenterOfMassVelocity(resc,resv,argc,(mxArray**)(argv)); break; - case 1662: flag=_wrap_KinDynComputations_getCenterOfMassJacobian(resc,resv,argc,(mxArray**)(argv)); break; - case 1663: flag=_wrap_KinDynComputations_getCenterOfMassBiasAcc(resc,resv,argc,(mxArray**)(argv)); break; - case 1664: flag=_wrap_KinDynComputations_getAverageVelocity(resc,resv,argc,(mxArray**)(argv)); break; - case 1665: flag=_wrap_KinDynComputations_getAverageVelocityJacobian(resc,resv,argc,(mxArray**)(argv)); break; - case 1666: flag=_wrap_KinDynComputations_getCentroidalAverageVelocity(resc,resv,argc,(mxArray**)(argv)); break; - case 1667: flag=_wrap_KinDynComputations_getCentroidalAverageVelocityJacobian(resc,resv,argc,(mxArray**)(argv)); break; - case 1668: flag=_wrap_KinDynComputations_getLinearAngularMomentum(resc,resv,argc,(mxArray**)(argv)); break; - case 1669: flag=_wrap_KinDynComputations_getLinearAngularMomentumJacobian(resc,resv,argc,(mxArray**)(argv)); break; - case 1670: flag=_wrap_KinDynComputations_getCentroidalTotalMomentum(resc,resv,argc,(mxArray**)(argv)); break; - case 1671: flag=_wrap_KinDynComputations_getFreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break; - case 1672: flag=_wrap_KinDynComputations_inverseDynamics(resc,resv,argc,(mxArray**)(argv)); break; - case 1673: flag=_wrap_KinDynComputations_generalizedBiasForces(resc,resv,argc,(mxArray**)(argv)); break; - case 1674: flag=_wrap_KinDynComputations_generalizedGravityForces(resc,resv,argc,(mxArray**)(argv)); break; - case 1675: flag=_wrap_delete_ICamera(resc,resv,argc,(mxArray**)(argv)); break; - case 1676: flag=_wrap_ICamera_setPosition(resc,resv,argc,(mxArray**)(argv)); break; - case 1677: flag=_wrap_ICamera_setTarget(resc,resv,argc,(mxArray**)(argv)); break; - case 1678: flag=_wrap_ICamera_setUpVector(resc,resv,argc,(mxArray**)(argv)); break; - case 1679: flag=_wrap_ColorViz_r_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1680: flag=_wrap_ColorViz_r_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1681: flag=_wrap_ColorViz_g_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1682: flag=_wrap_ColorViz_g_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1683: flag=_wrap_ColorViz_b_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1684: flag=_wrap_ColorViz_b_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1685: flag=_wrap_ColorViz_a_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1686: flag=_wrap_ColorViz_a_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1687: flag=_wrap_new_ColorViz(resc,resv,argc,(mxArray**)(argv)); break; - case 1688: flag=_wrap_delete_ColorViz(resc,resv,argc,(mxArray**)(argv)); break; - case 1689: flag=_wrap_delete_ILight(resc,resv,argc,(mxArray**)(argv)); break; - case 1690: flag=_wrap_ILight_getName(resc,resv,argc,(mxArray**)(argv)); break; - case 1691: flag=_wrap_ILight_setType(resc,resv,argc,(mxArray**)(argv)); break; - case 1692: flag=_wrap_ILight_getType(resc,resv,argc,(mxArray**)(argv)); break; - case 1693: flag=_wrap_ILight_setPosition(resc,resv,argc,(mxArray**)(argv)); break; - case 1694: flag=_wrap_ILight_getPosition(resc,resv,argc,(mxArray**)(argv)); break; - case 1695: flag=_wrap_ILight_setDirection(resc,resv,argc,(mxArray**)(argv)); break; - case 1696: flag=_wrap_ILight_getDirection(resc,resv,argc,(mxArray**)(argv)); break; - case 1697: flag=_wrap_ILight_setAmbientColor(resc,resv,argc,(mxArray**)(argv)); break; - case 1698: flag=_wrap_ILight_getAmbientColor(resc,resv,argc,(mxArray**)(argv)); break; - case 1699: flag=_wrap_ILight_setSpecularColor(resc,resv,argc,(mxArray**)(argv)); break; - case 1700: flag=_wrap_ILight_getSpecularColor(resc,resv,argc,(mxArray**)(argv)); break; - case 1701: flag=_wrap_ILight_setDiffuseColor(resc,resv,argc,(mxArray**)(argv)); break; - case 1702: flag=_wrap_ILight_getDiffuseColor(resc,resv,argc,(mxArray**)(argv)); break; - case 1703: flag=_wrap_delete_IEnvironment(resc,resv,argc,(mxArray**)(argv)); break; - case 1704: flag=_wrap_IEnvironment_getElements(resc,resv,argc,(mxArray**)(argv)); break; - case 1705: flag=_wrap_IEnvironment_setElementVisibility(resc,resv,argc,(mxArray**)(argv)); break; - case 1706: flag=_wrap_IEnvironment_setBackgroundColor(resc,resv,argc,(mxArray**)(argv)); break; - case 1707: flag=_wrap_IEnvironment_setAmbientLight(resc,resv,argc,(mxArray**)(argv)); break; - case 1708: flag=_wrap_IEnvironment_getLights(resc,resv,argc,(mxArray**)(argv)); break; - case 1709: flag=_wrap_IEnvironment_addLight(resc,resv,argc,(mxArray**)(argv)); break; - case 1710: flag=_wrap_IEnvironment_lightViz(resc,resv,argc,(mxArray**)(argv)); break; - case 1711: flag=_wrap_IEnvironment_removeLight(resc,resv,argc,(mxArray**)(argv)); break; - case 1712: flag=_wrap_delete_IJetsVisualization(resc,resv,argc,(mxArray**)(argv)); break; - case 1713: flag=_wrap_IJetsVisualization_setJetsFrames(resc,resv,argc,(mxArray**)(argv)); break; - case 1714: flag=_wrap_IJetsVisualization_getNrOfJets(resc,resv,argc,(mxArray**)(argv)); break; - case 1715: flag=_wrap_IJetsVisualization_getJetDirection(resc,resv,argc,(mxArray**)(argv)); break; - case 1716: flag=_wrap_IJetsVisualization_setJetDirection(resc,resv,argc,(mxArray**)(argv)); break; - case 1717: flag=_wrap_IJetsVisualization_setJetColor(resc,resv,argc,(mxArray**)(argv)); break; - case 1718: flag=_wrap_IJetsVisualization_setJetsDimensions(resc,resv,argc,(mxArray**)(argv)); break; - case 1719: flag=_wrap_IJetsVisualization_setJetsIntensity(resc,resv,argc,(mxArray**)(argv)); break; - case 1720: flag=_wrap_delete_IModelVisualization(resc,resv,argc,(mxArray**)(argv)); break; - case 1721: flag=_wrap_IModelVisualization_setPositions(resc,resv,argc,(mxArray**)(argv)); break; - case 1722: flag=_wrap_IModelVisualization_setLinkPositions(resc,resv,argc,(mxArray**)(argv)); break; - case 1723: flag=_wrap_IModelVisualization_model(resc,resv,argc,(mxArray**)(argv)); break; - case 1724: flag=_wrap_IModelVisualization_getInstanceName(resc,resv,argc,(mxArray**)(argv)); break; - case 1725: flag=_wrap_IModelVisualization_setModelVisibility(resc,resv,argc,(mxArray**)(argv)); break; - case 1726: flag=_wrap_IModelVisualization_setModelColor(resc,resv,argc,(mxArray**)(argv)); break; - case 1727: flag=_wrap_IModelVisualization_resetModelColor(resc,resv,argc,(mxArray**)(argv)); break; - case 1728: flag=_wrap_IModelVisualization_getLinkNames(resc,resv,argc,(mxArray**)(argv)); break; - case 1729: flag=_wrap_IModelVisualization_setLinkVisibility(resc,resv,argc,(mxArray**)(argv)); break; - case 1730: flag=_wrap_IModelVisualization_getFeatures(resc,resv,argc,(mxArray**)(argv)); break; - case 1731: flag=_wrap_IModelVisualization_setFeatureVisibility(resc,resv,argc,(mxArray**)(argv)); break; - case 1732: flag=_wrap_IModelVisualization_jets(resc,resv,argc,(mxArray**)(argv)); break; - case 1733: flag=_wrap_VisualizerOptions_verbose_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1734: flag=_wrap_VisualizerOptions_verbose_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1735: flag=_wrap_VisualizerOptions_winWidth_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1736: flag=_wrap_VisualizerOptions_winWidth_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1737: flag=_wrap_VisualizerOptions_winHeight_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1738: flag=_wrap_VisualizerOptions_winHeight_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1739: flag=_wrap_VisualizerOptions_rootFrameArrowsDimension_get(resc,resv,argc,(mxArray**)(argv)); break; - case 1740: flag=_wrap_VisualizerOptions_rootFrameArrowsDimension_set(resc,resv,argc,(mxArray**)(argv)); break; - case 1741: flag=_wrap_new_VisualizerOptions(resc,resv,argc,(mxArray**)(argv)); break; - case 1742: flag=_wrap_delete_VisualizerOptions(resc,resv,argc,(mxArray**)(argv)); break; - case 1743: flag=_wrap_new_Visualizer(resc,resv,argc,(mxArray**)(argv)); break; - case 1744: flag=_wrap_delete_Visualizer(resc,resv,argc,(mxArray**)(argv)); break; - case 1745: flag=_wrap_Visualizer_init(resc,resv,argc,(mxArray**)(argv)); break; - case 1746: flag=_wrap_Visualizer_getNrOfVisualizedModels(resc,resv,argc,(mxArray**)(argv)); break; - case 1747: flag=_wrap_Visualizer_getModelInstanceName(resc,resv,argc,(mxArray**)(argv)); break; - case 1748: flag=_wrap_Visualizer_getModelInstanceIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1749: flag=_wrap_Visualizer_addModel(resc,resv,argc,(mxArray**)(argv)); break; - case 1750: flag=_wrap_Visualizer_modelViz(resc,resv,argc,(mxArray**)(argv)); break; - case 1751: flag=_wrap_Visualizer_camera(resc,resv,argc,(mxArray**)(argv)); break; - case 1752: flag=_wrap_Visualizer_enviroment(resc,resv,argc,(mxArray**)(argv)); break; - case 1753: flag=_wrap_Visualizer_run(resc,resv,argc,(mxArray**)(argv)); break; - case 1754: flag=_wrap_Visualizer_draw(resc,resv,argc,(mxArray**)(argv)); break; - case 1755: flag=_wrap_Visualizer_drawToFile(resc,resv,argc,(mxArray**)(argv)); break; - case 1756: flag=_wrap_Visualizer_close(resc,resv,argc,(mxArray**)(argv)); break; - case 1757: flag=_wrap_new_DynamicsComputations(resc,resv,argc,(mxArray**)(argv)); break; - case 1758: flag=_wrap_delete_DynamicsComputations(resc,resv,argc,(mxArray**)(argv)); break; - case 1759: flag=_wrap_DynamicsComputations_loadRobotModelFromFile(resc,resv,argc,(mxArray**)(argv)); break; - case 1760: flag=_wrap_DynamicsComputations_loadRobotModelFromString(resc,resv,argc,(mxArray**)(argv)); break; - case 1761: flag=_wrap_DynamicsComputations_isValid(resc,resv,argc,(mxArray**)(argv)); break; - case 1762: flag=_wrap_DynamicsComputations_getNrOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; - case 1763: flag=_wrap_DynamicsComputations_getDescriptionOfDegreeOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; - case 1764: flag=_wrap_DynamicsComputations_getDescriptionOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; - case 1765: flag=_wrap_DynamicsComputations_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; - case 1766: flag=_wrap_DynamicsComputations_getNrOfFrames(resc,resv,argc,(mxArray**)(argv)); break; - case 1767: flag=_wrap_DynamicsComputations_getFloatingBase(resc,resv,argc,(mxArray**)(argv)); break; - case 1768: flag=_wrap_DynamicsComputations_setFloatingBase(resc,resv,argc,(mxArray**)(argv)); break; - case 1769: flag=_wrap_DynamicsComputations_setRobotState(resc,resv,argc,(mxArray**)(argv)); break; - case 1770: flag=_wrap_DynamicsComputations_getWorldBaseTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1771: flag=_wrap_DynamicsComputations_getBaseTwist(resc,resv,argc,(mxArray**)(argv)); break; - case 1772: flag=_wrap_DynamicsComputations_getJointPos(resc,resv,argc,(mxArray**)(argv)); break; - case 1773: flag=_wrap_DynamicsComputations_getJointVel(resc,resv,argc,(mxArray**)(argv)); break; - case 1774: flag=_wrap_DynamicsComputations_getFrameIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1775: flag=_wrap_DynamicsComputations_getFrameName(resc,resv,argc,(mxArray**)(argv)); break; - case 1776: flag=_wrap_DynamicsComputations_getWorldTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1777: flag=_wrap_DynamicsComputations_getRelativeTransform(resc,resv,argc,(mxArray**)(argv)); break; - case 1778: flag=_wrap_DynamicsComputations_getFrameTwist(resc,resv,argc,(mxArray**)(argv)); break; - case 1779: flag=_wrap_DynamicsComputations_getFrameTwistInWorldOrient(resc,resv,argc,(mxArray**)(argv)); break; - case 1780: flag=_wrap_DynamicsComputations_getFrameProperSpatialAcceleration(resc,resv,argc,(mxArray**)(argv)); break; - case 1781: flag=_wrap_DynamicsComputations_getLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1782: flag=_wrap_DynamicsComputations_getLinkInertia(resc,resv,argc,(mxArray**)(argv)); break; - case 1783: flag=_wrap_DynamicsComputations_getJointIndex(resc,resv,argc,(mxArray**)(argv)); break; - case 1784: flag=_wrap_DynamicsComputations_getJointName(resc,resv,argc,(mxArray**)(argv)); break; - case 1785: flag=_wrap_DynamicsComputations_getJointLimits(resc,resv,argc,(mxArray**)(argv)); break; - case 1786: flag=_wrap_DynamicsComputations_inverseDynamics(resc,resv,argc,(mxArray**)(argv)); break; - case 1787: flag=_wrap_DynamicsComputations_getFreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break; - case 1788: flag=_wrap_DynamicsComputations_getFrameJacobian(resc,resv,argc,(mxArray**)(argv)); break; - case 1789: flag=_wrap_DynamicsComputations_getDynamicsRegressor(resc,resv,argc,(mxArray**)(argv)); break; - case 1790: flag=_wrap_DynamicsComputations_getModelDynamicsParameters(resc,resv,argc,(mxArray**)(argv)); break; - case 1791: flag=_wrap_DynamicsComputations_getCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break; - case 1792: flag=_wrap_DynamicsComputations_getCenterOfMassJacobian(resc,resv,argc,(mxArray**)(argv)); break; + case 96: flag=_wrap_reportInfo(resc,resv,argc,(mxArray**)(argv)); break; + case 97: flag=_wrap_reportDebug(resc,resv,argc,(mxArray**)(argv)); break; + case 98: flag=_wrap_IndexRange_offset_get(resc,resv,argc,(mxArray**)(argv)); break; + case 99: flag=_wrap_IndexRange_offset_set(resc,resv,argc,(mxArray**)(argv)); break; + case 100: flag=_wrap_IndexRange_size_get(resc,resv,argc,(mxArray**)(argv)); break; + case 101: flag=_wrap_IndexRange_size_set(resc,resv,argc,(mxArray**)(argv)); break; + case 102: flag=_wrap_IndexRange_isValid(resc,resv,argc,(mxArray**)(argv)); break; + case 103: flag=_wrap_IndexRange_InvalidRange(resc,resv,argc,(mxArray**)(argv)); break; + case 104: flag=_wrap_new_IndexRange(resc,resv,argc,(mxArray**)(argv)); break; + case 105: flag=_wrap_delete_IndexRange(resc,resv,argc,(mxArray**)(argv)); break; + case 106: flag=_wrap_checkDoublesAreEqual(resc,resv,argc,(mxArray**)(argv)); break; + case 107: flag=_wrap_new_MatrixDynSize(resc,resv,argc,(mxArray**)(argv)); break; + case 108: flag=_wrap_delete_MatrixDynSize(resc,resv,argc,(mxArray**)(argv)); break; + case 109: flag=_wrap_MatrixDynSize_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 110: flag=_wrap_MatrixDynSize_getVal(resc,resv,argc,(mxArray**)(argv)); break; + case 111: flag=_wrap_MatrixDynSize_setVal(resc,resv,argc,(mxArray**)(argv)); break; + case 112: flag=_wrap_MatrixDynSize_rows(resc,resv,argc,(mxArray**)(argv)); break; + case 113: flag=_wrap_MatrixDynSize_cols(resc,resv,argc,(mxArray**)(argv)); break; + case 114: flag=_wrap_MatrixDynSize_data(resc,resv,argc,(mxArray**)(argv)); break; + case 115: flag=_wrap_MatrixDynSize_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 116: flag=_wrap_MatrixDynSize_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 117: flag=_wrap_MatrixDynSize_reserve(resc,resv,argc,(mxArray**)(argv)); break; + case 118: flag=_wrap_MatrixDynSize_capacity(resc,resv,argc,(mxArray**)(argv)); break; + case 119: flag=_wrap_MatrixDynSize_shrink_to_fit(resc,resv,argc,(mxArray**)(argv)); break; + case 120: flag=_wrap_MatrixDynSize_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 121: flag=_wrap_MatrixDynSize_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 122: flag=_wrap_MatrixDynSize_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 123: flag=_wrap_MatrixDynSize_display(resc,resv,argc,(mxArray**)(argv)); break; + case 124: flag=_wrap_MatrixDynSize_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 125: flag=_wrap_MatrixDynSize_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 126: flag=_wrap_new_SparseMatrixRowMajor(resc,resv,argc,(mxArray**)(argv)); break; + case 127: flag=_wrap_delete_SparseMatrixRowMajor(resc,resv,argc,(mxArray**)(argv)); break; + case 128: flag=_wrap_SparseMatrixRowMajor_numberOfNonZeros(resc,resv,argc,(mxArray**)(argv)); break; + case 129: flag=_wrap_SparseMatrixRowMajor_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 130: flag=_wrap_SparseMatrixRowMajor_reserve(resc,resv,argc,(mxArray**)(argv)); break; + case 131: flag=_wrap_SparseMatrixRowMajor_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 132: flag=_wrap_SparseMatrixRowMajor_setFromConstTriplets(resc,resv,argc,(mxArray**)(argv)); break; + case 133: flag=_wrap_SparseMatrixRowMajor_setFromTriplets(resc,resv,argc,(mxArray**)(argv)); break; + case 134: flag=_wrap_SparseMatrixRowMajor_getValue(resc,resv,argc,(mxArray**)(argv)); break; + case 135: flag=_wrap_SparseMatrixRowMajor_setValue(resc,resv,argc,(mxArray**)(argv)); break; + case 136: flag=_wrap_SparseMatrixRowMajor_rows(resc,resv,argc,(mxArray**)(argv)); break; + case 137: flag=_wrap_SparseMatrixRowMajor_columns(resc,resv,argc,(mxArray**)(argv)); break; + case 138: flag=_wrap_SparseMatrixRowMajor_description(resc,resv,argc,(mxArray**)(argv)); break; + case 139: flag=_wrap_SparseMatrixRowMajor_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 140: flag=_wrap_SparseMatrixRowMajor_toMatlabDense(resc,resv,argc,(mxArray**)(argv)); break; + case 141: flag=_wrap_SparseMatrixRowMajor_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 142: flag=_wrap_new_SparseMatrixColMajor(resc,resv,argc,(mxArray**)(argv)); break; + case 143: flag=_wrap_delete_SparseMatrixColMajor(resc,resv,argc,(mxArray**)(argv)); break; + case 144: flag=_wrap_SparseMatrixColMajor_numberOfNonZeros(resc,resv,argc,(mxArray**)(argv)); break; + case 145: flag=_wrap_SparseMatrixColMajor_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 146: flag=_wrap_SparseMatrixColMajor_reserve(resc,resv,argc,(mxArray**)(argv)); break; + case 147: flag=_wrap_SparseMatrixColMajor_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 148: flag=_wrap_SparseMatrixColMajor_setFromConstTriplets(resc,resv,argc,(mxArray**)(argv)); break; + case 149: flag=_wrap_SparseMatrixColMajor_setFromTriplets(resc,resv,argc,(mxArray**)(argv)); break; + case 150: flag=_wrap_SparseMatrixColMajor_getValue(resc,resv,argc,(mxArray**)(argv)); break; + case 151: flag=_wrap_SparseMatrixColMajor_setValue(resc,resv,argc,(mxArray**)(argv)); break; + case 152: flag=_wrap_SparseMatrixColMajor_rows(resc,resv,argc,(mxArray**)(argv)); break; + case 153: flag=_wrap_SparseMatrixColMajor_columns(resc,resv,argc,(mxArray**)(argv)); break; + case 154: flag=_wrap_SparseMatrixColMajor_description(resc,resv,argc,(mxArray**)(argv)); break; + case 155: flag=_wrap_SparseMatrixColMajor_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 156: flag=_wrap_SparseMatrixColMajor_toMatlabDense(resc,resv,argc,(mxArray**)(argv)); break; + case 157: flag=_wrap_SparseMatrixColMajor_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 158: flag=_wrap_new_VectorDynSize(resc,resv,argc,(mxArray**)(argv)); break; + case 159: flag=_wrap_delete_VectorDynSize(resc,resv,argc,(mxArray**)(argv)); break; + case 160: flag=_wrap_VectorDynSize_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 161: flag=_wrap_VectorDynSize_getVal(resc,resv,argc,(mxArray**)(argv)); break; + case 162: flag=_wrap_VectorDynSize_setVal(resc,resv,argc,(mxArray**)(argv)); break; + case 163: flag=_wrap_VectorDynSize_size(resc,resv,argc,(mxArray**)(argv)); break; + case 164: flag=_wrap_VectorDynSize_data(resc,resv,argc,(mxArray**)(argv)); break; + case 165: flag=_wrap_VectorDynSize_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 166: flag=_wrap_VectorDynSize_reserve(resc,resv,argc,(mxArray**)(argv)); break; + case 167: flag=_wrap_VectorDynSize_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 168: flag=_wrap_VectorDynSize_shrink_to_fit(resc,resv,argc,(mxArray**)(argv)); break; + case 169: flag=_wrap_VectorDynSize_capacity(resc,resv,argc,(mxArray**)(argv)); break; + case 170: flag=_wrap_VectorDynSize_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 171: flag=_wrap_VectorDynSize_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 172: flag=_wrap_VectorDynSize_display(resc,resv,argc,(mxArray**)(argv)); break; + case 173: flag=_wrap_VectorDynSize_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 174: flag=_wrap_VectorDynSize_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 175: flag=_wrap_new_Matrix1x6(resc,resv,argc,(mxArray**)(argv)); break; + case 176: flag=_wrap_Matrix1x6_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 177: flag=_wrap_Matrix1x6_getVal(resc,resv,argc,(mxArray**)(argv)); break; + case 178: flag=_wrap_Matrix1x6_setVal(resc,resv,argc,(mxArray**)(argv)); break; + case 179: flag=_wrap_Matrix1x6_rows(resc,resv,argc,(mxArray**)(argv)); break; + case 180: flag=_wrap_Matrix1x6_cols(resc,resv,argc,(mxArray**)(argv)); break; + case 181: flag=_wrap_Matrix1x6_data(resc,resv,argc,(mxArray**)(argv)); break; + case 182: flag=_wrap_Matrix1x6_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 183: flag=_wrap_Matrix1x6_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 184: flag=_wrap_Matrix1x6_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 185: flag=_wrap_Matrix1x6_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 186: flag=_wrap_Matrix1x6_display(resc,resv,argc,(mxArray**)(argv)); break; + case 187: flag=_wrap_Matrix1x6_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 188: flag=_wrap_Matrix1x6_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 189: flag=_wrap_delete_Matrix1x6(resc,resv,argc,(mxArray**)(argv)); break; + case 190: flag=_wrap_new_Matrix2x3(resc,resv,argc,(mxArray**)(argv)); break; + case 191: flag=_wrap_Matrix2x3_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 192: flag=_wrap_Matrix2x3_getVal(resc,resv,argc,(mxArray**)(argv)); break; + case 193: flag=_wrap_Matrix2x3_setVal(resc,resv,argc,(mxArray**)(argv)); break; + case 194: flag=_wrap_Matrix2x3_rows(resc,resv,argc,(mxArray**)(argv)); break; + case 195: flag=_wrap_Matrix2x3_cols(resc,resv,argc,(mxArray**)(argv)); break; + case 196: flag=_wrap_Matrix2x3_data(resc,resv,argc,(mxArray**)(argv)); break; + case 197: flag=_wrap_Matrix2x3_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 198: flag=_wrap_Matrix2x3_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 199: flag=_wrap_Matrix2x3_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 200: flag=_wrap_Matrix2x3_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 201: flag=_wrap_Matrix2x3_display(resc,resv,argc,(mxArray**)(argv)); break; + case 202: flag=_wrap_Matrix2x3_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 203: flag=_wrap_Matrix2x3_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 204: flag=_wrap_delete_Matrix2x3(resc,resv,argc,(mxArray**)(argv)); break; + case 205: flag=_wrap_new_Matrix3x3(resc,resv,argc,(mxArray**)(argv)); break; + case 206: flag=_wrap_Matrix3x3_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 207: flag=_wrap_Matrix3x3_getVal(resc,resv,argc,(mxArray**)(argv)); break; + case 208: flag=_wrap_Matrix3x3_setVal(resc,resv,argc,(mxArray**)(argv)); break; + case 209: flag=_wrap_Matrix3x3_rows(resc,resv,argc,(mxArray**)(argv)); break; + case 210: flag=_wrap_Matrix3x3_cols(resc,resv,argc,(mxArray**)(argv)); break; + case 211: flag=_wrap_Matrix3x3_data(resc,resv,argc,(mxArray**)(argv)); break; + case 212: flag=_wrap_Matrix3x3_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 213: flag=_wrap_Matrix3x3_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 214: flag=_wrap_Matrix3x3_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 215: flag=_wrap_Matrix3x3_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 216: flag=_wrap_Matrix3x3_display(resc,resv,argc,(mxArray**)(argv)); break; + case 217: flag=_wrap_Matrix3x3_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 218: flag=_wrap_Matrix3x3_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 219: flag=_wrap_delete_Matrix3x3(resc,resv,argc,(mxArray**)(argv)); break; + case 220: flag=_wrap_new_Matrix4x4(resc,resv,argc,(mxArray**)(argv)); break; + case 221: flag=_wrap_Matrix4x4_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 222: flag=_wrap_Matrix4x4_getVal(resc,resv,argc,(mxArray**)(argv)); break; + case 223: flag=_wrap_Matrix4x4_setVal(resc,resv,argc,(mxArray**)(argv)); break; + case 224: flag=_wrap_Matrix4x4_rows(resc,resv,argc,(mxArray**)(argv)); break; + case 225: flag=_wrap_Matrix4x4_cols(resc,resv,argc,(mxArray**)(argv)); break; + case 226: flag=_wrap_Matrix4x4_data(resc,resv,argc,(mxArray**)(argv)); break; + case 227: flag=_wrap_Matrix4x4_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 228: flag=_wrap_Matrix4x4_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 229: flag=_wrap_Matrix4x4_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 230: flag=_wrap_Matrix4x4_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 231: flag=_wrap_Matrix4x4_display(resc,resv,argc,(mxArray**)(argv)); break; + case 232: flag=_wrap_Matrix4x4_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 233: flag=_wrap_Matrix4x4_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 234: flag=_wrap_delete_Matrix4x4(resc,resv,argc,(mxArray**)(argv)); break; + case 235: flag=_wrap_new_Matrix6x6(resc,resv,argc,(mxArray**)(argv)); break; + case 236: flag=_wrap_Matrix6x6_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 237: flag=_wrap_Matrix6x6_getVal(resc,resv,argc,(mxArray**)(argv)); break; + case 238: flag=_wrap_Matrix6x6_setVal(resc,resv,argc,(mxArray**)(argv)); break; + case 239: flag=_wrap_Matrix6x6_rows(resc,resv,argc,(mxArray**)(argv)); break; + case 240: flag=_wrap_Matrix6x6_cols(resc,resv,argc,(mxArray**)(argv)); break; + case 241: flag=_wrap_Matrix6x6_data(resc,resv,argc,(mxArray**)(argv)); break; + case 242: flag=_wrap_Matrix6x6_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 243: flag=_wrap_Matrix6x6_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 244: flag=_wrap_Matrix6x6_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 245: flag=_wrap_Matrix6x6_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 246: flag=_wrap_Matrix6x6_display(resc,resv,argc,(mxArray**)(argv)); break; + case 247: flag=_wrap_Matrix6x6_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 248: flag=_wrap_Matrix6x6_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 249: flag=_wrap_delete_Matrix6x6(resc,resv,argc,(mxArray**)(argv)); break; + case 250: flag=_wrap_new_Matrix6x10(resc,resv,argc,(mxArray**)(argv)); break; + case 251: flag=_wrap_Matrix6x10_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 252: flag=_wrap_Matrix6x10_getVal(resc,resv,argc,(mxArray**)(argv)); break; + case 253: flag=_wrap_Matrix6x10_setVal(resc,resv,argc,(mxArray**)(argv)); break; + case 254: flag=_wrap_Matrix6x10_rows(resc,resv,argc,(mxArray**)(argv)); break; + case 255: flag=_wrap_Matrix6x10_cols(resc,resv,argc,(mxArray**)(argv)); break; + case 256: flag=_wrap_Matrix6x10_data(resc,resv,argc,(mxArray**)(argv)); break; + case 257: flag=_wrap_Matrix6x10_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 258: flag=_wrap_Matrix6x10_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 259: flag=_wrap_Matrix6x10_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 260: flag=_wrap_Matrix6x10_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 261: flag=_wrap_Matrix6x10_display(resc,resv,argc,(mxArray**)(argv)); break; + case 262: flag=_wrap_Matrix6x10_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 263: flag=_wrap_Matrix6x10_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 264: flag=_wrap_delete_Matrix6x10(resc,resv,argc,(mxArray**)(argv)); break; + case 265: flag=_wrap_new_Matrix10x16(resc,resv,argc,(mxArray**)(argv)); break; + case 266: flag=_wrap_Matrix10x16_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 267: flag=_wrap_Matrix10x16_getVal(resc,resv,argc,(mxArray**)(argv)); break; + case 268: flag=_wrap_Matrix10x16_setVal(resc,resv,argc,(mxArray**)(argv)); break; + case 269: flag=_wrap_Matrix10x16_rows(resc,resv,argc,(mxArray**)(argv)); break; + case 270: flag=_wrap_Matrix10x16_cols(resc,resv,argc,(mxArray**)(argv)); break; + case 271: flag=_wrap_Matrix10x16_data(resc,resv,argc,(mxArray**)(argv)); break; + case 272: flag=_wrap_Matrix10x16_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 273: flag=_wrap_Matrix10x16_fillRowMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 274: flag=_wrap_Matrix10x16_fillColMajorBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 275: flag=_wrap_Matrix10x16_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 276: flag=_wrap_Matrix10x16_display(resc,resv,argc,(mxArray**)(argv)); break; + case 277: flag=_wrap_Matrix10x16_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 278: flag=_wrap_Matrix10x16_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 279: flag=_wrap_delete_Matrix10x16(resc,resv,argc,(mxArray**)(argv)); break; + case 280: flag=_wrap_new_Vector3(resc,resv,argc,(mxArray**)(argv)); break; + case 281: flag=_wrap_Vector3_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 282: flag=_wrap_Vector3_getVal(resc,resv,argc,(mxArray**)(argv)); break; + case 283: flag=_wrap_Vector3_setVal(resc,resv,argc,(mxArray**)(argv)); break; + case 284: flag=_wrap_Vector3_size(resc,resv,argc,(mxArray**)(argv)); break; + case 285: flag=_wrap_Vector3_data(resc,resv,argc,(mxArray**)(argv)); break; + case 286: flag=_wrap_Vector3_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 287: flag=_wrap_Vector3_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 288: flag=_wrap_Vector3_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 289: flag=_wrap_Vector3_display(resc,resv,argc,(mxArray**)(argv)); break; + case 290: flag=_wrap_Vector3_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 291: flag=_wrap_Vector3_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 292: flag=_wrap_delete_Vector3(resc,resv,argc,(mxArray**)(argv)); break; + case 293: flag=_wrap_new_Vector4(resc,resv,argc,(mxArray**)(argv)); break; + case 294: flag=_wrap_Vector4_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 295: flag=_wrap_Vector4_getVal(resc,resv,argc,(mxArray**)(argv)); break; + case 296: flag=_wrap_Vector4_setVal(resc,resv,argc,(mxArray**)(argv)); break; + case 297: flag=_wrap_Vector4_size(resc,resv,argc,(mxArray**)(argv)); break; + case 298: flag=_wrap_Vector4_data(resc,resv,argc,(mxArray**)(argv)); break; + case 299: flag=_wrap_Vector4_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 300: flag=_wrap_Vector4_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 301: flag=_wrap_Vector4_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 302: flag=_wrap_Vector4_display(resc,resv,argc,(mxArray**)(argv)); break; + case 303: flag=_wrap_Vector4_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 304: flag=_wrap_Vector4_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 305: flag=_wrap_delete_Vector4(resc,resv,argc,(mxArray**)(argv)); break; + case 306: flag=_wrap_new_Vector6(resc,resv,argc,(mxArray**)(argv)); break; + case 307: flag=_wrap_Vector6_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 308: flag=_wrap_Vector6_getVal(resc,resv,argc,(mxArray**)(argv)); break; + case 309: flag=_wrap_Vector6_setVal(resc,resv,argc,(mxArray**)(argv)); break; + case 310: flag=_wrap_Vector6_size(resc,resv,argc,(mxArray**)(argv)); break; + case 311: flag=_wrap_Vector6_data(resc,resv,argc,(mxArray**)(argv)); break; + case 312: flag=_wrap_Vector6_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 313: flag=_wrap_Vector6_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 314: flag=_wrap_Vector6_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 315: flag=_wrap_Vector6_display(resc,resv,argc,(mxArray**)(argv)); break; + case 316: flag=_wrap_Vector6_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 317: flag=_wrap_Vector6_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 318: flag=_wrap_delete_Vector6(resc,resv,argc,(mxArray**)(argv)); break; + case 319: flag=_wrap_new_Vector10(resc,resv,argc,(mxArray**)(argv)); break; + case 320: flag=_wrap_Vector10_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 321: flag=_wrap_Vector10_getVal(resc,resv,argc,(mxArray**)(argv)); break; + case 322: flag=_wrap_Vector10_setVal(resc,resv,argc,(mxArray**)(argv)); break; + case 323: flag=_wrap_Vector10_size(resc,resv,argc,(mxArray**)(argv)); break; + case 324: flag=_wrap_Vector10_data(resc,resv,argc,(mxArray**)(argv)); break; + case 325: flag=_wrap_Vector10_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 326: flag=_wrap_Vector10_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 327: flag=_wrap_Vector10_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 328: flag=_wrap_Vector10_display(resc,resv,argc,(mxArray**)(argv)); break; + case 329: flag=_wrap_Vector10_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 330: flag=_wrap_Vector10_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 331: flag=_wrap_delete_Vector10(resc,resv,argc,(mxArray**)(argv)); break; + case 332: flag=_wrap_new_Vector16(resc,resv,argc,(mxArray**)(argv)); break; + case 333: flag=_wrap_Vector16_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 334: flag=_wrap_Vector16_getVal(resc,resv,argc,(mxArray**)(argv)); break; + case 335: flag=_wrap_Vector16_setVal(resc,resv,argc,(mxArray**)(argv)); break; + case 336: flag=_wrap_Vector16_size(resc,resv,argc,(mxArray**)(argv)); break; + case 337: flag=_wrap_Vector16_data(resc,resv,argc,(mxArray**)(argv)); break; + case 338: flag=_wrap_Vector16_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 339: flag=_wrap_Vector16_fillBuffer(resc,resv,argc,(mxArray**)(argv)); break; + case 340: flag=_wrap_Vector16_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 341: flag=_wrap_Vector16_display(resc,resv,argc,(mxArray**)(argv)); break; + case 342: flag=_wrap_Vector16_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 343: flag=_wrap_Vector16_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 344: flag=_wrap_delete_Vector16(resc,resv,argc,(mxArray**)(argv)); break; + case 345: flag=_wrap_new_PositionRaw(resc,resv,argc,(mxArray**)(argv)); break; + case 346: flag=_wrap_PositionRaw_changePoint(resc,resv,argc,(mxArray**)(argv)); break; + case 347: flag=_wrap_PositionRaw_changeRefPoint(resc,resv,argc,(mxArray**)(argv)); break; + case 348: flag=_wrap_PositionRaw_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 349: flag=_wrap_PositionRaw_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 350: flag=_wrap_PositionRaw_changePointOf(resc,resv,argc,(mxArray**)(argv)); break; + case 351: flag=_wrap_PositionRaw_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 352: flag=_wrap_PositionRaw_display(resc,resv,argc,(mxArray**)(argv)); break; + case 353: flag=_wrap_delete_PositionRaw(resc,resv,argc,(mxArray**)(argv)); break; + case 354: flag=_wrap_new_PositionSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 355: flag=_wrap_PositionSemantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break; + case 356: flag=_wrap_PositionSemantics_getPoint(resc,resv,argc,(mxArray**)(argv)); break; + case 357: flag=_wrap_PositionSemantics_getBody(resc,resv,argc,(mxArray**)(argv)); break; + case 358: flag=_wrap_PositionSemantics_getReferencePoint(resc,resv,argc,(mxArray**)(argv)); break; + case 359: flag=_wrap_PositionSemantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break; + case 360: flag=_wrap_PositionSemantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 361: flag=_wrap_PositionSemantics_setPoint(resc,resv,argc,(mxArray**)(argv)); break; + case 362: flag=_wrap_PositionSemantics_setBody(resc,resv,argc,(mxArray**)(argv)); break; + case 363: flag=_wrap_PositionSemantics_setReferencePoint(resc,resv,argc,(mxArray**)(argv)); break; + case 364: flag=_wrap_PositionSemantics_setRefBody(resc,resv,argc,(mxArray**)(argv)); break; + case 365: flag=_wrap_PositionSemantics_setCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 366: flag=_wrap_PositionSemantics_changePoint(resc,resv,argc,(mxArray**)(argv)); break; + case 367: flag=_wrap_PositionSemantics_changeRefPoint(resc,resv,argc,(mxArray**)(argv)); break; + case 368: flag=_wrap_PositionSemantics_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 369: flag=_wrap_PositionSemantics_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 370: flag=_wrap_PositionSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 371: flag=_wrap_PositionSemantics_display(resc,resv,argc,(mxArray**)(argv)); break; + case 372: flag=_wrap_delete_PositionSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 373: flag=_wrap_new_Position(resc,resv,argc,(mxArray**)(argv)); break; + case 374: flag=_wrap_Position_getSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 375: flag=_wrap_Position_changePoint(resc,resv,argc,(mxArray**)(argv)); break; + case 376: flag=_wrap_Position_changeRefPoint(resc,resv,argc,(mxArray**)(argv)); break; + case 377: flag=_wrap_Position_changeCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 378: flag=_wrap_Position_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 379: flag=_wrap_Position_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 380: flag=_wrap_Position_changePointOf(resc,resv,argc,(mxArray**)(argv)); break; + case 381: flag=_wrap_Position_plus(resc,resv,argc,(mxArray**)(argv)); break; + case 382: flag=_wrap_Position_minus(resc,resv,argc,(mxArray**)(argv)); break; + case 383: flag=_wrap_Position_uminus(resc,resv,argc,(mxArray**)(argv)); break; + case 384: flag=_wrap_Position_mtimes(resc,resv,argc,(mxArray**)(argv)); break; + case 385: flag=_wrap_Position_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 386: flag=_wrap_Position_display(resc,resv,argc,(mxArray**)(argv)); break; + case 387: flag=_wrap_Position_Zero(resc,resv,argc,(mxArray**)(argv)); break; + case 388: flag=_wrap_delete_Position(resc,resv,argc,(mxArray**)(argv)); break; + case 389: flag=_wrap_new_GeomVector3Semantics__LinearMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 390: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break; + case 391: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_getBody(resc,resv,argc,(mxArray**)(argv)); break; + case 392: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break; + case 393: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 394: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_isUnknown(resc,resv,argc,(mxArray**)(argv)); break; + case 395: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 396: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 397: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 398: flag=_wrap_GeomVector3Semantics__LinearMotionVector3Semantics_dot(resc,resv,argc,(mxArray**)(argv)); break; + case 399: flag=_wrap_delete_GeomVector3Semantics__LinearMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 400: flag=_wrap_new_GeomVector3Semantics__AngularMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 401: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break; + case 402: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_getBody(resc,resv,argc,(mxArray**)(argv)); break; + case 403: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break; + case 404: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 405: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_isUnknown(resc,resv,argc,(mxArray**)(argv)); break; + case 406: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 407: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 408: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 409: flag=_wrap_GeomVector3Semantics__AngularMotionVector3Semantics_dot(resc,resv,argc,(mxArray**)(argv)); break; + case 410: flag=_wrap_delete_GeomVector3Semantics__AngularMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 411: flag=_wrap_new_GeomVector3Semantics__LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 412: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break; + case 413: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_getBody(resc,resv,argc,(mxArray**)(argv)); break; + case 414: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break; + case 415: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 416: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_isUnknown(resc,resv,argc,(mxArray**)(argv)); break; + case 417: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 418: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 419: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 420: flag=_wrap_GeomVector3Semantics__LinearForceVector3Semantics_dot(resc,resv,argc,(mxArray**)(argv)); break; + case 421: flag=_wrap_delete_GeomVector3Semantics__LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 422: flag=_wrap_new_GeomVector3Semantics__AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 423: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break; + case 424: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_getBody(resc,resv,argc,(mxArray**)(argv)); break; + case 425: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break; + case 426: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 427: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_isUnknown(resc,resv,argc,(mxArray**)(argv)); break; + case 428: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 429: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 430: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 431: flag=_wrap_GeomVector3Semantics__AngularForceVector3Semantics_dot(resc,resv,argc,(mxArray**)(argv)); break; + case 432: flag=_wrap_delete_GeomVector3Semantics__AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 433: flag=_wrap_GeomVector3__LinearMotionVector3_semantics_get(resc,resv,argc,(mxArray**)(argv)); break; + case 434: flag=_wrap_GeomVector3__LinearMotionVector3_semantics_set(resc,resv,argc,(mxArray**)(argv)); break; + case 435: flag=_wrap_new_GeomVector3__LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 436: flag=_wrap_GeomVector3__LinearMotionVector3_setSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 437: flag=_wrap_GeomVector3__LinearMotionVector3_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 438: flag=_wrap_GeomVector3__LinearMotionVector3_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 439: flag=_wrap_GeomVector3__LinearMotionVector3_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 440: flag=_wrap_GeomVector3__LinearMotionVector3_dot(resc,resv,argc,(mxArray**)(argv)); break; + case 441: flag=_wrap_GeomVector3__LinearMotionVector3_plus(resc,resv,argc,(mxArray**)(argv)); break; + case 442: flag=_wrap_GeomVector3__LinearMotionVector3_minus(resc,resv,argc,(mxArray**)(argv)); break; + case 443: flag=_wrap_GeomVector3__LinearMotionVector3_uminus(resc,resv,argc,(mxArray**)(argv)); break; + case 444: flag=_wrap_delete_GeomVector3__LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 445: flag=_wrap_GeomVector3__AngularMotionVector3_semantics_get(resc,resv,argc,(mxArray**)(argv)); break; + case 446: flag=_wrap_GeomVector3__AngularMotionVector3_semantics_set(resc,resv,argc,(mxArray**)(argv)); break; + case 447: flag=_wrap_new_GeomVector3__AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 448: flag=_wrap_GeomVector3__AngularMotionVector3_setSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 449: flag=_wrap_GeomVector3__AngularMotionVector3_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 450: flag=_wrap_GeomVector3__AngularMotionVector3_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 451: flag=_wrap_GeomVector3__AngularMotionVector3_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 452: flag=_wrap_GeomVector3__AngularMotionVector3_dot(resc,resv,argc,(mxArray**)(argv)); break; + case 453: flag=_wrap_GeomVector3__AngularMotionVector3_plus(resc,resv,argc,(mxArray**)(argv)); break; + case 454: flag=_wrap_GeomVector3__AngularMotionVector3_minus(resc,resv,argc,(mxArray**)(argv)); break; + case 455: flag=_wrap_GeomVector3__AngularMotionVector3_uminus(resc,resv,argc,(mxArray**)(argv)); break; + case 456: flag=_wrap_delete_GeomVector3__AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 457: flag=_wrap_GeomVector3__LinearForceVector3_semantics_get(resc,resv,argc,(mxArray**)(argv)); break; + case 458: flag=_wrap_GeomVector3__LinearForceVector3_semantics_set(resc,resv,argc,(mxArray**)(argv)); break; + case 459: flag=_wrap_new_GeomVector3__LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 460: flag=_wrap_GeomVector3__LinearForceVector3_setSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 461: flag=_wrap_GeomVector3__LinearForceVector3_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 462: flag=_wrap_GeomVector3__LinearForceVector3_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 463: flag=_wrap_GeomVector3__LinearForceVector3_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 464: flag=_wrap_GeomVector3__LinearForceVector3_dot(resc,resv,argc,(mxArray**)(argv)); break; + case 465: flag=_wrap_GeomVector3__LinearForceVector3_plus(resc,resv,argc,(mxArray**)(argv)); break; + case 466: flag=_wrap_GeomVector3__LinearForceVector3_minus(resc,resv,argc,(mxArray**)(argv)); break; + case 467: flag=_wrap_GeomVector3__LinearForceVector3_uminus(resc,resv,argc,(mxArray**)(argv)); break; + case 468: flag=_wrap_delete_GeomVector3__LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 469: flag=_wrap_GeomVector3__AngularForceVector3_semantics_get(resc,resv,argc,(mxArray**)(argv)); break; + case 470: flag=_wrap_GeomVector3__AngularForceVector3_semantics_set(resc,resv,argc,(mxArray**)(argv)); break; + case 471: flag=_wrap_new_GeomVector3__AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 472: flag=_wrap_GeomVector3__AngularForceVector3_setSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 473: flag=_wrap_GeomVector3__AngularForceVector3_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 474: flag=_wrap_GeomVector3__AngularForceVector3_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 475: flag=_wrap_GeomVector3__AngularForceVector3_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 476: flag=_wrap_GeomVector3__AngularForceVector3_dot(resc,resv,argc,(mxArray**)(argv)); break; + case 477: flag=_wrap_GeomVector3__AngularForceVector3_plus(resc,resv,argc,(mxArray**)(argv)); break; + case 478: flag=_wrap_GeomVector3__AngularForceVector3_minus(resc,resv,argc,(mxArray**)(argv)); break; + case 479: flag=_wrap_GeomVector3__AngularForceVector3_uminus(resc,resv,argc,(mxArray**)(argv)); break; + case 480: flag=_wrap_delete_GeomVector3__AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 481: flag=_wrap_new_ForceVector3Semantics__LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 482: flag=_wrap_ForceVector3Semantics__LinearForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 483: flag=_wrap_ForceVector3Semantics__LinearForceVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 484: flag=_wrap_delete_ForceVector3Semantics__LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 485: flag=_wrap_new_ForceVector3Semantics__AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 486: flag=_wrap_ForceVector3Semantics__AngularForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 487: flag=_wrap_ForceVector3Semantics__AngularForceVector3Semantics_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 488: flag=_wrap_delete_ForceVector3Semantics__AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 489: flag=_wrap_new_MotionVector3__LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 490: flag=_wrap_MotionVector3__LinearMotionVector3_cross(resc,resv,argc,(mxArray**)(argv)); break; + case 491: flag=_wrap_delete_MotionVector3__LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 492: flag=_wrap_new_MotionVector3__AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 493: flag=_wrap_MotionVector3__AngularMotionVector3_cross(resc,resv,argc,(mxArray**)(argv)); break; + case 494: flag=_wrap_delete_MotionVector3__AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 495: flag=_wrap_new_ForceVector3__LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 496: flag=_wrap_delete_ForceVector3__LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 497: flag=_wrap_new_ForceVector3__AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 498: flag=_wrap_delete_ForceVector3__AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 499: flag=_wrap_new_LinearMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 500: flag=_wrap_LinearMotionVector3Semantics_changePoint(resc,resv,argc,(mxArray**)(argv)); break; + case 501: flag=_wrap_LinearMotionVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 502: flag=_wrap_delete_LinearMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 503: flag=_wrap_new_LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 504: flag=_wrap_LinearMotionVector3_changePoint(resc,resv,argc,(mxArray**)(argv)); break; + case 505: flag=_wrap_delete_LinearMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 506: flag=_wrap_new_AngularMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 507: flag=_wrap_delete_AngularMotionVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 508: flag=_wrap_new_AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 509: flag=_wrap_AngularMotionVector3_exp(resc,resv,argc,(mxArray**)(argv)); break; + case 510: flag=_wrap_delete_AngularMotionVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 511: flag=_wrap_new_LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 512: flag=_wrap_delete_LinearForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 513: flag=_wrap_new_LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 514: flag=_wrap_delete_LinearForceVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 515: flag=_wrap_new_AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 516: flag=_wrap_AngularForceVector3Semantics_changePoint(resc,resv,argc,(mxArray**)(argv)); break; + case 517: flag=_wrap_AngularForceVector3Semantics_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 518: flag=_wrap_delete_AngularForceVector3Semantics(resc,resv,argc,(mxArray**)(argv)); break; + case 519: flag=_wrap_new_AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 520: flag=_wrap_AngularForceVector3_changePoint(resc,resv,argc,(mxArray**)(argv)); break; + case 521: flag=_wrap_delete_AngularForceVector3(resc,resv,argc,(mxArray**)(argv)); break; + case 522: flag=_wrap_new_SpatialMotionVectorSemanticsBase(resc,resv,argc,(mxArray**)(argv)); break; + case 523: flag=_wrap_SpatialMotionVectorSemanticsBase_check_linear2angularConsistency(resc,resv,argc,(mxArray**)(argv)); break; + case 524: flag=_wrap_SpatialMotionVectorSemanticsBase_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 525: flag=_wrap_SpatialMotionVectorSemanticsBase_display(resc,resv,argc,(mxArray**)(argv)); break; + case 526: flag=_wrap_delete_SpatialMotionVectorSemanticsBase(resc,resv,argc,(mxArray**)(argv)); break; + case 527: flag=_wrap_new_SpatialForceVectorSemanticsBase(resc,resv,argc,(mxArray**)(argv)); break; + case 528: flag=_wrap_SpatialForceVectorSemanticsBase_check_linear2angularConsistency(resc,resv,argc,(mxArray**)(argv)); break; + case 529: flag=_wrap_SpatialForceVectorSemanticsBase_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 530: flag=_wrap_SpatialForceVectorSemanticsBase_display(resc,resv,argc,(mxArray**)(argv)); break; + case 531: flag=_wrap_delete_SpatialForceVectorSemanticsBase(resc,resv,argc,(mxArray**)(argv)); break; + case 532: flag=_wrap_new_SpatialMotionVectorBase(resc,resv,argc,(mxArray**)(argv)); break; + case 533: flag=_wrap_SpatialMotionVectorBase_getLinearVec3(resc,resv,argc,(mxArray**)(argv)); break; + case 534: flag=_wrap_SpatialMotionVectorBase_getAngularVec3(resc,resv,argc,(mxArray**)(argv)); break; + case 535: flag=_wrap_SpatialMotionVectorBase_setLinearVec3(resc,resv,argc,(mxArray**)(argv)); break; + case 536: flag=_wrap_SpatialMotionVectorBase_setAngularVec3(resc,resv,argc,(mxArray**)(argv)); break; + case 537: flag=_wrap_SpatialMotionVectorBase_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 538: flag=_wrap_SpatialMotionVectorBase_getVal(resc,resv,argc,(mxArray**)(argv)); break; + case 539: flag=_wrap_SpatialMotionVectorBase_setVal(resc,resv,argc,(mxArray**)(argv)); break; + case 540: flag=_wrap_SpatialMotionVectorBase_size(resc,resv,argc,(mxArray**)(argv)); break; + case 541: flag=_wrap_SpatialMotionVectorBase_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 542: flag=_wrap_SpatialMotionVectorBase_changePoint(resc,resv,argc,(mxArray**)(argv)); break; + case 543: flag=_wrap_SpatialMotionVectorBase_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 544: flag=_wrap_SpatialMotionVectorBase_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 545: flag=_wrap_SpatialMotionVectorBase_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 546: flag=_wrap_SpatialMotionVectorBase_dot(resc,resv,argc,(mxArray**)(argv)); break; + case 547: flag=_wrap_SpatialMotionVectorBase_plus(resc,resv,argc,(mxArray**)(argv)); break; + case 548: flag=_wrap_SpatialMotionVectorBase_minus(resc,resv,argc,(mxArray**)(argv)); break; + case 549: flag=_wrap_SpatialMotionVectorBase_uminus(resc,resv,argc,(mxArray**)(argv)); break; + case 550: flag=_wrap_SpatialMotionVectorBase_Zero(resc,resv,argc,(mxArray**)(argv)); break; + case 551: flag=_wrap_SpatialMotionVectorBase_asVector(resc,resv,argc,(mxArray**)(argv)); break; + case 552: flag=_wrap_SpatialMotionVectorBase_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 553: flag=_wrap_SpatialMotionVectorBase_display(resc,resv,argc,(mxArray**)(argv)); break; + case 554: flag=_wrap_SpatialMotionVectorBase_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 555: flag=_wrap_SpatialMotionVectorBase_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 556: flag=_wrap_delete_SpatialMotionVectorBase(resc,resv,argc,(mxArray**)(argv)); break; + case 557: flag=_wrap_new_SpatialForceVectorBase(resc,resv,argc,(mxArray**)(argv)); break; + case 558: flag=_wrap_SpatialForceVectorBase_getLinearVec3(resc,resv,argc,(mxArray**)(argv)); break; + case 559: flag=_wrap_SpatialForceVectorBase_getAngularVec3(resc,resv,argc,(mxArray**)(argv)); break; + case 560: flag=_wrap_SpatialForceVectorBase_setLinearVec3(resc,resv,argc,(mxArray**)(argv)); break; + case 561: flag=_wrap_SpatialForceVectorBase_setAngularVec3(resc,resv,argc,(mxArray**)(argv)); break; + case 562: flag=_wrap_SpatialForceVectorBase_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 563: flag=_wrap_SpatialForceVectorBase_getVal(resc,resv,argc,(mxArray**)(argv)); break; + case 564: flag=_wrap_SpatialForceVectorBase_setVal(resc,resv,argc,(mxArray**)(argv)); break; + case 565: flag=_wrap_SpatialForceVectorBase_size(resc,resv,argc,(mxArray**)(argv)); break; + case 566: flag=_wrap_SpatialForceVectorBase_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 567: flag=_wrap_SpatialForceVectorBase_changePoint(resc,resv,argc,(mxArray**)(argv)); break; + case 568: flag=_wrap_SpatialForceVectorBase_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 569: flag=_wrap_SpatialForceVectorBase_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 570: flag=_wrap_SpatialForceVectorBase_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 571: flag=_wrap_SpatialForceVectorBase_dot(resc,resv,argc,(mxArray**)(argv)); break; + case 572: flag=_wrap_SpatialForceVectorBase_plus(resc,resv,argc,(mxArray**)(argv)); break; + case 573: flag=_wrap_SpatialForceVectorBase_minus(resc,resv,argc,(mxArray**)(argv)); break; + case 574: flag=_wrap_SpatialForceVectorBase_uminus(resc,resv,argc,(mxArray**)(argv)); break; + case 575: flag=_wrap_SpatialForceVectorBase_Zero(resc,resv,argc,(mxArray**)(argv)); break; + case 576: flag=_wrap_SpatialForceVectorBase_asVector(resc,resv,argc,(mxArray**)(argv)); break; + case 577: flag=_wrap_SpatialForceVectorBase_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 578: flag=_wrap_SpatialForceVectorBase_display(resc,resv,argc,(mxArray**)(argv)); break; + case 579: flag=_wrap_SpatialForceVectorBase_toMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 580: flag=_wrap_SpatialForceVectorBase_fromMatlab(resc,resv,argc,(mxArray**)(argv)); break; + case 581: flag=_wrap_delete_SpatialForceVectorBase(resc,resv,argc,(mxArray**)(argv)); break; + case 582: flag=_wrap_new_Dummy(resc,resv,argc,(mxArray**)(argv)); break; + case 583: flag=_wrap_delete_Dummy(resc,resv,argc,(mxArray**)(argv)); break; + case 584: flag=_wrap_new_SpatialMotionVector(resc,resv,argc,(mxArray**)(argv)); break; + case 585: flag=_wrap_SpatialMotionVector_mtimes(resc,resv,argc,(mxArray**)(argv)); break; + case 586: flag=_wrap_SpatialMotionVector_cross(resc,resv,argc,(mxArray**)(argv)); break; + case 587: flag=_wrap_SpatialMotionVector_asCrossProductMatrix(resc,resv,argc,(mxArray**)(argv)); break; + case 588: flag=_wrap_SpatialMotionVector_asCrossProductMatrixWrench(resc,resv,argc,(mxArray**)(argv)); break; + case 589: flag=_wrap_SpatialMotionVector_exp(resc,resv,argc,(mxArray**)(argv)); break; + case 590: flag=_wrap_delete_SpatialMotionVector(resc,resv,argc,(mxArray**)(argv)); break; + case 591: flag=_wrap_new_SpatialForceVector(resc,resv,argc,(mxArray**)(argv)); break; + case 592: flag=_wrap_delete_SpatialForceVector(resc,resv,argc,(mxArray**)(argv)); break; + case 593: flag=_wrap_SpatialForceVector_mtimes(resc,resv,argc,(mxArray**)(argv)); break; + case 594: flag=_wrap_new_Twist(resc,resv,argc,(mxArray**)(argv)); break; + case 595: flag=_wrap_Twist_plus(resc,resv,argc,(mxArray**)(argv)); break; + case 596: flag=_wrap_Twist_minus(resc,resv,argc,(mxArray**)(argv)); break; + case 597: flag=_wrap_Twist_uminus(resc,resv,argc,(mxArray**)(argv)); break; + case 598: flag=_wrap_Twist_mtimes(resc,resv,argc,(mxArray**)(argv)); break; + case 599: flag=_wrap_delete_Twist(resc,resv,argc,(mxArray**)(argv)); break; + case 600: flag=_wrap_new_Wrench(resc,resv,argc,(mxArray**)(argv)); break; + case 601: flag=_wrap_Wrench_plus(resc,resv,argc,(mxArray**)(argv)); break; + case 602: flag=_wrap_Wrench_minus(resc,resv,argc,(mxArray**)(argv)); break; + case 603: flag=_wrap_Wrench_uminus(resc,resv,argc,(mxArray**)(argv)); break; + case 604: flag=_wrap_delete_Wrench(resc,resv,argc,(mxArray**)(argv)); break; + case 605: flag=_wrap_new_SpatialMomentum(resc,resv,argc,(mxArray**)(argv)); break; + case 606: flag=_wrap_SpatialMomentum_plus(resc,resv,argc,(mxArray**)(argv)); break; + case 607: flag=_wrap_SpatialMomentum_minus(resc,resv,argc,(mxArray**)(argv)); break; + case 608: flag=_wrap_SpatialMomentum_uminus(resc,resv,argc,(mxArray**)(argv)); break; + case 609: flag=_wrap_delete_SpatialMomentum(resc,resv,argc,(mxArray**)(argv)); break; + case 610: flag=_wrap_new_SpatialAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 611: flag=_wrap_SpatialAcc_plus(resc,resv,argc,(mxArray**)(argv)); break; + case 612: flag=_wrap_SpatialAcc_minus(resc,resv,argc,(mxArray**)(argv)); break; + case 613: flag=_wrap_SpatialAcc_uminus(resc,resv,argc,(mxArray**)(argv)); break; + case 614: flag=_wrap_delete_SpatialAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 615: flag=_wrap_new_ClassicalAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 616: flag=_wrap_ClassicalAcc_changeCoordFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 617: flag=_wrap_ClassicalAcc_Zero(resc,resv,argc,(mxArray**)(argv)); break; + case 618: flag=_wrap_ClassicalAcc_fromSpatial(resc,resv,argc,(mxArray**)(argv)); break; + case 619: flag=_wrap_ClassicalAcc_toSpatial(resc,resv,argc,(mxArray**)(argv)); break; + case 620: flag=_wrap_delete_ClassicalAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 621: flag=_wrap_new_Direction(resc,resv,argc,(mxArray**)(argv)); break; + case 622: flag=_wrap_Direction_Normalize(resc,resv,argc,(mxArray**)(argv)); break; + case 623: flag=_wrap_Direction_isParallel(resc,resv,argc,(mxArray**)(argv)); break; + case 624: flag=_wrap_Direction_isPerpendicular(resc,resv,argc,(mxArray**)(argv)); break; + case 625: flag=_wrap_Direction_reverse(resc,resv,argc,(mxArray**)(argv)); break; + case 626: flag=_wrap_Direction_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 627: flag=_wrap_Direction_display(resc,resv,argc,(mxArray**)(argv)); break; + case 628: flag=_wrap_Direction_Default(resc,resv,argc,(mxArray**)(argv)); break; + case 629: flag=_wrap_delete_Direction(resc,resv,argc,(mxArray**)(argv)); break; + case 630: flag=_wrap_new_Axis(resc,resv,argc,(mxArray**)(argv)); break; + case 631: flag=_wrap_Axis_getDirection(resc,resv,argc,(mxArray**)(argv)); break; + case 632: flag=_wrap_Axis_getOrigin(resc,resv,argc,(mxArray**)(argv)); break; + case 633: flag=_wrap_Axis_setDirection(resc,resv,argc,(mxArray**)(argv)); break; + case 634: flag=_wrap_Axis_setOrigin(resc,resv,argc,(mxArray**)(argv)); break; + case 635: flag=_wrap_Axis_getRotationTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 636: flag=_wrap_Axis_getRotationTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 637: flag=_wrap_Axis_getRotationTwist(resc,resv,argc,(mxArray**)(argv)); break; + case 638: flag=_wrap_Axis_getRotationSpatialAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 639: flag=_wrap_Axis_getTranslationTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 640: flag=_wrap_Axis_getTranslationTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 641: flag=_wrap_Axis_getTranslationTwist(resc,resv,argc,(mxArray**)(argv)); break; + case 642: flag=_wrap_Axis_getTranslationSpatialAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 643: flag=_wrap_Axis_isParallel(resc,resv,argc,(mxArray**)(argv)); break; + case 644: flag=_wrap_Axis_reverse(resc,resv,argc,(mxArray**)(argv)); break; + case 645: flag=_wrap_Axis_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 646: flag=_wrap_Axis_display(resc,resv,argc,(mxArray**)(argv)); break; + case 647: flag=_wrap_delete_Axis(resc,resv,argc,(mxArray**)(argv)); break; + case 648: flag=_wrap_new_RotationalInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break; + case 649: flag=_wrap_RotationalInertiaRaw_Zero(resc,resv,argc,(mxArray**)(argv)); break; + case 650: flag=_wrap_delete_RotationalInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break; + case 651: flag=_wrap_new_SpatialInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break; + case 652: flag=_wrap_SpatialInertiaRaw_fromRotationalInertiaWrtCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break; + case 653: flag=_wrap_SpatialInertiaRaw_getMass(resc,resv,argc,(mxArray**)(argv)); break; + case 654: flag=_wrap_SpatialInertiaRaw_getCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break; + case 655: flag=_wrap_SpatialInertiaRaw_getRotationalInertiaWrtFrameOrigin(resc,resv,argc,(mxArray**)(argv)); break; + case 656: flag=_wrap_SpatialInertiaRaw_getRotationalInertiaWrtCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break; + case 657: flag=_wrap_SpatialInertiaRaw_combine(resc,resv,argc,(mxArray**)(argv)); break; + case 658: flag=_wrap_SpatialInertiaRaw_multiply(resc,resv,argc,(mxArray**)(argv)); break; + case 659: flag=_wrap_SpatialInertiaRaw_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 660: flag=_wrap_delete_SpatialInertiaRaw(resc,resv,argc,(mxArray**)(argv)); break; + case 661: flag=_wrap_new_SpatialInertia(resc,resv,argc,(mxArray**)(argv)); break; + case 662: flag=_wrap_SpatialInertia_combine(resc,resv,argc,(mxArray**)(argv)); break; + case 663: flag=_wrap_SpatialInertia_asMatrix(resc,resv,argc,(mxArray**)(argv)); break; + case 664: flag=_wrap_SpatialInertia_applyInverse(resc,resv,argc,(mxArray**)(argv)); break; + case 665: flag=_wrap_SpatialInertia_getInverse(resc,resv,argc,(mxArray**)(argv)); break; + case 666: flag=_wrap_SpatialInertia_plus(resc,resv,argc,(mxArray**)(argv)); break; + case 667: flag=_wrap_SpatialInertia_mtimes(resc,resv,argc,(mxArray**)(argv)); break; + case 668: flag=_wrap_SpatialInertia_biasWrench(resc,resv,argc,(mxArray**)(argv)); break; + case 669: flag=_wrap_SpatialInertia_biasWrenchDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 670: flag=_wrap_SpatialInertia_Zero(resc,resv,argc,(mxArray**)(argv)); break; + case 671: flag=_wrap_SpatialInertia_asVector(resc,resv,argc,(mxArray**)(argv)); break; + case 672: flag=_wrap_SpatialInertia_fromVector(resc,resv,argc,(mxArray**)(argv)); break; + case 673: flag=_wrap_SpatialInertia_isPhysicallyConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 674: flag=_wrap_SpatialInertia_momentumRegressor(resc,resv,argc,(mxArray**)(argv)); break; + case 675: flag=_wrap_SpatialInertia_momentumDerivativeRegressor(resc,resv,argc,(mxArray**)(argv)); break; + case 676: flag=_wrap_SpatialInertia_momentumDerivativeSlotineLiRegressor(resc,resv,argc,(mxArray**)(argv)); break; + case 677: flag=_wrap_delete_SpatialInertia(resc,resv,argc,(mxArray**)(argv)); break; + case 678: flag=_wrap_new_ArticulatedBodyInertia(resc,resv,argc,(mxArray**)(argv)); break; + case 679: flag=_wrap_ArticulatedBodyInertia_getLinearLinearSubmatrix(resc,resv,argc,(mxArray**)(argv)); break; + case 680: flag=_wrap_ArticulatedBodyInertia_getLinearAngularSubmatrix(resc,resv,argc,(mxArray**)(argv)); break; + case 681: flag=_wrap_ArticulatedBodyInertia_getAngularAngularSubmatrix(resc,resv,argc,(mxArray**)(argv)); break; + case 682: flag=_wrap_ArticulatedBodyInertia_combine(resc,resv,argc,(mxArray**)(argv)); break; + case 683: flag=_wrap_ArticulatedBodyInertia_applyInverse(resc,resv,argc,(mxArray**)(argv)); break; + case 684: flag=_wrap_ArticulatedBodyInertia_asMatrix(resc,resv,argc,(mxArray**)(argv)); break; + case 685: flag=_wrap_ArticulatedBodyInertia_getInverse(resc,resv,argc,(mxArray**)(argv)); break; + case 686: flag=_wrap_ArticulatedBodyInertia_plus(resc,resv,argc,(mxArray**)(argv)); break; + case 687: flag=_wrap_ArticulatedBodyInertia_minus(resc,resv,argc,(mxArray**)(argv)); break; + case 688: flag=_wrap_ArticulatedBodyInertia_mtimes(resc,resv,argc,(mxArray**)(argv)); break; + case 689: flag=_wrap_ArticulatedBodyInertia_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 690: flag=_wrap_ArticulatedBodyInertia_ABADyadHelper(resc,resv,argc,(mxArray**)(argv)); break; + case 691: flag=_wrap_ArticulatedBodyInertia_ABADyadHelperLin(resc,resv,argc,(mxArray**)(argv)); break; + case 692: flag=_wrap_delete_ArticulatedBodyInertia(resc,resv,argc,(mxArray**)(argv)); break; + case 693: flag=_wrap_RigidBodyInertiaNonLinearParametrization_mass_get(resc,resv,argc,(mxArray**)(argv)); break; + case 694: flag=_wrap_RigidBodyInertiaNonLinearParametrization_mass_set(resc,resv,argc,(mxArray**)(argv)); break; + case 695: flag=_wrap_RigidBodyInertiaNonLinearParametrization_com_get(resc,resv,argc,(mxArray**)(argv)); break; + case 696: flag=_wrap_RigidBodyInertiaNonLinearParametrization_com_set(resc,resv,argc,(mxArray**)(argv)); break; + case 697: flag=_wrap_RigidBodyInertiaNonLinearParametrization_link_R_centroidal_get(resc,resv,argc,(mxArray**)(argv)); break; + case 698: flag=_wrap_RigidBodyInertiaNonLinearParametrization_link_R_centroidal_set(resc,resv,argc,(mxArray**)(argv)); break; + case 699: flag=_wrap_RigidBodyInertiaNonLinearParametrization_centralSecondMomentOfMass_get(resc,resv,argc,(mxArray**)(argv)); break; + case 700: flag=_wrap_RigidBodyInertiaNonLinearParametrization_centralSecondMomentOfMass_set(resc,resv,argc,(mxArray**)(argv)); break; + case 701: flag=_wrap_RigidBodyInertiaNonLinearParametrization_getLinkCentroidalTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 702: flag=_wrap_RigidBodyInertiaNonLinearParametrization_fromRigidBodyInertia(resc,resv,argc,(mxArray**)(argv)); break; + case 703: flag=_wrap_RigidBodyInertiaNonLinearParametrization_fromInertialParameters(resc,resv,argc,(mxArray**)(argv)); break; + case 704: flag=_wrap_RigidBodyInertiaNonLinearParametrization_toRigidBodyInertia(resc,resv,argc,(mxArray**)(argv)); break; + case 705: flag=_wrap_RigidBodyInertiaNonLinearParametrization_isPhysicallyConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 706: flag=_wrap_RigidBodyInertiaNonLinearParametrization_asVectorWithRotationAsVec(resc,resv,argc,(mxArray**)(argv)); break; + case 707: flag=_wrap_RigidBodyInertiaNonLinearParametrization_fromVectorWithRotationAsVec(resc,resv,argc,(mxArray**)(argv)); break; + case 708: flag=_wrap_RigidBodyInertiaNonLinearParametrization_getGradientWithRotationAsVec(resc,resv,argc,(mxArray**)(argv)); break; + case 709: flag=_wrap_new_RigidBodyInertiaNonLinearParametrization(resc,resv,argc,(mxArray**)(argv)); break; + case 710: flag=_wrap_delete_RigidBodyInertiaNonLinearParametrization(resc,resv,argc,(mxArray**)(argv)); break; + case 711: flag=_wrap_new_RotationRaw(resc,resv,argc,(mxArray**)(argv)); break; + case 712: flag=_wrap_RotationRaw_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 713: flag=_wrap_RotationRaw_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 714: flag=_wrap_RotationRaw_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 715: flag=_wrap_RotationRaw_inverse2(resc,resv,argc,(mxArray**)(argv)); break; + case 716: flag=_wrap_RotationRaw_changeCoordFrameOf(resc,resv,argc,(mxArray**)(argv)); break; + case 717: flag=_wrap_RotationRaw_RotX(resc,resv,argc,(mxArray**)(argv)); break; + case 718: flag=_wrap_RotationRaw_RotY(resc,resv,argc,(mxArray**)(argv)); break; + case 719: flag=_wrap_RotationRaw_RotZ(resc,resv,argc,(mxArray**)(argv)); break; + case 720: flag=_wrap_RotationRaw_RPY(resc,resv,argc,(mxArray**)(argv)); break; + case 721: flag=_wrap_RotationRaw_Identity(resc,resv,argc,(mxArray**)(argv)); break; + case 722: flag=_wrap_RotationRaw_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 723: flag=_wrap_RotationRaw_display(resc,resv,argc,(mxArray**)(argv)); break; + case 724: flag=_wrap_delete_RotationRaw(resc,resv,argc,(mxArray**)(argv)); break; + case 725: flag=_wrap_new_RotationSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 726: flag=_wrap_RotationSemantics_setToUnknown(resc,resv,argc,(mxArray**)(argv)); break; + case 727: flag=_wrap_RotationSemantics_getOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 728: flag=_wrap_RotationSemantics_getBody(resc,resv,argc,(mxArray**)(argv)); break; + case 729: flag=_wrap_RotationSemantics_getReferenceOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 730: flag=_wrap_RotationSemantics_getRefBody(resc,resv,argc,(mxArray**)(argv)); break; + case 731: flag=_wrap_RotationSemantics_getCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 732: flag=_wrap_RotationSemantics_setOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 733: flag=_wrap_RotationSemantics_setBody(resc,resv,argc,(mxArray**)(argv)); break; + case 734: flag=_wrap_RotationSemantics_setReferenceOrientationFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 735: flag=_wrap_RotationSemantics_setRefBody(resc,resv,argc,(mxArray**)(argv)); break; + case 736: flag=_wrap_RotationSemantics_setCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 737: flag=_wrap_RotationSemantics_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 738: flag=_wrap_RotationSemantics_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 739: flag=_wrap_RotationSemantics_changeCoordFrameOf(resc,resv,argc,(mxArray**)(argv)); break; + case 740: flag=_wrap_RotationSemantics_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 741: flag=_wrap_RotationSemantics_inverse2(resc,resv,argc,(mxArray**)(argv)); break; + case 742: flag=_wrap_RotationSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 743: flag=_wrap_RotationSemantics_display(resc,resv,argc,(mxArray**)(argv)); break; + case 744: flag=_wrap_delete_RotationSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 745: flag=_wrap_new_Rotation(resc,resv,argc,(mxArray**)(argv)); break; + case 746: flag=_wrap_Rotation_getSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 747: flag=_wrap_Rotation_changeOrientFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 748: flag=_wrap_Rotation_changeRefOrientFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 749: flag=_wrap_Rotation_changeCoordinateFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 750: flag=_wrap_Rotation_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 751: flag=_wrap_Rotation_inverse2(resc,resv,argc,(mxArray**)(argv)); break; + case 752: flag=_wrap_Rotation_changeCoordFrameOf(resc,resv,argc,(mxArray**)(argv)); break; + case 753: flag=_wrap_Rotation_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 754: flag=_wrap_Rotation_mtimes(resc,resv,argc,(mxArray**)(argv)); break; + case 755: flag=_wrap_Rotation_log(resc,resv,argc,(mxArray**)(argv)); break; + case 756: flag=_wrap_Rotation_fromQuaternion(resc,resv,argc,(mxArray**)(argv)); break; + case 757: flag=_wrap_Rotation_getRPY(resc,resv,argc,(mxArray**)(argv)); break; + case 758: flag=_wrap_Rotation_asRPY(resc,resv,argc,(mxArray**)(argv)); break; + case 759: flag=_wrap_Rotation_getQuaternion(resc,resv,argc,(mxArray**)(argv)); break; + case 760: flag=_wrap_Rotation_asQuaternion(resc,resv,argc,(mxArray**)(argv)); break; + case 761: flag=_wrap_Rotation_RotX(resc,resv,argc,(mxArray**)(argv)); break; + case 762: flag=_wrap_Rotation_RotY(resc,resv,argc,(mxArray**)(argv)); break; + case 763: flag=_wrap_Rotation_RotZ(resc,resv,argc,(mxArray**)(argv)); break; + case 764: flag=_wrap_Rotation_RotAxis(resc,resv,argc,(mxArray**)(argv)); break; + case 765: flag=_wrap_Rotation_RotAxisDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 766: flag=_wrap_Rotation_RPY(resc,resv,argc,(mxArray**)(argv)); break; + case 767: flag=_wrap_Rotation_RPYRightTrivializedDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 768: flag=_wrap_Rotation_RPYRightTrivializedDerivativeInverse(resc,resv,argc,(mxArray**)(argv)); break; + case 769: flag=_wrap_Rotation_QuaternionRightTrivializedDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 770: flag=_wrap_Rotation_QuaternionRightTrivializedDerivativeInverse(resc,resv,argc,(mxArray**)(argv)); break; + case 771: flag=_wrap_Rotation_Identity(resc,resv,argc,(mxArray**)(argv)); break; + case 772: flag=_wrap_Rotation_RotationFromQuaternion(resc,resv,argc,(mxArray**)(argv)); break; + case 773: flag=_wrap_Rotation_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 774: flag=_wrap_Rotation_display(resc,resv,argc,(mxArray**)(argv)); break; + case 775: flag=_wrap_delete_Rotation(resc,resv,argc,(mxArray**)(argv)); break; + case 776: flag=_wrap_new_TransformSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 777: flag=_wrap_TransformSemantics_getRotationSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 778: flag=_wrap_TransformSemantics_getPositionSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 779: flag=_wrap_TransformSemantics_setRotationSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 780: flag=_wrap_TransformSemantics_setPositionSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 781: flag=_wrap_TransformSemantics_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 782: flag=_wrap_TransformSemantics_display(resc,resv,argc,(mxArray**)(argv)); break; + case 783: flag=_wrap_delete_TransformSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 784: flag=_wrap_new_Transform(resc,resv,argc,(mxArray**)(argv)); break; + case 785: flag=_wrap_Transform_fromHomogeneousTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 786: flag=_wrap_Transform_getSemantics(resc,resv,argc,(mxArray**)(argv)); break; + case 787: flag=_wrap_Transform_getRotation(resc,resv,argc,(mxArray**)(argv)); break; + case 788: flag=_wrap_Transform_getPosition(resc,resv,argc,(mxArray**)(argv)); break; + case 789: flag=_wrap_Transform_setRotation(resc,resv,argc,(mxArray**)(argv)); break; + case 790: flag=_wrap_Transform_setPosition(resc,resv,argc,(mxArray**)(argv)); break; + case 791: flag=_wrap_Transform_compose(resc,resv,argc,(mxArray**)(argv)); break; + case 792: flag=_wrap_Transform_inverse2(resc,resv,argc,(mxArray**)(argv)); break; + case 793: flag=_wrap_Transform_inverse(resc,resv,argc,(mxArray**)(argv)); break; + case 794: flag=_wrap_Transform_mtimes(resc,resv,argc,(mxArray**)(argv)); break; + case 795: flag=_wrap_Transform_Identity(resc,resv,argc,(mxArray**)(argv)); break; + case 796: flag=_wrap_Transform_asHomogeneousTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 797: flag=_wrap_Transform_asAdjointTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 798: flag=_wrap_Transform_asAdjointTransformWrench(resc,resv,argc,(mxArray**)(argv)); break; + case 799: flag=_wrap_Transform_log(resc,resv,argc,(mxArray**)(argv)); break; + case 800: flag=_wrap_Transform_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 801: flag=_wrap_Transform_display(resc,resv,argc,(mxArray**)(argv)); break; + case 802: flag=_wrap_delete_Transform(resc,resv,argc,(mxArray**)(argv)); break; + case 803: flag=_wrap_new_TransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 804: flag=_wrap_delete_TransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 805: flag=_wrap_TransformDerivative_getRotationDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 806: flag=_wrap_TransformDerivative_getPositionDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 807: flag=_wrap_TransformDerivative_setRotationDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 808: flag=_wrap_TransformDerivative_setPositionDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 809: flag=_wrap_TransformDerivative_Zero(resc,resv,argc,(mxArray**)(argv)); break; + case 810: flag=_wrap_TransformDerivative_asHomogeneousTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 811: flag=_wrap_TransformDerivative_asAdjointTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 812: flag=_wrap_TransformDerivative_asAdjointTransformWrenchDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 813: flag=_wrap_TransformDerivative_mtimes(resc,resv,argc,(mxArray**)(argv)); break; + case 814: flag=_wrap_TransformDerivative_derivativeOfInverse(resc,resv,argc,(mxArray**)(argv)); break; + case 815: flag=_wrap_TransformDerivative_transform(resc,resv,argc,(mxArray**)(argv)); break; + case 816: flag=_wrap_LINK_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break; + case 817: flag=_wrap_LINK_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break; + case 818: flag=_wrap_LINK_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break; + case 819: flag=_wrap_LINK_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break; + case 820: flag=_wrap_JOINT_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break; + case 821: flag=_wrap_JOINT_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break; + case 822: flag=_wrap_JOINT_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break; + case 823: flag=_wrap_JOINT_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break; + case 824: flag=_wrap_DOF_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break; + case 825: flag=_wrap_DOF_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break; + case 826: flag=_wrap_DOF_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break; + case 827: flag=_wrap_DOF_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break; + case 828: flag=_wrap_FRAME_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break; + case 829: flag=_wrap_FRAME_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break; + case 830: flag=_wrap_FRAME_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break; + case 831: flag=_wrap_FRAME_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break; + case 832: flag=_wrap_TRAVERSAL_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break; + case 833: flag=_wrap_TRAVERSAL_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break; + case 834: flag=_wrap_new_LinkPositions(resc,resv,argc,(mxArray**)(argv)); break; + case 835: flag=_wrap_LinkPositions_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 836: flag=_wrap_LinkPositions_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 837: flag=_wrap_LinkPositions_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 838: flag=_wrap_LinkPositions_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 839: flag=_wrap_LinkPositions_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 840: flag=_wrap_delete_LinkPositions(resc,resv,argc,(mxArray**)(argv)); break; + case 841: flag=_wrap_new_LinkWrenches(resc,resv,argc,(mxArray**)(argv)); break; + case 842: flag=_wrap_LinkWrenches_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 843: flag=_wrap_LinkWrenches_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 844: flag=_wrap_LinkWrenches_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 845: flag=_wrap_LinkWrenches_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 846: flag=_wrap_LinkWrenches_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 847: flag=_wrap_LinkWrenches_zero(resc,resv,argc,(mxArray**)(argv)); break; + case 848: flag=_wrap_delete_LinkWrenches(resc,resv,argc,(mxArray**)(argv)); break; + case 849: flag=_wrap_new_LinkInertias(resc,resv,argc,(mxArray**)(argv)); break; + case 850: flag=_wrap_LinkInertias_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 851: flag=_wrap_LinkInertias_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 852: flag=_wrap_LinkInertias_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 853: flag=_wrap_delete_LinkInertias(resc,resv,argc,(mxArray**)(argv)); break; + case 854: flag=_wrap_new_LinkArticulatedBodyInertias(resc,resv,argc,(mxArray**)(argv)); break; + case 855: flag=_wrap_LinkArticulatedBodyInertias_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 856: flag=_wrap_LinkArticulatedBodyInertias_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 857: flag=_wrap_LinkArticulatedBodyInertias_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 858: flag=_wrap_delete_LinkArticulatedBodyInertias(resc,resv,argc,(mxArray**)(argv)); break; + case 859: flag=_wrap_new_LinkVelArray(resc,resv,argc,(mxArray**)(argv)); break; + case 860: flag=_wrap_LinkVelArray_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 861: flag=_wrap_LinkVelArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 862: flag=_wrap_LinkVelArray_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 863: flag=_wrap_LinkVelArray_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 864: flag=_wrap_LinkVelArray_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 865: flag=_wrap_delete_LinkVelArray(resc,resv,argc,(mxArray**)(argv)); break; + case 866: flag=_wrap_new_LinkAccArray(resc,resv,argc,(mxArray**)(argv)); break; + case 867: flag=_wrap_LinkAccArray_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 868: flag=_wrap_LinkAccArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 869: flag=_wrap_LinkAccArray_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 870: flag=_wrap_LinkAccArray_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 871: flag=_wrap_LinkAccArray_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 872: flag=_wrap_delete_LinkAccArray(resc,resv,argc,(mxArray**)(argv)); break; + case 873: flag=_wrap_new_Link(resc,resv,argc,(mxArray**)(argv)); break; + case 874: flag=_wrap_Link_inertia(resc,resv,argc,(mxArray**)(argv)); break; + case 875: flag=_wrap_Link_setInertia(resc,resv,argc,(mxArray**)(argv)); break; + case 876: flag=_wrap_Link_getInertia(resc,resv,argc,(mxArray**)(argv)); break; + case 877: flag=_wrap_Link_setIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 878: flag=_wrap_Link_getIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 879: flag=_wrap_delete_Link(resc,resv,argc,(mxArray**)(argv)); break; + case 880: flag=_wrap_delete_IJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 881: flag=_wrap_IJoint_clone(resc,resv,argc,(mxArray**)(argv)); break; + case 882: flag=_wrap_IJoint_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; + case 883: flag=_wrap_IJoint_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; + case 884: flag=_wrap_IJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 885: flag=_wrap_IJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 886: flag=_wrap_IJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break; + case 887: flag=_wrap_IJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break; + case 888: flag=_wrap_IJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 889: flag=_wrap_IJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 890: flag=_wrap_IJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 891: flag=_wrap_IJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break; + case 892: flag=_wrap_IJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 893: flag=_wrap_IJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 894: flag=_wrap_IJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break; + case 895: flag=_wrap_IJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 896: flag=_wrap_IJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 897: flag=_wrap_IJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break; + case 898: flag=_wrap_IJoint_setIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 899: flag=_wrap_IJoint_getIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 900: flag=_wrap_IJoint_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 901: flag=_wrap_IJoint_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 902: flag=_wrap_IJoint_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 903: flag=_wrap_IJoint_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 904: flag=_wrap_IJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 905: flag=_wrap_IJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 906: flag=_wrap_IJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 907: flag=_wrap_IJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break; + case 908: flag=_wrap_IJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break; + case 909: flag=_wrap_IJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 910: flag=_wrap_IJoint_isRevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 911: flag=_wrap_IJoint_isFixedJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 912: flag=_wrap_IJoint_asRevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 913: flag=_wrap_IJoint_asFixedJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 914: flag=_wrap_new_FixedJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 915: flag=_wrap_delete_FixedJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 916: flag=_wrap_FixedJoint_clone(resc,resv,argc,(mxArray**)(argv)); break; + case 917: flag=_wrap_FixedJoint_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; + case 918: flag=_wrap_FixedJoint_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; + case 919: flag=_wrap_FixedJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 920: flag=_wrap_FixedJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 921: flag=_wrap_FixedJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break; + case 922: flag=_wrap_FixedJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break; + case 923: flag=_wrap_FixedJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 924: flag=_wrap_FixedJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 925: flag=_wrap_FixedJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 926: flag=_wrap_FixedJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break; + case 927: flag=_wrap_FixedJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 928: flag=_wrap_FixedJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 929: flag=_wrap_FixedJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break; + case 930: flag=_wrap_FixedJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 931: flag=_wrap_FixedJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 932: flag=_wrap_FixedJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break; + case 933: flag=_wrap_FixedJoint_setIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 934: flag=_wrap_FixedJoint_getIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 935: flag=_wrap_FixedJoint_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 936: flag=_wrap_FixedJoint_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 937: flag=_wrap_FixedJoint_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 938: flag=_wrap_FixedJoint_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 939: flag=_wrap_FixedJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 940: flag=_wrap_FixedJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 941: flag=_wrap_FixedJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 942: flag=_wrap_FixedJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break; + case 943: flag=_wrap_FixedJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break; + case 944: flag=_wrap_FixedJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 945: flag=_wrap_delete_MovableJointImpl1(resc,resv,argc,(mxArray**)(argv)); break; + case 946: flag=_wrap_MovableJointImpl1_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; + case 947: flag=_wrap_MovableJointImpl1_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; + case 948: flag=_wrap_MovableJointImpl1_setIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 949: flag=_wrap_MovableJointImpl1_getIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 950: flag=_wrap_MovableJointImpl1_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 951: flag=_wrap_MovableJointImpl1_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 952: flag=_wrap_MovableJointImpl1_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 953: flag=_wrap_MovableJointImpl1_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 954: flag=_wrap_delete_MovableJointImpl2(resc,resv,argc,(mxArray**)(argv)); break; + case 955: flag=_wrap_MovableJointImpl2_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; + case 956: flag=_wrap_MovableJointImpl2_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; + case 957: flag=_wrap_MovableJointImpl2_setIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 958: flag=_wrap_MovableJointImpl2_getIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 959: flag=_wrap_MovableJointImpl2_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 960: flag=_wrap_MovableJointImpl2_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 961: flag=_wrap_MovableJointImpl2_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 962: flag=_wrap_MovableJointImpl2_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 963: flag=_wrap_delete_MovableJointImpl3(resc,resv,argc,(mxArray**)(argv)); break; + case 964: flag=_wrap_MovableJointImpl3_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; + case 965: flag=_wrap_MovableJointImpl3_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; + case 966: flag=_wrap_MovableJointImpl3_setIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 967: flag=_wrap_MovableJointImpl3_getIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 968: flag=_wrap_MovableJointImpl3_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 969: flag=_wrap_MovableJointImpl3_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 970: flag=_wrap_MovableJointImpl3_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 971: flag=_wrap_MovableJointImpl3_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 972: flag=_wrap_delete_MovableJointImpl4(resc,resv,argc,(mxArray**)(argv)); break; + case 973: flag=_wrap_MovableJointImpl4_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; + case 974: flag=_wrap_MovableJointImpl4_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; + case 975: flag=_wrap_MovableJointImpl4_setIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 976: flag=_wrap_MovableJointImpl4_getIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 977: flag=_wrap_MovableJointImpl4_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 978: flag=_wrap_MovableJointImpl4_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 979: flag=_wrap_MovableJointImpl4_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 980: flag=_wrap_MovableJointImpl4_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 981: flag=_wrap_delete_MovableJointImpl5(resc,resv,argc,(mxArray**)(argv)); break; + case 982: flag=_wrap_MovableJointImpl5_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; + case 983: flag=_wrap_MovableJointImpl5_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; + case 984: flag=_wrap_MovableJointImpl5_setIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 985: flag=_wrap_MovableJointImpl5_getIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 986: flag=_wrap_MovableJointImpl5_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 987: flag=_wrap_MovableJointImpl5_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 988: flag=_wrap_MovableJointImpl5_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 989: flag=_wrap_MovableJointImpl5_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 990: flag=_wrap_delete_MovableJointImpl6(resc,resv,argc,(mxArray**)(argv)); break; + case 991: flag=_wrap_MovableJointImpl6_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; + case 992: flag=_wrap_MovableJointImpl6_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; + case 993: flag=_wrap_MovableJointImpl6_setIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 994: flag=_wrap_MovableJointImpl6_getIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 995: flag=_wrap_MovableJointImpl6_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 996: flag=_wrap_MovableJointImpl6_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 997: flag=_wrap_MovableJointImpl6_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 998: flag=_wrap_MovableJointImpl6_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break; + case 999: flag=_wrap_new_RevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 1000: flag=_wrap_delete_RevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 1001: flag=_wrap_RevoluteJoint_clone(resc,resv,argc,(mxArray**)(argv)); break; + case 1002: flag=_wrap_RevoluteJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 1003: flag=_wrap_RevoluteJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1004: flag=_wrap_RevoluteJoint_setAxis(resc,resv,argc,(mxArray**)(argv)); break; + case 1005: flag=_wrap_RevoluteJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1006: flag=_wrap_RevoluteJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1007: flag=_wrap_RevoluteJoint_getAxis(resc,resv,argc,(mxArray**)(argv)); break; + case 1008: flag=_wrap_RevoluteJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1009: flag=_wrap_RevoluteJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1010: flag=_wrap_RevoluteJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 1011: flag=_wrap_RevoluteJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break; + case 1012: flag=_wrap_RevoluteJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 1013: flag=_wrap_RevoluteJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break; + case 1014: flag=_wrap_RevoluteJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 1015: flag=_wrap_RevoluteJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 1016: flag=_wrap_RevoluteJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 1017: flag=_wrap_RevoluteJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break; + case 1018: flag=_wrap_RevoluteJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 1019: flag=_wrap_RevoluteJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 1020: flag=_wrap_RevoluteJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 1021: flag=_wrap_RevoluteJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break; + case 1022: flag=_wrap_RevoluteJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break; + case 1023: flag=_wrap_RevoluteJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 1024: flag=_wrap_new_PrismaticJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 1025: flag=_wrap_delete_PrismaticJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 1026: flag=_wrap_PrismaticJoint_clone(resc,resv,argc,(mxArray**)(argv)); break; + case 1027: flag=_wrap_PrismaticJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 1028: flag=_wrap_PrismaticJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1029: flag=_wrap_PrismaticJoint_setAxis(resc,resv,argc,(mxArray**)(argv)); break; + case 1030: flag=_wrap_PrismaticJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1031: flag=_wrap_PrismaticJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1032: flag=_wrap_PrismaticJoint_getAxis(resc,resv,argc,(mxArray**)(argv)); break; + case 1033: flag=_wrap_PrismaticJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1034: flag=_wrap_PrismaticJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1035: flag=_wrap_PrismaticJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break; + case 1036: flag=_wrap_PrismaticJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break; + case 1037: flag=_wrap_PrismaticJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 1038: flag=_wrap_PrismaticJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break; + case 1039: flag=_wrap_PrismaticJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 1040: flag=_wrap_PrismaticJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 1041: flag=_wrap_PrismaticJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 1042: flag=_wrap_PrismaticJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break; + case 1043: flag=_wrap_PrismaticJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 1044: flag=_wrap_PrismaticJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 1045: flag=_wrap_PrismaticJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 1046: flag=_wrap_PrismaticJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break; + case 1047: flag=_wrap_PrismaticJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break; + case 1048: flag=_wrap_PrismaticJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 1049: flag=_wrap_new_Traversal(resc,resv,argc,(mxArray**)(argv)); break; + case 1050: flag=_wrap_delete_Traversal(resc,resv,argc,(mxArray**)(argv)); break; + case 1051: flag=_wrap_Traversal_getNrOfVisitedLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 1052: flag=_wrap_Traversal_getLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1053: flag=_wrap_Traversal_getBaseLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1054: flag=_wrap_Traversal_getParentLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1055: flag=_wrap_Traversal_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 1056: flag=_wrap_Traversal_getParentLinkFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1057: flag=_wrap_Traversal_getParentJointFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1058: flag=_wrap_Traversal_getTraversalIndexFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1059: flag=_wrap_Traversal_reset(resc,resv,argc,(mxArray**)(argv)); break; + case 1060: flag=_wrap_Traversal_addTraversalBase(resc,resv,argc,(mxArray**)(argv)); break; + case 1061: flag=_wrap_Traversal_addTraversalElement(resc,resv,argc,(mxArray**)(argv)); break; + case 1062: flag=_wrap_Traversal_isParentOf(resc,resv,argc,(mxArray**)(argv)); break; + case 1063: flag=_wrap_Traversal_getChildLinkIndexFromJointIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1064: flag=_wrap_Traversal_getParentLinkIndexFromJointIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1065: flag=_wrap_Traversal_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 1066: flag=_wrap_delete_SolidShape(resc,resv,argc,(mxArray**)(argv)); break; + case 1067: flag=_wrap_SolidShape_clone(resc,resv,argc,(mxArray**)(argv)); break; + case 1068: flag=_wrap_SolidShape_name_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1069: flag=_wrap_SolidShape_name_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1070: flag=_wrap_SolidShape_link_H_geometry_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1071: flag=_wrap_SolidShape_link_H_geometry_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1072: flag=_wrap_SolidShape_material_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1073: flag=_wrap_SolidShape_material_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1074: flag=_wrap_SolidShape_isSphere(resc,resv,argc,(mxArray**)(argv)); break; + case 1075: flag=_wrap_SolidShape_isBox(resc,resv,argc,(mxArray**)(argv)); break; + case 1076: flag=_wrap_SolidShape_isCylinder(resc,resv,argc,(mxArray**)(argv)); break; + case 1077: flag=_wrap_SolidShape_isExternalMesh(resc,resv,argc,(mxArray**)(argv)); break; + case 1078: flag=_wrap_SolidShape_asSphere(resc,resv,argc,(mxArray**)(argv)); break; + case 1079: flag=_wrap_SolidShape_asBox(resc,resv,argc,(mxArray**)(argv)); break; + case 1080: flag=_wrap_SolidShape_asCylinder(resc,resv,argc,(mxArray**)(argv)); break; + case 1081: flag=_wrap_SolidShape_asExternalMesh(resc,resv,argc,(mxArray**)(argv)); break; + case 1082: flag=_wrap_delete_Sphere(resc,resv,argc,(mxArray**)(argv)); break; + case 1083: flag=_wrap_Sphere_clone(resc,resv,argc,(mxArray**)(argv)); break; + case 1084: flag=_wrap_Sphere_radius_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1085: flag=_wrap_Sphere_radius_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1086: flag=_wrap_new_Sphere(resc,resv,argc,(mxArray**)(argv)); break; + case 1087: flag=_wrap_delete_Box(resc,resv,argc,(mxArray**)(argv)); break; + case 1088: flag=_wrap_Box_clone(resc,resv,argc,(mxArray**)(argv)); break; + case 1089: flag=_wrap_Box_x_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1090: flag=_wrap_Box_x_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1091: flag=_wrap_Box_y_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1092: flag=_wrap_Box_y_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1093: flag=_wrap_Box_z_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1094: flag=_wrap_Box_z_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1095: flag=_wrap_new_Box(resc,resv,argc,(mxArray**)(argv)); break; + case 1096: flag=_wrap_delete_Cylinder(resc,resv,argc,(mxArray**)(argv)); break; + case 1097: flag=_wrap_Cylinder_clone(resc,resv,argc,(mxArray**)(argv)); break; + case 1098: flag=_wrap_Cylinder_length_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1099: flag=_wrap_Cylinder_length_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1100: flag=_wrap_Cylinder_radius_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1101: flag=_wrap_Cylinder_radius_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1102: flag=_wrap_new_Cylinder(resc,resv,argc,(mxArray**)(argv)); break; + case 1103: flag=_wrap_delete_ExternalMesh(resc,resv,argc,(mxArray**)(argv)); break; + case 1104: flag=_wrap_ExternalMesh_clone(resc,resv,argc,(mxArray**)(argv)); break; + case 1105: flag=_wrap_ExternalMesh_filename_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1106: flag=_wrap_ExternalMesh_filename_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1107: flag=_wrap_ExternalMesh_scale_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1108: flag=_wrap_ExternalMesh_scale_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1109: flag=_wrap_new_ExternalMesh(resc,resv,argc,(mxArray**)(argv)); break; + case 1110: flag=_wrap_new_ModelSolidShapes(resc,resv,argc,(mxArray**)(argv)); break; + case 1111: flag=_wrap_ModelSolidShapes_clear(resc,resv,argc,(mxArray**)(argv)); break; + case 1112: flag=_wrap_delete_ModelSolidShapes(resc,resv,argc,(mxArray**)(argv)); break; + case 1113: flag=_wrap_ModelSolidShapes_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1114: flag=_wrap_ModelSolidShapes_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 1115: flag=_wrap_ModelSolidShapes_linkSolidShapes_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1116: flag=_wrap_ModelSolidShapes_linkSolidShapes_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1117: flag=_wrap_Neighbor_neighborLink_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1118: flag=_wrap_Neighbor_neighborLink_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1119: flag=_wrap_Neighbor_neighborJoint_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1120: flag=_wrap_Neighbor_neighborJoint_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1121: flag=_wrap_new_Neighbor(resc,resv,argc,(mxArray**)(argv)); break; + case 1122: flag=_wrap_delete_Neighbor(resc,resv,argc,(mxArray**)(argv)); break; + case 1123: flag=_wrap_new_Model(resc,resv,argc,(mxArray**)(argv)); break; + case 1124: flag=_wrap_Model_copy(resc,resv,argc,(mxArray**)(argv)); break; + case 1125: flag=_wrap_delete_Model(resc,resv,argc,(mxArray**)(argv)); break; + case 1126: flag=_wrap_Model_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 1127: flag=_wrap_Model_getLinkName(resc,resv,argc,(mxArray**)(argv)); break; + case 1128: flag=_wrap_Model_getLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1129: flag=_wrap_Model_isValidLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1130: flag=_wrap_Model_getLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1131: flag=_wrap_Model_addLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1132: flag=_wrap_Model_getNrOfJoints(resc,resv,argc,(mxArray**)(argv)); break; + case 1133: flag=_wrap_Model_getJointName(resc,resv,argc,(mxArray**)(argv)); break; + case 1134: flag=_wrap_Model_getJointIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1135: flag=_wrap_Model_getJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 1136: flag=_wrap_Model_isValidJointIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1137: flag=_wrap_Model_isLinkNameUsed(resc,resv,argc,(mxArray**)(argv)); break; + case 1138: flag=_wrap_Model_isJointNameUsed(resc,resv,argc,(mxArray**)(argv)); break; + case 1139: flag=_wrap_Model_isFrameNameUsed(resc,resv,argc,(mxArray**)(argv)); break; + case 1140: flag=_wrap_Model_addJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 1141: flag=_wrap_Model_addJointAndLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1142: flag=_wrap_Model_insertLinkToExistingJointAndAddJointForDisplacedLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1143: flag=_wrap_Model_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; + case 1144: flag=_wrap_Model_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; + case 1145: flag=_wrap_Model_getNrOfFrames(resc,resv,argc,(mxArray**)(argv)); break; + case 1146: flag=_wrap_Model_addAdditionalFrameToLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1147: flag=_wrap_Model_getFrameName(resc,resv,argc,(mxArray**)(argv)); break; + case 1148: flag=_wrap_Model_getFrameIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1149: flag=_wrap_Model_isValidFrameIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1150: flag=_wrap_Model_getFrameTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1151: flag=_wrap_Model_getFrameLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1152: flag=_wrap_Model_getNrOfNeighbors(resc,resv,argc,(mxArray**)(argv)); break; + case 1153: flag=_wrap_Model_getNeighbor(resc,resv,argc,(mxArray**)(argv)); break; + case 1154: flag=_wrap_Model_setDefaultBaseLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1155: flag=_wrap_Model_getDefaultBaseLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1156: flag=_wrap_Model_computeFullTreeTraversal(resc,resv,argc,(mxArray**)(argv)); break; + case 1157: flag=_wrap_Model_getInertialParameters(resc,resv,argc,(mxArray**)(argv)); break; + case 1158: flag=_wrap_Model_updateInertialParameters(resc,resv,argc,(mxArray**)(argv)); break; + case 1159: flag=_wrap_Model_visualSolidShapes(resc,resv,argc,(mxArray**)(argv)); break; + case 1160: flag=_wrap_Model_collisionSolidShapes(resc,resv,argc,(mxArray**)(argv)); break; + case 1161: flag=_wrap_Model_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 1162: flag=_wrap_new_JointPosDoubleArray(resc,resv,argc,(mxArray**)(argv)); break; + case 1163: flag=_wrap_JointPosDoubleArray_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1164: flag=_wrap_JointPosDoubleArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 1165: flag=_wrap_delete_JointPosDoubleArray(resc,resv,argc,(mxArray**)(argv)); break; + case 1166: flag=_wrap_new_JointDOFsDoubleArray(resc,resv,argc,(mxArray**)(argv)); break; + case 1167: flag=_wrap_JointDOFsDoubleArray_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1168: flag=_wrap_JointDOFsDoubleArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 1169: flag=_wrap_delete_JointDOFsDoubleArray(resc,resv,argc,(mxArray**)(argv)); break; + case 1170: flag=_wrap_new_DOFSpatialForceArray(resc,resv,argc,(mxArray**)(argv)); break; + case 1171: flag=_wrap_DOFSpatialForceArray_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1172: flag=_wrap_DOFSpatialForceArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 1173: flag=_wrap_DOFSpatialForceArray_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 1174: flag=_wrap_delete_DOFSpatialForceArray(resc,resv,argc,(mxArray**)(argv)); break; + case 1175: flag=_wrap_new_DOFSpatialMotionArray(resc,resv,argc,(mxArray**)(argv)); break; + case 1176: flag=_wrap_DOFSpatialMotionArray_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1177: flag=_wrap_DOFSpatialMotionArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 1178: flag=_wrap_DOFSpatialMotionArray_paren(resc,resv,argc,(mxArray**)(argv)); break; + case 1179: flag=_wrap_delete_DOFSpatialMotionArray(resc,resv,argc,(mxArray**)(argv)); break; + case 1180: flag=_wrap_new_FrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break; + case 1181: flag=_wrap_FrameFreeFloatingJacobian_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1182: flag=_wrap_FrameFreeFloatingJacobian_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 1183: flag=_wrap_delete_FrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break; + case 1184: flag=_wrap_new_MomentumFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break; + case 1185: flag=_wrap_MomentumFreeFloatingJacobian_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1186: flag=_wrap_MomentumFreeFloatingJacobian_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 1187: flag=_wrap_delete_MomentumFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break; + case 1188: flag=_wrap_new_FreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break; + case 1189: flag=_wrap_FreeFloatingMassMatrix_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1190: flag=_wrap_delete_FreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break; + case 1191: flag=_wrap_new_FreeFloatingPos(resc,resv,argc,(mxArray**)(argv)); break; + case 1192: flag=_wrap_FreeFloatingPos_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1193: flag=_wrap_FreeFloatingPos_worldBasePos(resc,resv,argc,(mxArray**)(argv)); break; + case 1194: flag=_wrap_FreeFloatingPos_jointPos(resc,resv,argc,(mxArray**)(argv)); break; + case 1195: flag=_wrap_FreeFloatingPos_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break; + case 1196: flag=_wrap_delete_FreeFloatingPos(resc,resv,argc,(mxArray**)(argv)); break; + case 1197: flag=_wrap_new_FreeFloatingGeneralizedTorques(resc,resv,argc,(mxArray**)(argv)); break; + case 1198: flag=_wrap_FreeFloatingGeneralizedTorques_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1199: flag=_wrap_FreeFloatingGeneralizedTorques_baseWrench(resc,resv,argc,(mxArray**)(argv)); break; + case 1200: flag=_wrap_FreeFloatingGeneralizedTorques_jointTorques(resc,resv,argc,(mxArray**)(argv)); break; + case 1201: flag=_wrap_FreeFloatingGeneralizedTorques_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; + case 1202: flag=_wrap_delete_FreeFloatingGeneralizedTorques(resc,resv,argc,(mxArray**)(argv)); break; + case 1203: flag=_wrap_new_FreeFloatingVel(resc,resv,argc,(mxArray**)(argv)); break; + case 1204: flag=_wrap_FreeFloatingVel_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1205: flag=_wrap_FreeFloatingVel_baseVel(resc,resv,argc,(mxArray**)(argv)); break; + case 1206: flag=_wrap_FreeFloatingVel_jointVel(resc,resv,argc,(mxArray**)(argv)); break; + case 1207: flag=_wrap_FreeFloatingVel_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; + case 1208: flag=_wrap_delete_FreeFloatingVel(resc,resv,argc,(mxArray**)(argv)); break; + case 1209: flag=_wrap_new_FreeFloatingAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 1210: flag=_wrap_FreeFloatingAcc_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1211: flag=_wrap_FreeFloatingAcc_baseAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 1212: flag=_wrap_FreeFloatingAcc_jointAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 1213: flag=_wrap_FreeFloatingAcc_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break; + case 1214: flag=_wrap_delete_FreeFloatingAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 1215: flag=_wrap_ContactWrench_contactId(resc,resv,argc,(mxArray**)(argv)); break; + case 1216: flag=_wrap_ContactWrench_contactPoint(resc,resv,argc,(mxArray**)(argv)); break; + case 1217: flag=_wrap_ContactWrench_contactWrench(resc,resv,argc,(mxArray**)(argv)); break; + case 1218: flag=_wrap_new_ContactWrench(resc,resv,argc,(mxArray**)(argv)); break; + case 1219: flag=_wrap_delete_ContactWrench(resc,resv,argc,(mxArray**)(argv)); break; + case 1220: flag=_wrap_new_LinkContactWrenches(resc,resv,argc,(mxArray**)(argv)); break; + case 1221: flag=_wrap_LinkContactWrenches_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1222: flag=_wrap_LinkContactWrenches_getNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1223: flag=_wrap_LinkContactWrenches_setNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1224: flag=_wrap_LinkContactWrenches_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 1225: flag=_wrap_LinkContactWrenches_contactWrench(resc,resv,argc,(mxArray**)(argv)); break; + case 1226: flag=_wrap_LinkContactWrenches_computeNetWrenches(resc,resv,argc,(mxArray**)(argv)); break; + case 1227: flag=_wrap_LinkContactWrenches_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 1228: flag=_wrap_delete_LinkContactWrenches(resc,resv,argc,(mxArray**)(argv)); break; + case 1229: flag=_wrap_ForwardPositionKinematics(resc,resv,argc,(mxArray**)(argv)); break; + case 1230: flag=_wrap_ForwardVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break; + case 1231: flag=_wrap_ForwardPosVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break; + case 1232: flag=_wrap_ForwardPosVelKinematics(resc,resv,argc,(mxArray**)(argv)); break; + case 1233: flag=_wrap_ForwardAccKinematics(resc,resv,argc,(mxArray**)(argv)); break; + case 1234: flag=_wrap_ForwardBiasAccKinematics(resc,resv,argc,(mxArray**)(argv)); break; + case 1235: flag=_wrap_ComputeLinearAndAngularMomentum(resc,resv,argc,(mxArray**)(argv)); break; + case 1236: flag=_wrap_ComputeLinearAndAngularMomentumDerivativeBias(resc,resv,argc,(mxArray**)(argv)); break; + case 1237: flag=_wrap_RNEADynamicPhase(resc,resv,argc,(mxArray**)(argv)); break; + case 1238: flag=_wrap_CompositeRigidBodyAlgorithm(resc,resv,argc,(mxArray**)(argv)); break; + case 1239: flag=_wrap_new_ArticulatedBodyAlgorithmInternalBuffers(resc,resv,argc,(mxArray**)(argv)); break; + case 1240: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1241: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 1242: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_S_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1243: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_S_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1244: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_U_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1245: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_U_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1246: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_D_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1247: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_D_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1248: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_u_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1249: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_u_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1250: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksVel_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1251: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksVel_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1252: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1253: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1254: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1255: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1256: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linkABIs_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1257: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linkABIs_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1258: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1259: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1260: flag=_wrap_delete_ArticulatedBodyAlgorithmInternalBuffers(resc,resv,argc,(mxArray**)(argv)); break; + case 1261: flag=_wrap_ArticulatedBodyAlgorithm(resc,resv,argc,(mxArray**)(argv)); break; + case 1262: flag=_wrap_NR_OF_SENSOR_TYPES_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1263: flag=_wrap_isLinkSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1264: flag=_wrap_isJointSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1265: flag=_wrap_getSensorTypeSize(resc,resv,argc,(mxArray**)(argv)); break; + case 1266: flag=_wrap_delete_Sensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1267: flag=_wrap_Sensor_getName(resc,resv,argc,(mxArray**)(argv)); break; + case 1268: flag=_wrap_Sensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break; + case 1269: flag=_wrap_Sensor_isValid(resc,resv,argc,(mxArray**)(argv)); break; + case 1270: flag=_wrap_Sensor_setName(resc,resv,argc,(mxArray**)(argv)); break; + case 1271: flag=_wrap_Sensor_clone(resc,resv,argc,(mxArray**)(argv)); break; + case 1272: flag=_wrap_Sensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 1273: flag=_wrap_Sensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break; + case 1274: flag=_wrap_Sensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break; + case 1275: flag=_wrap_delete_JointSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1276: flag=_wrap_JointSensor_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 1277: flag=_wrap_JointSensor_getParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1278: flag=_wrap_JointSensor_setParentJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 1279: flag=_wrap_JointSensor_setParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1280: flag=_wrap_JointSensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 1281: flag=_wrap_delete_LinkSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1282: flag=_wrap_LinkSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1283: flag=_wrap_LinkSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1284: flag=_wrap_LinkSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1285: flag=_wrap_LinkSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1286: flag=_wrap_LinkSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1287: flag=_wrap_LinkSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1288: flag=_wrap_LinkSensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 1289: flag=_wrap_new_SensorsList(resc,resv,argc,(mxArray**)(argv)); break; + case 1290: flag=_wrap_delete_SensorsList(resc,resv,argc,(mxArray**)(argv)); break; + case 1291: flag=_wrap_SensorsList_addSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1292: flag=_wrap_SensorsList_setSerialization(resc,resv,argc,(mxArray**)(argv)); break; + case 1293: flag=_wrap_SensorsList_getSerialization(resc,resv,argc,(mxArray**)(argv)); break; + case 1294: flag=_wrap_SensorsList_getNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break; + case 1295: flag=_wrap_SensorsList_getSensorIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1296: flag=_wrap_SensorsList_getSizeOfAllSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break; + case 1297: flag=_wrap_SensorsList_getSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1298: flag=_wrap_SensorsList_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 1299: flag=_wrap_SensorsList_removeSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1300: flag=_wrap_SensorsList_removeAllSensorsOfType(resc,resv,argc,(mxArray**)(argv)); break; + case 1301: flag=_wrap_SensorsList_getSixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1302: flag=_wrap_SensorsList_getAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1303: flag=_wrap_SensorsList_getGyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1304: flag=_wrap_SensorsList_getThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1305: flag=_wrap_SensorsList_getThreeAxisForceTorqueContactSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1306: flag=_wrap_new_SensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break; + case 1307: flag=_wrap_delete_SensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break; + case 1308: flag=_wrap_SensorsMeasurements_setNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break; + case 1309: flag=_wrap_SensorsMeasurements_getNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break; + case 1310: flag=_wrap_SensorsMeasurements_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1311: flag=_wrap_SensorsMeasurements_toVector(resc,resv,argc,(mxArray**)(argv)); break; + case 1312: flag=_wrap_SensorsMeasurements_setMeasurement(resc,resv,argc,(mxArray**)(argv)); break; + case 1313: flag=_wrap_SensorsMeasurements_getMeasurement(resc,resv,argc,(mxArray**)(argv)); break; + case 1314: flag=_wrap_SensorsMeasurements_getSizeOfAllSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break; + case 1315: flag=_wrap_new_SixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1316: flag=_wrap_delete_SixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1317: flag=_wrap_SixAxisForceTorqueSensor_setName(resc,resv,argc,(mxArray**)(argv)); break; + case 1318: flag=_wrap_SixAxisForceTorqueSensor_setFirstLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1319: flag=_wrap_SixAxisForceTorqueSensor_setSecondLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1320: flag=_wrap_SixAxisForceTorqueSensor_getFirstLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1321: flag=_wrap_SixAxisForceTorqueSensor_getSecondLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1322: flag=_wrap_SixAxisForceTorqueSensor_setFirstLinkName(resc,resv,argc,(mxArray**)(argv)); break; + case 1323: flag=_wrap_SixAxisForceTorqueSensor_setSecondLinkName(resc,resv,argc,(mxArray**)(argv)); break; + case 1324: flag=_wrap_SixAxisForceTorqueSensor_getFirstLinkName(resc,resv,argc,(mxArray**)(argv)); break; + case 1325: flag=_wrap_SixAxisForceTorqueSensor_getSecondLinkName(resc,resv,argc,(mxArray**)(argv)); break; + case 1326: flag=_wrap_SixAxisForceTorqueSensor_setParentJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 1327: flag=_wrap_SixAxisForceTorqueSensor_setParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1328: flag=_wrap_SixAxisForceTorqueSensor_setAppliedWrenchLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1329: flag=_wrap_SixAxisForceTorqueSensor_getName(resc,resv,argc,(mxArray**)(argv)); break; + case 1330: flag=_wrap_SixAxisForceTorqueSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break; + case 1331: flag=_wrap_SixAxisForceTorqueSensor_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break; + case 1332: flag=_wrap_SixAxisForceTorqueSensor_getParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1333: flag=_wrap_SixAxisForceTorqueSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break; + case 1334: flag=_wrap_SixAxisForceTorqueSensor_clone(resc,resv,argc,(mxArray**)(argv)); break; + case 1335: flag=_wrap_SixAxisForceTorqueSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break; + case 1336: flag=_wrap_SixAxisForceTorqueSensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break; + case 1337: flag=_wrap_SixAxisForceTorqueSensor_getAppliedWrenchLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1338: flag=_wrap_SixAxisForceTorqueSensor_isLinkAttachedToSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1339: flag=_wrap_SixAxisForceTorqueSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1340: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1341: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLinkMatrix(resc,resv,argc,(mxArray**)(argv)); break; + case 1342: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLinkInverseMatrix(resc,resv,argc,(mxArray**)(argv)); break; + case 1343: flag=_wrap_SixAxisForceTorqueSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break; + case 1344: flag=_wrap_SixAxisForceTorqueSensor_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 1345: flag=_wrap_new_AccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1346: flag=_wrap_delete_AccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1347: flag=_wrap_AccelerometerSensor_setName(resc,resv,argc,(mxArray**)(argv)); break; + case 1348: flag=_wrap_AccelerometerSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1349: flag=_wrap_AccelerometerSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1350: flag=_wrap_AccelerometerSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1351: flag=_wrap_AccelerometerSensor_getName(resc,resv,argc,(mxArray**)(argv)); break; + case 1352: flag=_wrap_AccelerometerSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break; + case 1353: flag=_wrap_AccelerometerSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1354: flag=_wrap_AccelerometerSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1355: flag=_wrap_AccelerometerSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1356: flag=_wrap_AccelerometerSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break; + case 1357: flag=_wrap_AccelerometerSensor_clone(resc,resv,argc,(mxArray**)(argv)); break; + case 1358: flag=_wrap_AccelerometerSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break; + case 1359: flag=_wrap_AccelerometerSensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break; + case 1360: flag=_wrap_AccelerometerSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break; + case 1361: flag=_wrap_new_GyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1362: flag=_wrap_delete_GyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1363: flag=_wrap_GyroscopeSensor_setName(resc,resv,argc,(mxArray**)(argv)); break; + case 1364: flag=_wrap_GyroscopeSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1365: flag=_wrap_GyroscopeSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1366: flag=_wrap_GyroscopeSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1367: flag=_wrap_GyroscopeSensor_getName(resc,resv,argc,(mxArray**)(argv)); break; + case 1368: flag=_wrap_GyroscopeSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break; + case 1369: flag=_wrap_GyroscopeSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1370: flag=_wrap_GyroscopeSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1371: flag=_wrap_GyroscopeSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1372: flag=_wrap_GyroscopeSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break; + case 1373: flag=_wrap_GyroscopeSensor_clone(resc,resv,argc,(mxArray**)(argv)); break; + case 1374: flag=_wrap_GyroscopeSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break; + case 1375: flag=_wrap_GyroscopeSensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break; + case 1376: flag=_wrap_GyroscopeSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break; + case 1377: flag=_wrap_new_ThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1378: flag=_wrap_delete_ThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1379: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setName(resc,resv,argc,(mxArray**)(argv)); break; + case 1380: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1381: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1382: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1383: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getName(resc,resv,argc,(mxArray**)(argv)); break; + case 1384: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break; + case 1385: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1386: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1387: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1388: flag=_wrap_ThreeAxisAngularAccelerometerSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break; + case 1389: flag=_wrap_ThreeAxisAngularAccelerometerSensor_clone(resc,resv,argc,(mxArray**)(argv)); break; + case 1390: flag=_wrap_ThreeAxisAngularAccelerometerSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break; + case 1391: flag=_wrap_ThreeAxisAngularAccelerometerSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break; + case 1392: flag=_wrap_new_ThreeAxisForceTorqueContactSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1393: flag=_wrap_delete_ThreeAxisForceTorqueContactSensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1394: flag=_wrap_ThreeAxisForceTorqueContactSensor_setName(resc,resv,argc,(mxArray**)(argv)); break; + case 1395: flag=_wrap_ThreeAxisForceTorqueContactSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1396: flag=_wrap_ThreeAxisForceTorqueContactSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1397: flag=_wrap_ThreeAxisForceTorqueContactSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1398: flag=_wrap_ThreeAxisForceTorqueContactSensor_getName(resc,resv,argc,(mxArray**)(argv)); break; + case 1399: flag=_wrap_ThreeAxisForceTorqueContactSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break; + case 1400: flag=_wrap_ThreeAxisForceTorqueContactSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1401: flag=_wrap_ThreeAxisForceTorqueContactSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1402: flag=_wrap_ThreeAxisForceTorqueContactSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1403: flag=_wrap_ThreeAxisForceTorqueContactSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break; + case 1404: flag=_wrap_ThreeAxisForceTorqueContactSensor_clone(resc,resv,argc,(mxArray**)(argv)); break; + case 1405: flag=_wrap_ThreeAxisForceTorqueContactSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break; + case 1406: flag=_wrap_ThreeAxisForceTorqueContactSensor_setLoadCellLocations(resc,resv,argc,(mxArray**)(argv)); break; + case 1407: flag=_wrap_ThreeAxisForceTorqueContactSensor_getLoadCellLocations(resc,resv,argc,(mxArray**)(argv)); break; + case 1408: flag=_wrap_ThreeAxisForceTorqueContactSensor_computeThreeAxisForceTorqueFromLoadCellMeasurements(resc,resv,argc,(mxArray**)(argv)); break; + case 1409: flag=_wrap_ThreeAxisForceTorqueContactSensor_computeCenterOfPressureFromLoadCellMeasurements(resc,resv,argc,(mxArray**)(argv)); break; + case 1410: flag=_wrap_predictSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break; + case 1411: flag=_wrap_predictSensorsMeasurementsFromRawBuffers(resc,resv,argc,(mxArray**)(argv)); break; + case 1412: flag=_wrap_URDFParserOptions_addSensorFramesAsAdditionalFrames_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1413: flag=_wrap_URDFParserOptions_addSensorFramesAsAdditionalFrames_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1414: flag=_wrap_URDFParserOptions_originalFilename_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1415: flag=_wrap_URDFParserOptions_originalFilename_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1416: flag=_wrap_new_URDFParserOptions(resc,resv,argc,(mxArray**)(argv)); break; + case 1417: flag=_wrap_delete_URDFParserOptions(resc,resv,argc,(mxArray**)(argv)); break; + case 1418: flag=_wrap_modelFromURDF(resc,resv,argc,(mxArray**)(argv)); break; + case 1419: flag=_wrap_modelFromURDFString(resc,resv,argc,(mxArray**)(argv)); break; + case 1420: flag=_wrap_dofsListFromURDF(resc,resv,argc,(mxArray**)(argv)); break; + case 1421: flag=_wrap_dofsListFromURDFString(resc,resv,argc,(mxArray**)(argv)); break; + case 1422: flag=_wrap_sensorsFromURDF(resc,resv,argc,(mxArray**)(argv)); break; + case 1423: flag=_wrap_sensorsFromURDFString(resc,resv,argc,(mxArray**)(argv)); break; + case 1424: flag=_wrap_ModelParserOptions_addSensorFramesAsAdditionalFrames_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1425: flag=_wrap_ModelParserOptions_addSensorFramesAsAdditionalFrames_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1426: flag=_wrap_ModelParserOptions_originalFilename_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1427: flag=_wrap_ModelParserOptions_originalFilename_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1428: flag=_wrap_new_ModelParserOptions(resc,resv,argc,(mxArray**)(argv)); break; + case 1429: flag=_wrap_delete_ModelParserOptions(resc,resv,argc,(mxArray**)(argv)); break; + case 1430: flag=_wrap_new_ModelLoader(resc,resv,argc,(mxArray**)(argv)); break; + case 1431: flag=_wrap_delete_ModelLoader(resc,resv,argc,(mxArray**)(argv)); break; + case 1432: flag=_wrap_ModelLoader_parsingOptions(resc,resv,argc,(mxArray**)(argv)); break; + case 1433: flag=_wrap_ModelLoader_setParsingOptions(resc,resv,argc,(mxArray**)(argv)); break; + case 1434: flag=_wrap_ModelLoader_loadModelFromString(resc,resv,argc,(mxArray**)(argv)); break; + case 1435: flag=_wrap_ModelLoader_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break; + case 1436: flag=_wrap_ModelLoader_loadReducedModelFromFullModel(resc,resv,argc,(mxArray**)(argv)); break; + case 1437: flag=_wrap_ModelLoader_loadReducedModelFromString(resc,resv,argc,(mxArray**)(argv)); break; + case 1438: flag=_wrap_ModelLoader_loadReducedModelFromFile(resc,resv,argc,(mxArray**)(argv)); break; + case 1439: flag=_wrap_ModelLoader_model(resc,resv,argc,(mxArray**)(argv)); break; + case 1440: flag=_wrap_ModelLoader_sensors(resc,resv,argc,(mxArray**)(argv)); break; + case 1441: flag=_wrap_ModelLoader_isValid(resc,resv,argc,(mxArray**)(argv)); break; + case 1442: flag=_wrap_new_UnknownWrenchContact(resc,resv,argc,(mxArray**)(argv)); break; + case 1443: flag=_wrap_UnknownWrenchContact_unknownType_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1444: flag=_wrap_UnknownWrenchContact_unknownType_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1445: flag=_wrap_UnknownWrenchContact_contactPoint_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1446: flag=_wrap_UnknownWrenchContact_contactPoint_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1447: flag=_wrap_UnknownWrenchContact_forceDirection_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1448: flag=_wrap_UnknownWrenchContact_forceDirection_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1449: flag=_wrap_UnknownWrenchContact_knownWrench_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1450: flag=_wrap_UnknownWrenchContact_knownWrench_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1451: flag=_wrap_UnknownWrenchContact_contactId_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1452: flag=_wrap_UnknownWrenchContact_contactId_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1453: flag=_wrap_delete_UnknownWrenchContact(resc,resv,argc,(mxArray**)(argv)); break; + case 1454: flag=_wrap_new_LinkUnknownWrenchContacts(resc,resv,argc,(mxArray**)(argv)); break; + case 1455: flag=_wrap_LinkUnknownWrenchContacts_clear(resc,resv,argc,(mxArray**)(argv)); break; + case 1456: flag=_wrap_LinkUnknownWrenchContacts_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1457: flag=_wrap_LinkUnknownWrenchContacts_getNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1458: flag=_wrap_LinkUnknownWrenchContacts_setNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1459: flag=_wrap_LinkUnknownWrenchContacts_addNewContactForLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1460: flag=_wrap_LinkUnknownWrenchContacts_addNewContactInFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 1461: flag=_wrap_LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin(resc,resv,argc,(mxArray**)(argv)); break; + case 1462: flag=_wrap_LinkUnknownWrenchContacts_contactWrench(resc,resv,argc,(mxArray**)(argv)); break; + case 1463: flag=_wrap_LinkUnknownWrenchContacts_toString(resc,resv,argc,(mxArray**)(argv)); break; + case 1464: flag=_wrap_delete_LinkUnknownWrenchContacts(resc,resv,argc,(mxArray**)(argv)); break; + case 1465: flag=_wrap_new_estimateExternalWrenchesBuffers(resc,resv,argc,(mxArray**)(argv)); break; + case 1466: flag=_wrap_estimateExternalWrenchesBuffers_resize(resc,resv,argc,(mxArray**)(argv)); break; + case 1467: flag=_wrap_estimateExternalWrenchesBuffers_getNrOfSubModels(resc,resv,argc,(mxArray**)(argv)); break; + case 1468: flag=_wrap_estimateExternalWrenchesBuffers_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 1469: flag=_wrap_estimateExternalWrenchesBuffers_isConsistent(resc,resv,argc,(mxArray**)(argv)); break; + case 1470: flag=_wrap_estimateExternalWrenchesBuffers_A_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1471: flag=_wrap_estimateExternalWrenchesBuffers_A_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1472: flag=_wrap_estimateExternalWrenchesBuffers_x_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1473: flag=_wrap_estimateExternalWrenchesBuffers_x_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1474: flag=_wrap_estimateExternalWrenchesBuffers_b_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1475: flag=_wrap_estimateExternalWrenchesBuffers_b_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1476: flag=_wrap_estimateExternalWrenchesBuffers_pinvA_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1477: flag=_wrap_estimateExternalWrenchesBuffers_pinvA_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1478: flag=_wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1479: flag=_wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1480: flag=_wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1481: flag=_wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1482: flag=_wrap_delete_estimateExternalWrenchesBuffers(resc,resv,argc,(mxArray**)(argv)); break; + case 1483: flag=_wrap_estimateExternalWrenchesWithoutInternalFT(resc,resv,argc,(mxArray**)(argv)); break; + case 1484: flag=_wrap_estimateExternalWrenches(resc,resv,argc,(mxArray**)(argv)); break; + case 1485: flag=_wrap_dynamicsEstimationForwardVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break; + case 1486: flag=_wrap_dynamicsEstimationForwardVelKinematics(resc,resv,argc,(mxArray**)(argv)); break; + case 1487: flag=_wrap_computeLinkNetWrenchesWithoutGravity(resc,resv,argc,(mxArray**)(argv)); break; + case 1488: flag=_wrap_estimateLinkContactWrenchesFromLinkNetExternalWrenches(resc,resv,argc,(mxArray**)(argv)); break; + case 1489: flag=_wrap_new_ExtWrenchesAndJointTorquesEstimator(resc,resv,argc,(mxArray**)(argv)); break; + case 1490: flag=_wrap_delete_ExtWrenchesAndJointTorquesEstimator(resc,resv,argc,(mxArray**)(argv)); break; + case 1491: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_setModelAndSensors(resc,resv,argc,(mxArray**)(argv)); break; + case 1492: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile(resc,resv,argc,(mxArray**)(argv)); break; + case 1493: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs(resc,resv,argc,(mxArray**)(argv)); break; + case 1494: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_model(resc,resv,argc,(mxArray**)(argv)); break; + case 1495: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_sensors(resc,resv,argc,(mxArray**)(argv)); break; + case 1496: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_submodels(resc,resv,argc,(mxArray**)(argv)); break; + case 1497: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase(resc,resv,argc,(mxArray**)(argv)); break; + case 1498: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase(resc,resv,argc,(mxArray**)(argv)); break; + case 1499: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break; + case 1500: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques(resc,resv,argc,(mxArray**)(argv)); break; + case 1501: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill(resc,resv,argc,(mxArray**)(argv)); break; + case 1502: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity(resc,resv,argc,(mxArray**)(argv)); break; + case 1503: flag=_wrap_new_SimpleLeggedOdometry(resc,resv,argc,(mxArray**)(argv)); break; + case 1504: flag=_wrap_delete_SimpleLeggedOdometry(resc,resv,argc,(mxArray**)(argv)); break; + case 1505: flag=_wrap_SimpleLeggedOdometry_setModel(resc,resv,argc,(mxArray**)(argv)); break; + case 1506: flag=_wrap_SimpleLeggedOdometry_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break; + case 1507: flag=_wrap_SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs(resc,resv,argc,(mxArray**)(argv)); break; + case 1508: flag=_wrap_SimpleLeggedOdometry_model(resc,resv,argc,(mxArray**)(argv)); break; + case 1509: flag=_wrap_SimpleLeggedOdometry_updateKinematics(resc,resv,argc,(mxArray**)(argv)); break; + case 1510: flag=_wrap_SimpleLeggedOdometry_init(resc,resv,argc,(mxArray**)(argv)); break; + case 1511: flag=_wrap_SimpleLeggedOdometry_changeFixedFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 1512: flag=_wrap_SimpleLeggedOdometry_getCurrentFixedLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1513: flag=_wrap_SimpleLeggedOdometry_getWorldLinkTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1514: flag=_wrap_isLinkBerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break; + case 1515: flag=_wrap_isJointBerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break; + case 1516: flag=_wrap_isDOFBerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break; + case 1517: flag=_wrap_new_BerdyOptions(resc,resv,argc,(mxArray**)(argv)); break; + case 1518: flag=_wrap_BerdyOptions_berdyVariant_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1519: flag=_wrap_BerdyOptions_berdyVariant_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1520: flag=_wrap_BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1521: flag=_wrap_BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1522: flag=_wrap_BerdyOptions_includeAllJointAccelerationsAsSensors_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1523: flag=_wrap_BerdyOptions_includeAllJointAccelerationsAsSensors_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1524: flag=_wrap_BerdyOptions_includeAllJointTorquesAsSensors_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1525: flag=_wrap_BerdyOptions_includeAllJointTorquesAsSensors_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1526: flag=_wrap_BerdyOptions_includeAllNetExternalWrenchesAsSensors_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1527: flag=_wrap_BerdyOptions_includeAllNetExternalWrenchesAsSensors_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1528: flag=_wrap_BerdyOptions_includeFixedBaseExternalWrench_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1529: flag=_wrap_BerdyOptions_includeFixedBaseExternalWrench_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1530: flag=_wrap_BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1531: flag=_wrap_BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1532: flag=_wrap_BerdyOptions_baseLink_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1533: flag=_wrap_BerdyOptions_baseLink_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1534: flag=_wrap_BerdyOptions_checkConsistency(resc,resv,argc,(mxArray**)(argv)); break; + case 1535: flag=_wrap_delete_BerdyOptions(resc,resv,argc,(mxArray**)(argv)); break; + case 1536: flag=_wrap_BerdySensor_type_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1537: flag=_wrap_BerdySensor_type_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1538: flag=_wrap_BerdySensor_id_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1539: flag=_wrap_BerdySensor_id_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1540: flag=_wrap_BerdySensor_range_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1541: flag=_wrap_BerdySensor_range_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1542: flag=_wrap_BerdySensor_eq(resc,resv,argc,(mxArray**)(argv)); break; + case 1543: flag=_wrap_BerdySensor_lt(resc,resv,argc,(mxArray**)(argv)); break; + case 1544: flag=_wrap_new_BerdySensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1545: flag=_wrap_delete_BerdySensor(resc,resv,argc,(mxArray**)(argv)); break; + case 1546: flag=_wrap_BerdyDynamicVariable_type_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1547: flag=_wrap_BerdyDynamicVariable_type_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1548: flag=_wrap_BerdyDynamicVariable_id_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1549: flag=_wrap_BerdyDynamicVariable_id_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1550: flag=_wrap_BerdyDynamicVariable_range_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1551: flag=_wrap_BerdyDynamicVariable_range_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1552: flag=_wrap_BerdyDynamicVariable_eq(resc,resv,argc,(mxArray**)(argv)); break; + case 1553: flag=_wrap_BerdyDynamicVariable_lt(resc,resv,argc,(mxArray**)(argv)); break; + case 1554: flag=_wrap_new_BerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break; + case 1555: flag=_wrap_delete_BerdyDynamicVariable(resc,resv,argc,(mxArray**)(argv)); break; + case 1556: flag=_wrap_new_BerdyHelper(resc,resv,argc,(mxArray**)(argv)); break; + case 1557: flag=_wrap_BerdyHelper_dynamicTraversal(resc,resv,argc,(mxArray**)(argv)); break; + case 1558: flag=_wrap_BerdyHelper_model(resc,resv,argc,(mxArray**)(argv)); break; + case 1559: flag=_wrap_BerdyHelper_sensors(resc,resv,argc,(mxArray**)(argv)); break; + case 1560: flag=_wrap_BerdyHelper_isValid(resc,resv,argc,(mxArray**)(argv)); break; + case 1561: flag=_wrap_BerdyHelper_init(resc,resv,argc,(mxArray**)(argv)); break; + case 1562: flag=_wrap_BerdyHelper_getOptions(resc,resv,argc,(mxArray**)(argv)); break; + case 1563: flag=_wrap_BerdyHelper_getNrOfDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break; + case 1564: flag=_wrap_BerdyHelper_getNrOfDynamicEquations(resc,resv,argc,(mxArray**)(argv)); break; + case 1565: flag=_wrap_BerdyHelper_getNrOfSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break; + case 1566: flag=_wrap_BerdyHelper_resizeAndZeroBerdyMatrices(resc,resv,argc,(mxArray**)(argv)); break; + case 1567: flag=_wrap_BerdyHelper_getBerdyMatrices(resc,resv,argc,(mxArray**)(argv)); break; + case 1568: flag=_wrap_BerdyHelper_getSensorsOrdering(resc,resv,argc,(mxArray**)(argv)); break; + case 1569: flag=_wrap_BerdyHelper_getRangeSensorVariable(resc,resv,argc,(mxArray**)(argv)); break; + case 1570: flag=_wrap_BerdyHelper_getRangeDOFSensorVariable(resc,resv,argc,(mxArray**)(argv)); break; + case 1571: flag=_wrap_BerdyHelper_getRangeJointSensorVariable(resc,resv,argc,(mxArray**)(argv)); break; + case 1572: flag=_wrap_BerdyHelper_getRangeLinkSensorVariable(resc,resv,argc,(mxArray**)(argv)); break; + case 1573: flag=_wrap_BerdyHelper_getRangeLinkVariable(resc,resv,argc,(mxArray**)(argv)); break; + case 1574: flag=_wrap_BerdyHelper_getRangeJointVariable(resc,resv,argc,(mxArray**)(argv)); break; + case 1575: flag=_wrap_BerdyHelper_getRangeDOFVariable(resc,resv,argc,(mxArray**)(argv)); break; + case 1576: flag=_wrap_BerdyHelper_getDynamicVariablesOrdering(resc,resv,argc,(mxArray**)(argv)); break; + case 1577: flag=_wrap_BerdyHelper_serializeDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break; + case 1578: flag=_wrap_BerdyHelper_serializeSensorVariables(resc,resv,argc,(mxArray**)(argv)); break; + case 1579: flag=_wrap_BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA(resc,resv,argc,(mxArray**)(argv)); break; + case 1580: flag=_wrap_BerdyHelper_extractJointTorquesFromDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break; + case 1581: flag=_wrap_BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables(resc,resv,argc,(mxArray**)(argv)); break; + case 1582: flag=_wrap_BerdyHelper_updateKinematicsFromFloatingBase(resc,resv,argc,(mxArray**)(argv)); break; + case 1583: flag=_wrap_BerdyHelper_updateKinematicsFromFixedBase(resc,resv,argc,(mxArray**)(argv)); break; + case 1584: flag=_wrap_BerdyHelper_updateKinematicsFromTraversalFixedBase(resc,resv,argc,(mxArray**)(argv)); break; + case 1585: flag=_wrap_BerdyHelper_setNetExternalWrenchMeasurementFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 1586: flag=_wrap_BerdyHelper_getNetExternalWrenchMeasurementFrame(resc,resv,argc,(mxArray**)(argv)); break; + case 1587: flag=_wrap_delete_BerdyHelper(resc,resv,argc,(mxArray**)(argv)); break; + case 1588: flag=_wrap_new_BerdySparseMAPSolver(resc,resv,argc,(mxArray**)(argv)); break; + case 1589: flag=_wrap_delete_BerdySparseMAPSolver(resc,resv,argc,(mxArray**)(argv)); break; + case 1590: flag=_wrap_BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance(resc,resv,argc,(mxArray**)(argv)); break; + case 1591: flag=_wrap_BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance(resc,resv,argc,(mxArray**)(argv)); break; + case 1592: flag=_wrap_BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue(resc,resv,argc,(mxArray**)(argv)); break; + case 1593: flag=_wrap_BerdySparseMAPSolver_setMeasurementsPriorCovariance(resc,resv,argc,(mxArray**)(argv)); break; + case 1594: flag=_wrap_BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse(resc,resv,argc,(mxArray**)(argv)); break; + case 1595: flag=_wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse(resc,resv,argc,(mxArray**)(argv)); break; + case 1596: flag=_wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue(resc,resv,argc,(mxArray**)(argv)); break; + case 1597: flag=_wrap_BerdySparseMAPSolver_measurementsPriorCovarianceInverse(resc,resv,argc,(mxArray**)(argv)); break; + case 1598: flag=_wrap_BerdySparseMAPSolver_isValid(resc,resv,argc,(mxArray**)(argv)); break; + case 1599: flag=_wrap_BerdySparseMAPSolver_initialize(resc,resv,argc,(mxArray**)(argv)); break; + case 1600: flag=_wrap_BerdySparseMAPSolver_updateEstimateInformationFixedBase(resc,resv,argc,(mxArray**)(argv)); break; + case 1601: flag=_wrap_BerdySparseMAPSolver_updateEstimateInformationFloatingBase(resc,resv,argc,(mxArray**)(argv)); break; + case 1602: flag=_wrap_BerdySparseMAPSolver_doEstimate(resc,resv,argc,(mxArray**)(argv)); break; + case 1603: flag=_wrap_BerdySparseMAPSolver_getLastEstimate(resc,resv,argc,(mxArray**)(argv)); break; + case 1604: flag=_wrap_DynamicsRegressorParameter_category_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1605: flag=_wrap_DynamicsRegressorParameter_category_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1606: flag=_wrap_DynamicsRegressorParameter_elemIndex_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1607: flag=_wrap_DynamicsRegressorParameter_elemIndex_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1608: flag=_wrap_DynamicsRegressorParameter_type_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1609: flag=_wrap_DynamicsRegressorParameter_type_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1610: flag=_wrap_DynamicsRegressorParameter_lt(resc,resv,argc,(mxArray**)(argv)); break; + case 1611: flag=_wrap_DynamicsRegressorParameter_eq(resc,resv,argc,(mxArray**)(argv)); break; + case 1612: flag=_wrap_DynamicsRegressorParameter_ne(resc,resv,argc,(mxArray**)(argv)); break; + case 1613: flag=_wrap_new_DynamicsRegressorParameter(resc,resv,argc,(mxArray**)(argv)); break; + case 1614: flag=_wrap_delete_DynamicsRegressorParameter(resc,resv,argc,(mxArray**)(argv)); break; + case 1615: flag=_wrap_DynamicsRegressorParametersList_parameters_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1616: flag=_wrap_DynamicsRegressorParametersList_parameters_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1617: flag=_wrap_DynamicsRegressorParametersList_getDescriptionOfParameter(resc,resv,argc,(mxArray**)(argv)); break; + case 1618: flag=_wrap_DynamicsRegressorParametersList_addParam(resc,resv,argc,(mxArray**)(argv)); break; + case 1619: flag=_wrap_DynamicsRegressorParametersList_addList(resc,resv,argc,(mxArray**)(argv)); break; + case 1620: flag=_wrap_DynamicsRegressorParametersList_findParam(resc,resv,argc,(mxArray**)(argv)); break; + case 1621: flag=_wrap_DynamicsRegressorParametersList_getNrOfParameters(resc,resv,argc,(mxArray**)(argv)); break; + case 1622: flag=_wrap_new_DynamicsRegressorParametersList(resc,resv,argc,(mxArray**)(argv)); break; + case 1623: flag=_wrap_delete_DynamicsRegressorParametersList(resc,resv,argc,(mxArray**)(argv)); break; + case 1624: flag=_wrap_new_DynamicsRegressorGenerator(resc,resv,argc,(mxArray**)(argv)); break; + case 1625: flag=_wrap_delete_DynamicsRegressorGenerator(resc,resv,argc,(mxArray**)(argv)); break; + case 1626: flag=_wrap_DynamicsRegressorGenerator_loadRobotAndSensorsModelFromFile(resc,resv,argc,(mxArray**)(argv)); break; + case 1627: flag=_wrap_DynamicsRegressorGenerator_loadRobotAndSensorsModelFromString(resc,resv,argc,(mxArray**)(argv)); break; + case 1628: flag=_wrap_DynamicsRegressorGenerator_loadRegressorStructureFromFile(resc,resv,argc,(mxArray**)(argv)); break; + case 1629: flag=_wrap_DynamicsRegressorGenerator_loadRegressorStructureFromString(resc,resv,argc,(mxArray**)(argv)); break; + case 1630: flag=_wrap_DynamicsRegressorGenerator_isValid(resc,resv,argc,(mxArray**)(argv)); break; + case 1631: flag=_wrap_DynamicsRegressorGenerator_getNrOfParameters(resc,resv,argc,(mxArray**)(argv)); break; + case 1632: flag=_wrap_DynamicsRegressorGenerator_getNrOfOutputs(resc,resv,argc,(mxArray**)(argv)); break; + case 1633: flag=_wrap_DynamicsRegressorGenerator_getNrOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; + case 1634: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfParameter(resc,resv,argc,(mxArray**)(argv)); break; + case 1635: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfParameters(resc,resv,argc,(mxArray**)(argv)); break; + case 1636: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfOutput(resc,resv,argc,(mxArray**)(argv)); break; + case 1637: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfOutputs(resc,resv,argc,(mxArray**)(argv)); break; + case 1638: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfDegreeOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; + case 1639: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; + case 1640: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfLink(resc,resv,argc,(mxArray**)(argv)); break; + case 1641: flag=_wrap_DynamicsRegressorGenerator_getDescriptionOfLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 1642: flag=_wrap_DynamicsRegressorGenerator_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 1643: flag=_wrap_DynamicsRegressorGenerator_getNrOfFakeLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 1644: flag=_wrap_DynamicsRegressorGenerator_getBaseLinkName(resc,resv,argc,(mxArray**)(argv)); break; + case 1645: flag=_wrap_DynamicsRegressorGenerator_getSensorsModel(resc,resv,argc,(mxArray**)(argv)); break; + case 1646: flag=_wrap_DynamicsRegressorGenerator_setRobotState(resc,resv,argc,(mxArray**)(argv)); break; + case 1647: flag=_wrap_DynamicsRegressorGenerator_getSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break; + case 1648: flag=_wrap_DynamicsRegressorGenerator_setTorqueSensorMeasurement(resc,resv,argc,(mxArray**)(argv)); break; + case 1649: flag=_wrap_DynamicsRegressorGenerator_computeRegressor(resc,resv,argc,(mxArray**)(argv)); break; + case 1650: flag=_wrap_DynamicsRegressorGenerator_getModelParameters(resc,resv,argc,(mxArray**)(argv)); break; + case 1651: flag=_wrap_DynamicsRegressorGenerator_computeFloatingBaseIdentifiableSubspace(resc,resv,argc,(mxArray**)(argv)); break; + case 1652: flag=_wrap_DynamicsRegressorGenerator_computeFixedBaseIdentifiableSubspace(resc,resv,argc,(mxArray**)(argv)); break; + case 1653: flag=_wrap_DynamicsRegressorGenerator_generate_random_regressors(resc,resv,argc,(mxArray**)(argv)); break; + case 1654: flag=_wrap_new_KinDynComputations(resc,resv,argc,(mxArray**)(argv)); break; + case 1655: flag=_wrap_delete_KinDynComputations(resc,resv,argc,(mxArray**)(argv)); break; + case 1656: flag=_wrap_KinDynComputations_loadRobotModel(resc,resv,argc,(mxArray**)(argv)); break; + case 1657: flag=_wrap_KinDynComputations_loadRobotModelFromFile(resc,resv,argc,(mxArray**)(argv)); break; + case 1658: flag=_wrap_KinDynComputations_loadRobotModelFromString(resc,resv,argc,(mxArray**)(argv)); break; + case 1659: flag=_wrap_KinDynComputations_isValid(resc,resv,argc,(mxArray**)(argv)); break; + case 1660: flag=_wrap_KinDynComputations_setFrameVelocityRepresentation(resc,resv,argc,(mxArray**)(argv)); break; + case 1661: flag=_wrap_KinDynComputations_getFrameVelocityRepresentation(resc,resv,argc,(mxArray**)(argv)); break; + case 1662: flag=_wrap_KinDynComputations_getNrOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; + case 1663: flag=_wrap_KinDynComputations_getDescriptionOfDegreeOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; + case 1664: flag=_wrap_KinDynComputations_getDescriptionOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; + case 1665: flag=_wrap_KinDynComputations_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 1666: flag=_wrap_KinDynComputations_getNrOfFrames(resc,resv,argc,(mxArray**)(argv)); break; + case 1667: flag=_wrap_KinDynComputations_getFloatingBase(resc,resv,argc,(mxArray**)(argv)); break; + case 1668: flag=_wrap_KinDynComputations_setFloatingBase(resc,resv,argc,(mxArray**)(argv)); break; + case 1669: flag=_wrap_KinDynComputations_model(resc,resv,argc,(mxArray**)(argv)); break; + case 1670: flag=_wrap_KinDynComputations_getRobotModel(resc,resv,argc,(mxArray**)(argv)); break; + case 1671: flag=_wrap_KinDynComputations_getRelativeJacobianSparsityPattern(resc,resv,argc,(mxArray**)(argv)); break; + case 1672: flag=_wrap_KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern(resc,resv,argc,(mxArray**)(argv)); break; + case 1673: flag=_wrap_KinDynComputations_setJointPos(resc,resv,argc,(mxArray**)(argv)); break; + case 1674: flag=_wrap_KinDynComputations_setRobotState(resc,resv,argc,(mxArray**)(argv)); break; + case 1675: flag=_wrap_KinDynComputations_getRobotState(resc,resv,argc,(mxArray**)(argv)); break; + case 1676: flag=_wrap_KinDynComputations_getWorldBaseTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1677: flag=_wrap_KinDynComputations_getBaseTwist(resc,resv,argc,(mxArray**)(argv)); break; + case 1678: flag=_wrap_KinDynComputations_getJointPos(resc,resv,argc,(mxArray**)(argv)); break; + case 1679: flag=_wrap_KinDynComputations_getJointVel(resc,resv,argc,(mxArray**)(argv)); break; + case 1680: flag=_wrap_KinDynComputations_getModelVel(resc,resv,argc,(mxArray**)(argv)); break; + case 1681: flag=_wrap_KinDynComputations_getFrameIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1682: flag=_wrap_KinDynComputations_getFrameName(resc,resv,argc,(mxArray**)(argv)); break; + case 1683: flag=_wrap_KinDynComputations_getWorldTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1684: flag=_wrap_KinDynComputations_getRelativeTransformExplicit(resc,resv,argc,(mxArray**)(argv)); break; + case 1685: flag=_wrap_KinDynComputations_getRelativeTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1686: flag=_wrap_KinDynComputations_getFrameVel(resc,resv,argc,(mxArray**)(argv)); break; + case 1687: flag=_wrap_KinDynComputations_getFrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break; + case 1688: flag=_wrap_KinDynComputations_getRelativeJacobian(resc,resv,argc,(mxArray**)(argv)); break; + case 1689: flag=_wrap_KinDynComputations_getRelativeJacobianExplicit(resc,resv,argc,(mxArray**)(argv)); break; + case 1690: flag=_wrap_KinDynComputations_getFrameBiasAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 1691: flag=_wrap_KinDynComputations_getCenterOfMassPosition(resc,resv,argc,(mxArray**)(argv)); break; + case 1692: flag=_wrap_KinDynComputations_getCenterOfMassVelocity(resc,resv,argc,(mxArray**)(argv)); break; + case 1693: flag=_wrap_KinDynComputations_getCenterOfMassJacobian(resc,resv,argc,(mxArray**)(argv)); break; + case 1694: flag=_wrap_KinDynComputations_getCenterOfMassBiasAcc(resc,resv,argc,(mxArray**)(argv)); break; + case 1695: flag=_wrap_KinDynComputations_getAverageVelocity(resc,resv,argc,(mxArray**)(argv)); break; + case 1696: flag=_wrap_KinDynComputations_getAverageVelocityJacobian(resc,resv,argc,(mxArray**)(argv)); break; + case 1697: flag=_wrap_KinDynComputations_getCentroidalAverageVelocity(resc,resv,argc,(mxArray**)(argv)); break; + case 1698: flag=_wrap_KinDynComputations_getCentroidalAverageVelocityJacobian(resc,resv,argc,(mxArray**)(argv)); break; + case 1699: flag=_wrap_KinDynComputations_getLinearAngularMomentum(resc,resv,argc,(mxArray**)(argv)); break; + case 1700: flag=_wrap_KinDynComputations_getLinearAngularMomentumJacobian(resc,resv,argc,(mxArray**)(argv)); break; + case 1701: flag=_wrap_KinDynComputations_getCentroidalTotalMomentum(resc,resv,argc,(mxArray**)(argv)); break; + case 1702: flag=_wrap_KinDynComputations_getFreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break; + case 1703: flag=_wrap_KinDynComputations_inverseDynamics(resc,resv,argc,(mxArray**)(argv)); break; + case 1704: flag=_wrap_KinDynComputations_generalizedBiasForces(resc,resv,argc,(mxArray**)(argv)); break; + case 1705: flag=_wrap_KinDynComputations_generalizedGravityForces(resc,resv,argc,(mxArray**)(argv)); break; + case 1706: flag=_wrap_delete_ICamera(resc,resv,argc,(mxArray**)(argv)); break; + case 1707: flag=_wrap_ICamera_setPosition(resc,resv,argc,(mxArray**)(argv)); break; + case 1708: flag=_wrap_ICamera_setTarget(resc,resv,argc,(mxArray**)(argv)); break; + case 1709: flag=_wrap_ICamera_setUpVector(resc,resv,argc,(mxArray**)(argv)); break; + case 1710: flag=_wrap_ColorViz_r_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1711: flag=_wrap_ColorViz_r_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1712: flag=_wrap_ColorViz_g_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1713: flag=_wrap_ColorViz_g_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1714: flag=_wrap_ColorViz_b_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1715: flag=_wrap_ColorViz_b_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1716: flag=_wrap_ColorViz_a_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1717: flag=_wrap_ColorViz_a_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1718: flag=_wrap_new_ColorViz(resc,resv,argc,(mxArray**)(argv)); break; + case 1719: flag=_wrap_delete_ColorViz(resc,resv,argc,(mxArray**)(argv)); break; + case 1720: flag=_wrap_delete_ILight(resc,resv,argc,(mxArray**)(argv)); break; + case 1721: flag=_wrap_ILight_getName(resc,resv,argc,(mxArray**)(argv)); break; + case 1722: flag=_wrap_ILight_setType(resc,resv,argc,(mxArray**)(argv)); break; + case 1723: flag=_wrap_ILight_getType(resc,resv,argc,(mxArray**)(argv)); break; + case 1724: flag=_wrap_ILight_setPosition(resc,resv,argc,(mxArray**)(argv)); break; + case 1725: flag=_wrap_ILight_getPosition(resc,resv,argc,(mxArray**)(argv)); break; + case 1726: flag=_wrap_ILight_setDirection(resc,resv,argc,(mxArray**)(argv)); break; + case 1727: flag=_wrap_ILight_getDirection(resc,resv,argc,(mxArray**)(argv)); break; + case 1728: flag=_wrap_ILight_setAmbientColor(resc,resv,argc,(mxArray**)(argv)); break; + case 1729: flag=_wrap_ILight_getAmbientColor(resc,resv,argc,(mxArray**)(argv)); break; + case 1730: flag=_wrap_ILight_setSpecularColor(resc,resv,argc,(mxArray**)(argv)); break; + case 1731: flag=_wrap_ILight_getSpecularColor(resc,resv,argc,(mxArray**)(argv)); break; + case 1732: flag=_wrap_ILight_setDiffuseColor(resc,resv,argc,(mxArray**)(argv)); break; + case 1733: flag=_wrap_ILight_getDiffuseColor(resc,resv,argc,(mxArray**)(argv)); break; + case 1734: flag=_wrap_delete_IEnvironment(resc,resv,argc,(mxArray**)(argv)); break; + case 1735: flag=_wrap_IEnvironment_getElements(resc,resv,argc,(mxArray**)(argv)); break; + case 1736: flag=_wrap_IEnvironment_setElementVisibility(resc,resv,argc,(mxArray**)(argv)); break; + case 1737: flag=_wrap_IEnvironment_setBackgroundColor(resc,resv,argc,(mxArray**)(argv)); break; + case 1738: flag=_wrap_IEnvironment_setAmbientLight(resc,resv,argc,(mxArray**)(argv)); break; + case 1739: flag=_wrap_IEnvironment_getLights(resc,resv,argc,(mxArray**)(argv)); break; + case 1740: flag=_wrap_IEnvironment_addLight(resc,resv,argc,(mxArray**)(argv)); break; + case 1741: flag=_wrap_IEnvironment_lightViz(resc,resv,argc,(mxArray**)(argv)); break; + case 1742: flag=_wrap_IEnvironment_removeLight(resc,resv,argc,(mxArray**)(argv)); break; + case 1743: flag=_wrap_delete_IJetsVisualization(resc,resv,argc,(mxArray**)(argv)); break; + case 1744: flag=_wrap_IJetsVisualization_setJetsFrames(resc,resv,argc,(mxArray**)(argv)); break; + case 1745: flag=_wrap_IJetsVisualization_getNrOfJets(resc,resv,argc,(mxArray**)(argv)); break; + case 1746: flag=_wrap_IJetsVisualization_getJetDirection(resc,resv,argc,(mxArray**)(argv)); break; + case 1747: flag=_wrap_IJetsVisualization_setJetDirection(resc,resv,argc,(mxArray**)(argv)); break; + case 1748: flag=_wrap_IJetsVisualization_setJetColor(resc,resv,argc,(mxArray**)(argv)); break; + case 1749: flag=_wrap_IJetsVisualization_setJetsDimensions(resc,resv,argc,(mxArray**)(argv)); break; + case 1750: flag=_wrap_IJetsVisualization_setJetsIntensity(resc,resv,argc,(mxArray**)(argv)); break; + case 1751: flag=_wrap_delete_IModelVisualization(resc,resv,argc,(mxArray**)(argv)); break; + case 1752: flag=_wrap_IModelVisualization_setPositions(resc,resv,argc,(mxArray**)(argv)); break; + case 1753: flag=_wrap_IModelVisualization_setLinkPositions(resc,resv,argc,(mxArray**)(argv)); break; + case 1754: flag=_wrap_IModelVisualization_model(resc,resv,argc,(mxArray**)(argv)); break; + case 1755: flag=_wrap_IModelVisualization_getInstanceName(resc,resv,argc,(mxArray**)(argv)); break; + case 1756: flag=_wrap_IModelVisualization_setModelVisibility(resc,resv,argc,(mxArray**)(argv)); break; + case 1757: flag=_wrap_IModelVisualization_setModelColor(resc,resv,argc,(mxArray**)(argv)); break; + case 1758: flag=_wrap_IModelVisualization_resetModelColor(resc,resv,argc,(mxArray**)(argv)); break; + case 1759: flag=_wrap_IModelVisualization_getLinkNames(resc,resv,argc,(mxArray**)(argv)); break; + case 1760: flag=_wrap_IModelVisualization_setLinkVisibility(resc,resv,argc,(mxArray**)(argv)); break; + case 1761: flag=_wrap_IModelVisualization_getFeatures(resc,resv,argc,(mxArray**)(argv)); break; + case 1762: flag=_wrap_IModelVisualization_setFeatureVisibility(resc,resv,argc,(mxArray**)(argv)); break; + case 1763: flag=_wrap_IModelVisualization_jets(resc,resv,argc,(mxArray**)(argv)); break; + case 1764: flag=_wrap_VisualizerOptions_verbose_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1765: flag=_wrap_VisualizerOptions_verbose_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1766: flag=_wrap_VisualizerOptions_winWidth_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1767: flag=_wrap_VisualizerOptions_winWidth_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1768: flag=_wrap_VisualizerOptions_winHeight_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1769: flag=_wrap_VisualizerOptions_winHeight_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1770: flag=_wrap_VisualizerOptions_rootFrameArrowsDimension_get(resc,resv,argc,(mxArray**)(argv)); break; + case 1771: flag=_wrap_VisualizerOptions_rootFrameArrowsDimension_set(resc,resv,argc,(mxArray**)(argv)); break; + case 1772: flag=_wrap_new_VisualizerOptions(resc,resv,argc,(mxArray**)(argv)); break; + case 1773: flag=_wrap_delete_VisualizerOptions(resc,resv,argc,(mxArray**)(argv)); break; + case 1774: flag=_wrap_new_Visualizer(resc,resv,argc,(mxArray**)(argv)); break; + case 1775: flag=_wrap_delete_Visualizer(resc,resv,argc,(mxArray**)(argv)); break; + case 1776: flag=_wrap_Visualizer_init(resc,resv,argc,(mxArray**)(argv)); break; + case 1777: flag=_wrap_Visualizer_getNrOfVisualizedModels(resc,resv,argc,(mxArray**)(argv)); break; + case 1778: flag=_wrap_Visualizer_getModelInstanceName(resc,resv,argc,(mxArray**)(argv)); break; + case 1779: flag=_wrap_Visualizer_getModelInstanceIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1780: flag=_wrap_Visualizer_addModel(resc,resv,argc,(mxArray**)(argv)); break; + case 1781: flag=_wrap_Visualizer_modelViz(resc,resv,argc,(mxArray**)(argv)); break; + case 1782: flag=_wrap_Visualizer_camera(resc,resv,argc,(mxArray**)(argv)); break; + case 1783: flag=_wrap_Visualizer_enviroment(resc,resv,argc,(mxArray**)(argv)); break; + case 1784: flag=_wrap_Visualizer_run(resc,resv,argc,(mxArray**)(argv)); break; + case 1785: flag=_wrap_Visualizer_draw(resc,resv,argc,(mxArray**)(argv)); break; + case 1786: flag=_wrap_Visualizer_drawToFile(resc,resv,argc,(mxArray**)(argv)); break; + case 1787: flag=_wrap_Visualizer_close(resc,resv,argc,(mxArray**)(argv)); break; + case 1788: flag=_wrap_new_DynamicsComputations(resc,resv,argc,(mxArray**)(argv)); break; + case 1789: flag=_wrap_delete_DynamicsComputations(resc,resv,argc,(mxArray**)(argv)); break; + case 1790: flag=_wrap_DynamicsComputations_loadRobotModelFromFile(resc,resv,argc,(mxArray**)(argv)); break; + case 1791: flag=_wrap_DynamicsComputations_loadRobotModelFromString(resc,resv,argc,(mxArray**)(argv)); break; + case 1792: flag=_wrap_DynamicsComputations_isValid(resc,resv,argc,(mxArray**)(argv)); break; + case 1793: flag=_wrap_DynamicsComputations_getNrOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; + case 1794: flag=_wrap_DynamicsComputations_getDescriptionOfDegreeOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; + case 1795: flag=_wrap_DynamicsComputations_getDescriptionOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break; + case 1796: flag=_wrap_DynamicsComputations_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break; + case 1797: flag=_wrap_DynamicsComputations_getNrOfFrames(resc,resv,argc,(mxArray**)(argv)); break; + case 1798: flag=_wrap_DynamicsComputations_getFloatingBase(resc,resv,argc,(mxArray**)(argv)); break; + case 1799: flag=_wrap_DynamicsComputations_setFloatingBase(resc,resv,argc,(mxArray**)(argv)); break; + case 1800: flag=_wrap_DynamicsComputations_setRobotState(resc,resv,argc,(mxArray**)(argv)); break; + case 1801: flag=_wrap_DynamicsComputations_getWorldBaseTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1802: flag=_wrap_DynamicsComputations_getBaseTwist(resc,resv,argc,(mxArray**)(argv)); break; + case 1803: flag=_wrap_DynamicsComputations_getJointPos(resc,resv,argc,(mxArray**)(argv)); break; + case 1804: flag=_wrap_DynamicsComputations_getJointVel(resc,resv,argc,(mxArray**)(argv)); break; + case 1805: flag=_wrap_DynamicsComputations_getFrameIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1806: flag=_wrap_DynamicsComputations_getFrameName(resc,resv,argc,(mxArray**)(argv)); break; + case 1807: flag=_wrap_DynamicsComputations_getWorldTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1808: flag=_wrap_DynamicsComputations_getRelativeTransform(resc,resv,argc,(mxArray**)(argv)); break; + case 1809: flag=_wrap_DynamicsComputations_getFrameTwist(resc,resv,argc,(mxArray**)(argv)); break; + case 1810: flag=_wrap_DynamicsComputations_getFrameTwistInWorldOrient(resc,resv,argc,(mxArray**)(argv)); break; + case 1811: flag=_wrap_DynamicsComputations_getFrameProperSpatialAcceleration(resc,resv,argc,(mxArray**)(argv)); break; + case 1812: flag=_wrap_DynamicsComputations_getLinkIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1813: flag=_wrap_DynamicsComputations_getLinkInertia(resc,resv,argc,(mxArray**)(argv)); break; + case 1814: flag=_wrap_DynamicsComputations_getJointIndex(resc,resv,argc,(mxArray**)(argv)); break; + case 1815: flag=_wrap_DynamicsComputations_getJointName(resc,resv,argc,(mxArray**)(argv)); break; + case 1816: flag=_wrap_DynamicsComputations_getJointLimits(resc,resv,argc,(mxArray**)(argv)); break; + case 1817: flag=_wrap_DynamicsComputations_inverseDynamics(resc,resv,argc,(mxArray**)(argv)); break; + case 1818: flag=_wrap_DynamicsComputations_getFreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break; + case 1819: flag=_wrap_DynamicsComputations_getFrameJacobian(resc,resv,argc,(mxArray**)(argv)); break; + case 1820: flag=_wrap_DynamicsComputations_getDynamicsRegressor(resc,resv,argc,(mxArray**)(argv)); break; + case 1821: flag=_wrap_DynamicsComputations_getModelDynamicsParameters(resc,resv,argc,(mxArray**)(argv)); break; + case 1822: flag=_wrap_DynamicsComputations_getCenterOfMass(resc,resv,argc,(mxArray**)(argv)); break; + case 1823: flag=_wrap_DynamicsComputations_getCenterOfMassJacobian(resc,resv,argc,(mxArray**)(argv)); break; default: flag=1, SWIG_Error(SWIG_RuntimeError, "No function id %d.", fcn_id); } if (flag) { diff --git a/bindings/sensors.i b/bindings/sensors.i index e7932d70977..345426cf187 100644 --- a/bindings/sensors.i +++ b/bindings/sensors.i @@ -37,6 +37,13 @@ namespace iDynTree{ static_cast($self->getSensor(iDynTree::THREE_AXIS_ANGULAR_ACCELEROMETER,sensor_index)); return p; } + + iDynTree::ThreeAxisForceTorqueContactSensor * getThreeAxisForceTorqueContactSensor(int sensor_index) const + { + iDynTree::ThreeAxisForceTorqueContactSensor* p = + static_cast($self->getSensor(iDynTree::THREE_AXIS_FORCE_TORQUE_CONTACT,sensor_index)); + return p; + } } } diff --git a/cmake/iDynTreeDependencies.cmake b/cmake/iDynTreeDependencies.cmake index 55787196bac..1cb11b120b4 100644 --- a/cmake/iDynTreeDependencies.cmake +++ b/cmake/iDynTreeDependencies.cmake @@ -26,13 +26,15 @@ endmacro () # Eigen is compulsory (minimum version 3.2.92) find_package(Eigen3 3.2.92 REQUIRED) +find_package(LibXml2 REQUIRED) # For orocos_kdl we have custom logic, because we want to set it to FALSE by default option(IDYNTREE_USES_KDL "Build the part of iDynTree that depends on package orocos_kdl" FALSE) if (IDYNTREE_USES_KDL) + # KDL requires a system version of TinyXML + find_package(TinyXML REQUIRED) include(OrocosKDLFindLogic) find_package(orocos_kdl REQUIRED) - find_package(TinyXML REQUIRED) endif () find_package(ICUB) @@ -53,11 +55,3 @@ idyntree_handle_dependency(IPOPT) idyntree_handle_dependency(Irrlicht) idyntree_handle_dependency(Qt5 COMPONENTS Qml Quick Widgets) - -# If KDL is not used, an external TinyXML is not compulsory -# (because no public headers contain TinyXML includes) -# and so we can use the internal copy of TinyXML, see logic -# in extern/CMakeLists.txt . For this reason we just check -# the system if a local copy of TinyXML exists, and otherwise -# we use the copy in extern/CMakeLists.txt -find_package(TinyXML) diff --git a/doc/releases/v0_11.md b/doc/releases/v0_11.md new file mode 100644 index 00000000000..a067e4e682a --- /dev/null +++ b/doc/releases/v0_11.md @@ -0,0 +1,44 @@ +iDynTree 0.11 (UNRELEASED) {#v0_11} +======================== + +[TOC] + +iDynTree 0.11 Release Notes +========================= + +Summary +------- +* iDynTree now official supports the following compilers: Microsoft Visual Studio 2015/2017, GCC >= 5.3 and clang >= 3.8 . +* The C++14 standard language is now used in the project, including in the public headers. +* [libxml2](http://xmlsoft.org) is now a required dependency. Check the docs to see how to install it. +* A new URDF parser was implemented. A side effect of the new parser is that the serialization of the links and joints of models + parsed from URDF may change. In your code, please use name string (in place of indices) to identify joints and links, or use the + `iDynTree::ModelLoader` class to load a Model with the specified joint serialization. +* CMake 3.5 is now required to build iDynTree. + +Important Changes +----------------- + +### `core` +* Improve SpatialInertia documentation ( https://github.com/robotology/idyntree/pull/435 ). + +### `sensors` +* The `iDynTree/Sensors/SixAxisFTSensor.h` header has been deprecated in favor of the `iDynTree/Sensors/SixAxisForceTorqueSensor.h`. + +#### `model_io` +* Added dependency on [Gnome libxml2](http://xmlsoft.org), see next bullet point. +* Added library `idyntree-modelio-xml` to parse generic XML files. Support for XSD validation (when parsing from file). This library requires [Gnome libxml2](http://xmlsoft.org). +* Rewritten URDF parser to use the new `idyntree-modelio-xml` library. +* Dropped required dependency on TinyXML1. If TinyXML is found in the system, it is possible to compile the old URDF parser that has been renamed into `idyntree-modelio-urdf-legacy`. + +#### `core` +* Added `toEigen` methods for `Span` and added typedef for `Eigen` maps of vectors. +* Added some typedefs to `VectorDynsize` and `VectorFixSize` classes to enable the use of `make_span` with these objects. +* Added copy operator in `VectorDynSize` and `VectorFixSize` for `Span`. + +#### `high-level` +* Added method to obtain relative Jacobians sparsity pattern +* Added method to obtain free floating Jacobians sparsity pattern + +#### `inverse-kinematics` +* Constraints Jacobian now exploit sparsity pattern diff --git a/extern/CMakeLists.txt b/extern/CMakeLists.txt index 440cb63158f..4d644676691 100644 --- a/extern/CMakeLists.txt +++ b/extern/CMakeLists.txt @@ -5,23 +5,6 @@ # Copy Policy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT # -# An external TinyXML is compulsory if compiling -# with KDL support enabled, because KDL uses urdfdom -# that include TinyXML in its public headers. -# If KDL is not enabled, we can use also the internal -# copy of TinyXML, given that we don't include it in -# our public headers -if(NOT IDYNTREE_USES_KDL) - # If no TinyXML is found in the system, use the internal one - if(NOT TinyXML_FOUND) - # TinyXML - add_subdirectory(tinyxml) - set(TinyXML_INCLUDE_DIRS ${TinyXML_INCLUDE_DIRS} PARENT_SCOPE) - set(TinyXML_LIBRARIES ${TinyXML_LIBRARIES} PARENT_SCOPE) - set(TinyXML_DEFINITIONS ${TinyXML_DEFINITIONS} PARENT_SCOPE) - endif() -endif() - # MOxUnit ( https://github.com/MOxUnit/MOxUnit ) is an xUnit testing # framework for Matlab and Octave, it is only included if testing # is enabled in Matlab or Octave @@ -30,7 +13,3 @@ if( (IDYNTREE_USES_OCTAVE OR IDYNTREE_USES_MATLAB OR IDYNTREE_GENERATE_MATLAB) A # We save the location of MOxUnit in a variable that is then accessible to the test set(IDYNTREE_INTERNAL_MOXUNIT_PATH "${CMAKE_CURRENT_LIST_DIR}/MOxUnit/MOxUnit" PARENT_SCOPE) endif() - - - - diff --git a/extern/tinyxml/CMakeLists.txt b/extern/tinyxml/CMakeLists.txt deleted file mode 100644 index bfb7880af6a..00000000000 --- a/extern/tinyxml/CMakeLists.txt +++ /dev/null @@ -1,36 +0,0 @@ -# Copyright (C) 2012 iCub Facility, Istituto Italiano di Tecnologia -# Author: Ali Paikan -# CopyPolicy: Released under the terms of the LGPLv2.1 or later, see LGPL.TXT - - -# TinyXML -set(PROJECTNAME iDynTree_priv_tinyxml) -project(${PROJECTNAME}) - -set(tinyxml_SRCS - src/tinyxml.cpp - src/tinyxmlerror.cpp - src/tinyxmlparser.cpp -) - -set(tinyxml_HDRS - src/tinystr.h - src/tinyxml.h -) - -add_definitions("-DTIXML_USE_STL") -add_library(${PROJECTNAME} STATIC ${tinyxml_SRCS}) - -set(TinyXML_INCLUDE_DIRS ${CMAKE_CURRENT_SOURCE_DIR}/src PARENT_SCOPE) -set(TinyXML_LIBRARIES "${PROJECTNAME}" PARENT_SCOPE) -set(TinyXML_DEFINITIONS "-DTIXML_USE_STL " PARENT_SCOPE) - -install(TARGETS ${PROJECTNAME} - EXPORT iDynTree - COMPONENT runtime - RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT bin - LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT shlib - ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT lib) - -set_property(GLOBAL APPEND PROPERTY ${VARS_PREFIX}_TARGETS ${PROJECT_NAME}) - diff --git a/extern/tinyxml/src/changes.txt b/extern/tinyxml/src/changes.txt deleted file mode 100644 index 15b51bd91f5..00000000000 --- a/extern/tinyxml/src/changes.txt +++ /dev/null @@ -1,299 +0,0 @@ -Changes in version 1.0.1: -- Fixed comment tags which were outputing as ' include. Thanks - to Steve Lhomme for that. - -Changes in version 2.0.0 BETA -- Made the ToXXX() casts safe if 'this' is null. - When "LoadFile" is called with a filename, the value will correctly get set. - Thanks to Brian Yoder. -- Fixed bug where isalpha() and isalnum() would get called with a negative value for - high ascii numbers. Thanks to Alesky Aksenov. -- Fixed some errors codes that were not getting set. -- Made methods "const" that were not. -- Added a switch to enable or disable the ignoring of white space. ( TiXmlDocument::SetIgnoreWhiteSpace() ) -- Greater standardization and code re-use in the parser. -- Added a stream out operator. -- Added a stream in operator. -- Entity support, of predefined entites. &#x entities are untouched by input or output. -- Improved text out formatting. -- Fixed ReplaceChild bug, thanks to Tao Chen. - -Changes in version 2.0.1 -- Fixed hanging on loading a 0 length file. Thanks to Jeff Scozzafava. -- Fixed crashing on InsertBeforeChild and InsertAfterChild. Also possibility of bad links being - created by same function. Thanks to Frank De prins. -- Added missing licence text. Thanks to Lars Willemsens. -- Added include, at the suggestion of Steve Walters. - -Changes in version 2.1.0 -- Yves Berquin brings us the STL switch. The forum on SourceForge, and various emails to - me, have long debated all out STL vs. no STL at all. And now you can have it both ways. - TinyXml will compile either way. - -Changes in version 2.1.1 -- Compilation warnings. - -Changes in version 2.1.2 -- Uneeded code is not compiled in the STL case. -- Changed headers so that STL can be turned on or off in tinyxml.h - -Changes in version 2.1.3 -- Fixed non-const reference in API; now uses a pointer. -- Copy constructor of TiXmlString not checking for assignment to self. -- Nimrod Cohen found a truly evil bug in the STL implementation that occurs - when a string is converted to a c_str and then assigned to self. Search for - STL_STRING_BUG for a full description. I'm asserting this is a Microsoft STL - bug, since &string and string.c_str() should never be the same. Nevertheless, - the code works around it. -- Urivan Saaib pointed out a compiler conflict, where the C headers define - the isblank macro, which was wiping out the TiXmlString::isblank() method. - The method was unused and has been removed. - -Changes in version 2.1.4 -- Reworked the entity code. Entities were not correctly surving round trip input and output. - Will now automatically create entities for high ascii in output. - -Changes in version 2.1.5 -- Bug fix by kylotan : infinite loop on some input (tinyxmlparser.cpp rev 1.27) -- Contributed by Ivica Aracic (bytelord) : 1 new VC++ project to compile versions as static libraries (tinyxml_lib.dsp), - and an example usage in xmltest.dsp - (Patch request ID 678605) -- A suggestion by Ronald Fenner Jr (dormlock) to add #include and for Apple's Project Builder - (Patch request ID 697642) -- A patch from ohommes that allows to parse correctly dots in element names and attribute names - (Patch request 602600 and kylotan 701728) -- A patch from hermitgeek ( James ) and wasteland for improper error reporting -- Reviewed by Lee, with the following changes: - - Got sick of fighting the STL/non-STL thing in the windows build. Broke - them out as seperate projects. - - I have too long not included the dsw. Added. - - TinyXmlText had a protected Print. Odd. - - Made LinkEndChild public, with docs and appropriate warnings. - - Updated the docs. - -2.2.0 -- Fixed an uninitialized pointer in the TiXmlAttributes -- Fixed STL compilation problem in MinGW (and gcc 3?) - thanks Brian Yoder for finding this one -- Fixed a syntax error in TiXmlDeclaration - thanks Brian Yoder -- Fletcher Dunn proposed and submitted new error handling that tracked the row and column. Lee - modified it to not have performance impact. -- General cleanup suggestions from Fletcher Dunn. -- In error handling, general errors will no longer clear the error state of specific ones. -- Fix error in documentation : comments starting with ">) has now - been fixed. - -2.5.2 -- Lieven, and others, pointed out a missing const-cast that upset the Open Watcom compiler. - Should now be fixed. -- ErrorRow and ErrorCol should have been const, and weren't. Fixed thanks to Dmitry Polutov. - -2.5.3 -- zloe_zlo identified a missing string specialization for QueryValueAttribute() [ 1695429 ]. Worked - on this bug, but not sure how to fix it in a safe, cross-compiler way. -- increased warning level to 4 and turned on detect 64 bit portability issues for VC2005. - May address [ 1677737 ] VS2005: /Wp64 warnings -- grosheck identified several problems with the Document copy. Many thanks for [ 1660367 ] -- Nice catch, and suggested fix, be Gilad Novik on the Printer dropping entities. - "[ 1600650 ] Bug when printing xml text" is now fixed. -- A subtle fix from Nicos Gollan in the tinystring initializer: - [ 1581449 ] Fix initialiser of TiXmlString::nullrep_ -- Great catch, although there isn't a submitter for the bug. [ 1475201 ] TinyXML parses entities in comments. - Comments should not, in fact, parse entities. Fixed the code path and added tests. -- We were not catching all the returns from ftell. Thanks to Bernard for catching that. - -2.5.4 -- A TiXMLDocument can't be a sub-node. Block this from happening in the 'replace'. Thanks Noam. -- [ 1714831 ] TiXmlBase::location is not copied by copy-ctors, fix reported and suggested by Nicola Civran. -- Fixed possible memory overrun in the comment reading code - thanks gcarlton77 - -2.5.5 -- Alex van der Wal spotted incorrect types (lf) being used in print and scan. robertnestor pointed out some problems with the simple solution. Types updated. -- Johannes Hillert pointed out some bug typos. -- Christian Mueller identified inconsistent error handling with Attributes. -- olivier barthelemy also reported a problem with double truncation, also related to the %lf issue. -- zaelsius came up with a great (and simple) suggestion to fix QueryValueAttribute truncating strings. -- added some null pointer checks suggested by hansenk -- Sami Väisänen found a (rare) buffer overrun that could occur in parsing. -- vi tri filed a bug that led to a refactoring of the attribute setting mess (as well as adding a missing SetDoubleAttribute() ) -- removed TIXML_ERROR_OUT_OF_MEMORY. TinyXML does not systematically address OOO, and the notion it does is misleading. -- vanneto, keithmarshall, others all reported the warning from IsWhiteSpace() usage. Cleaned this up - many thanks to everyone who reported this one. -- tibur found a bug in end tag parsing - - -2.6.2 -- Switched over to VC 2010 -- Fixed up all the build issues arising from that. (Lots of latent build problems.) -- Removed the old, now unmaintained and likely not working, build files. -- Fixed some static analysis issues reported by orbitcowboy from cppcheck. -- Bayard 95 sent in analysis from a different analyzer - fixes applied from that as well. -- Tim Kosse sent a patch fixing an infinite loop. -- Ma Anguo identified a doc issue. -- Eddie Cohen identified a missing qualifier resulting in a compilation error on some systems. -- Fixed a line ending bug. (What year is this? Can we all agree on a format for text files? Please? ...oh well.) - diff --git a/extern/tinyxml/src/readme.txt b/extern/tinyxml/src/readme.txt deleted file mode 100644 index 89d9e8d38bf..00000000000 --- a/extern/tinyxml/src/readme.txt +++ /dev/null @@ -1,530 +0,0 @@ -/** @mainpage - -

TinyXML

- -TinyXML is a simple, small, C++ XML parser that can be easily -integrated into other programs. - -

What it does.

- -In brief, TinyXML parses an XML document, and builds from that a -Document Object Model (DOM) that can be read, modified, and saved. - -XML stands for "eXtensible Markup Language." It allows you to create -your own document markups. Where HTML does a very good job of marking -documents for browsers, XML allows you to define any kind of document -markup, for example a document that describes a "to do" list for an -organizer application. XML is a very structured and convenient format. -All those random file formats created to store application data can -all be replaced with XML. One parser for everything. - -The best place for the complete, correct, and quite frankly hard to -read spec is at -http://www.w3.org/TR/2004/REC-xml-20040204/. An intro to XML -(that I really like) can be found at -http://skew.org/xml/tutorial. - -There are different ways to access and interact with XML data. -TinyXML uses a Document Object Model (DOM), meaning the XML data is parsed -into a C++ objects that can be browsed and manipulated, and then -written to disk or another output stream. You can also construct an XML document -from scratch with C++ objects and write this to disk or another output -stream. - -TinyXML is designed to be easy and fast to learn. It is two headers -and four cpp files. Simply add these to your project and off you go. -There is an example file - xmltest.cpp - to get you started. - -TinyXML is released under the ZLib license, -so you can use it in open source or commercial code. The details -of the license are at the top of every source file. - -TinyXML attempts to be a flexible parser, but with truly correct and -compliant XML output. TinyXML should compile on any reasonably C++ -compliant system. It does not rely on exceptions or RTTI. It can be -compiled with or without STL support. TinyXML fully supports -the UTF-8 encoding, and the first 64k character entities. - - -

What it doesn't do.

- -TinyXML doesn't parse or use DTDs (Document Type Definitions) or XSLs -(eXtensible Stylesheet Language.) There are other parsers out there -(check out www.sourceforge.org, search for XML) that are much more fully -featured. But they are also much bigger, take longer to set up in -your project, have a higher learning curve, and often have a more -restrictive license. If you are working with browsers or have more -complete XML needs, TinyXML is not the parser for you. - -The following DTD syntax will not parse at this time in TinyXML: - -@verbatim - - ]> -@endverbatim - -because TinyXML sees this as a !DOCTYPE node with an illegally -embedded !ELEMENT node. This may be addressed in the future. - -

Tutorials.

- -For the impatient, here is a tutorial to get you going. A great way to get started, -but it is worth your time to read this (very short) manual completely. - -- @subpage tutorial0 - -

Code Status.

- -TinyXML is mature, tested code. It is very stable. If you find -bugs, please file a bug report on the sourceforge web site -(www.sourceforge.net/projects/tinyxml). We'll get them straightened -out as soon as possible. - -There are some areas of improvement; please check sourceforge if you are -interested in working on TinyXML. - -

Related Projects

- -TinyXML projects you may find useful! (Descriptions provided by the projects.) - -
    -
  • TinyXPath (http://tinyxpath.sourceforge.net). TinyXPath is a small footprint - XPath syntax decoder, written in C++.
    • -
  • TinyXML++ (http://code.google.com/p/ticpp/). TinyXML++ is a completely new - interface to TinyXML that uses MANY of the C++ strengths. Templates, - exceptions, and much better error handling.
    • -
- -

Features

- -

Using STL

- -TinyXML can be compiled to use or not use STL. When using STL, TinyXML -uses the std::string class, and fully supports std::istream, std::ostream, -operator<<, and operator>>. Many API methods have both 'const char*' and -'const std::string&' forms. - -When STL support is compiled out, no STL files are included whatsoever. All -the string classes are implemented by TinyXML itself. API methods -all use the 'const char*' form for input. - -Use the compile time #define: - - TIXML_USE_STL - -to compile one version or the other. This can be passed by the compiler, -or set as the first line of "tinyxml.h". - -Note: If compiling the test code in Linux, setting the environment -variable TINYXML_USE_STL=YES/NO will control STL compilation. In the -Windows project file, STL and non STL targets are provided. In your project, -It's probably easiest to add the line "#define TIXML_USE_STL" as the first -line of tinyxml.h. - -

UTF-8

- -TinyXML supports UTF-8 allowing to manipulate XML files in any language. TinyXML -also supports "legacy mode" - the encoding used before UTF-8 support and -probably best described as "extended ascii". - -Normally, TinyXML will try to detect the correct encoding and use it. However, -by setting the value of TIXML_DEFAULT_ENCODING in the header file, TinyXML -can be forced to always use one encoding. - -TinyXML will assume Legacy Mode until one of the following occurs: -
    -
  1. If the non-standard but common "UTF-8 lead bytes" (0xef 0xbb 0xbf) - begin the file or data stream, TinyXML will read it as UTF-8.
    2. -
  2. If the declaration tag is read, and it has an encoding="UTF-8", then - TinyXML will read it as UTF-8.
    3. -
  3. If the declaration tag is read, and it has no encoding specified, then TinyXML will - read it as UTF-8.
    4. -
  4. If the declaration tag is read, and it has an encoding="something else", then TinyXML - will read it as Legacy Mode. In legacy mode, TinyXML will work as it did before. It's - not clear what that mode does exactly, but old content should keep working.
    5. -
  5. Until one of the above criteria is met, TinyXML runs in Legacy Mode.
    6. -
- -What happens if the encoding is incorrectly set or detected? TinyXML will try -to read and pass through text seen as improperly encoded. You may get some strange results or -mangled characters. You may want to force TinyXML to the correct mode. - -You may force TinyXML to Legacy Mode by using LoadFile( TIXML_ENCODING_LEGACY ) or -LoadFile( filename, TIXML_ENCODING_LEGACY ). You may force it to use legacy mode all -the time by setting TIXML_DEFAULT_ENCODING = TIXML_ENCODING_LEGACY. Likewise, you may -force it to TIXML_ENCODING_UTF8 with the same technique. - -For English users, using English XML, UTF-8 is the same as low-ASCII. You -don't need to be aware of UTF-8 or change your code in any way. You can think -of UTF-8 as a "superset" of ASCII. - -UTF-8 is not a double byte format - but it is a standard encoding of Unicode! -TinyXML does not use or directly support wchar, TCHAR, or Microsoft's _UNICODE at this time. -It is common to see the term "Unicode" improperly refer to UTF-16, a wide byte encoding -of unicode. This is a source of confusion. - -For "high-ascii" languages - everything not English, pretty much - TinyXML can -handle all languages, at the same time, as long as the XML is encoded -in UTF-8. That can be a little tricky, older programs and operating systems -tend to use the "default" or "traditional" code page. Many apps (and almost all -modern ones) can output UTF-8, but older or stubborn (or just broken) ones -still output text in the default code page. - -For example, Japanese systems traditionally use SHIFT-JIS encoding. -Text encoded as SHIFT-JIS can not be read by TinyXML. -A good text editor can import SHIFT-JIS and then save as UTF-8. - -The Skew.org link does a great -job covering the encoding issue. - -The test file "utf8test.xml" is an XML containing English, Spanish, Russian, -and Simplified Chinese. (Hopefully they are translated correctly). The file -"utf8test.gif" is a screen capture of the XML file, rendered in IE. Note that -if you don't have the correct fonts (Simplified Chinese or Russian) on your -system, you won't see output that matches the GIF file even if you can parse -it correctly. Also note that (at least on my Windows machine) console output -is in a Western code page, so that Print() or printf() cannot correctly display -the file. This is not a bug in TinyXML - just an OS issue. No data is lost or -destroyed by TinyXML. The console just doesn't render UTF-8. - - -

Entities

-TinyXML recognizes the pre-defined "character entities", meaning special -characters. Namely: - -@verbatim - & & - < < - > > - " " - ' ' -@endverbatim - -These are recognized when the XML document is read, and translated to there -UTF-8 equivalents. For instance, text with the XML of: - -@verbatim - Far & Away -@endverbatim - -will have the Value() of "Far & Away" when queried from the TiXmlText object, -and will be written back to the XML stream/file as an ampersand. Older versions -of TinyXML "preserved" character entities, but the newer versions will translate -them into characters. - -Additionally, any character can be specified by its Unicode code point: -The syntax " " or " " are both to the non-breaking space characher. - -

Printing

-TinyXML can print output in several different ways that all have strengths and limitations. - -- Print( FILE* ). Output to a std-C stream, which includes all C files as well as stdout. - - "Pretty prints", but you don't have control over printing options. - - The output is streamed directly to the FILE object, so there is no memory overhead - in the TinyXML code. - - used by Print() and SaveFile() - -- operator<<. Output to a c++ stream. - - Integrates with standart C++ iostreams. - - Outputs in "network printing" mode without line breaks. Good for network transmission - and moving XML between C++ objects, but hard for a human to read. - -- TiXmlPrinter. Output to a std::string or memory buffer. - - API is less concise - - Future printing options will be put here. - - Printing may change slightly in future versions as it is refined and expanded. - -

Streams

-With TIXML_USE_STL on TinyXML supports C++ streams (operator <<,>>) streams as well -as C (FILE*) streams. There are some differences that you may need to be aware of. - -C style output: - - based on FILE* - - the Print() and SaveFile() methods - - Generates formatted output, with plenty of white space, intended to be as - human-readable as possible. They are very fast, and tolerant of ill formed - XML documents. For example, an XML document that contains 2 root elements - and 2 declarations, will still print. - -C style input: - - based on FILE* - - the Parse() and LoadFile() methods - - A fast, tolerant read. Use whenever you don't need the C++ streams. - -C++ style output: - - based on std::ostream - - operator<< - - Generates condensed output, intended for network transmission rather than - readability. Depending on your system's implementation of the ostream class, - these may be somewhat slower. (Or may not.) Not tolerant of ill formed XML: - a document should contain the correct one root element. Additional root level - elements will not be streamed out. - -C++ style input: - - based on std::istream - - operator>> - - Reads XML from a stream, making it useful for network transmission. The tricky - part is knowing when the XML document is complete, since there will almost - certainly be other data in the stream. TinyXML will assume the XML data is - complete after it reads the root element. Put another way, documents that - are ill-constructed with more than one root element will not read correctly. - Also note that operator>> is somewhat slower than Parse, due to both - implementation of the STL and limitations of TinyXML. - -

White space

-The world simply does not agree on whether white space should be kept, or condensed. -For example, pretend the '_' is a space, and look at "Hello____world". HTML, and -at least some XML parsers, will interpret this as "Hello_world". They condense white -space. Some XML parsers do not, and will leave it as "Hello____world". (Remember -to keep pretending the _ is a space.) Others suggest that __Hello___world__ should become -Hello___world. - -It's an issue that hasn't been resolved to my satisfaction. TinyXML supports the -first 2 approaches. Call TiXmlBase::SetCondenseWhiteSpace( bool ) to set the desired behavior. -The default is to condense white space. - -If you change the default, you should call TiXmlBase::SetCondenseWhiteSpace( bool ) -before making any calls to Parse XML data, and I don't recommend changing it after -it has been set. - - -

Handles

- -Where browsing an XML document in a robust way, it is important to check -for null returns from method calls. An error safe implementation can -generate a lot of code like: - -@verbatim -TiXmlElement* root = document.FirstChildElement( "Document" ); -if ( root ) -{ - TiXmlElement* element = root->FirstChildElement( "Element" ); - if ( element ) - { - TiXmlElement* child = element->FirstChildElement( "Child" ); - if ( child ) - { - TiXmlElement* child2 = child->NextSiblingElement( "Child" ); - if ( child2 ) - { - // Finally do something useful. -@endverbatim - -Handles have been introduced to clean this up. Using the TiXmlHandle class, -the previous code reduces to: - -@verbatim -TiXmlHandle docHandle( &document ); -TiXmlElement* child2 = docHandle.FirstChild( "Document" ).FirstChild( "Element" ).Child( "Child", 1 ).ToElement(); -if ( child2 ) -{ - // do something useful -@endverbatim - -Which is much easier to deal with. See TiXmlHandle for more information. - - -

Row and Column tracking

-Being able to track nodes and attributes back to their origin location -in source files can be very important for some applications. Additionally, -knowing where parsing errors occured in the original source can be very -time saving. - -TinyXML can tracks the row and column origin of all nodes and attributes -in a text file. The TiXmlBase::Row() and TiXmlBase::Column() methods return -the origin of the node in the source text. The correct tabs can be -configured in TiXmlDocument::SetTabSize(). - - -

Using and Installing

- -To Compile and Run xmltest: - -A Linux Makefile and a Windows Visual C++ .dsw file is provided. -Simply compile and run. It will write the file demotest.xml to your -disk and generate output on the screen. It also tests walking the -DOM by printing out the number of nodes found using different -techniques. - -The Linux makefile is very generic and runs on many systems - it -is currently tested on mingw and -MacOSX. You do not need to run 'make depend'. The dependecies have been -hard coded. - -

Windows project file for VC6

-
    -
  • tinyxml: tinyxml library, non-STL
    • -
  • tinyxmlSTL: tinyxml library, STL
    • -
  • tinyXmlTest: test app, non-STL
    • -
  • tinyXmlTestSTL: test app, STL
    • -
- -

Makefile

-At the top of the makefile you can set: - -PROFILE, DEBUG, and TINYXML_USE_STL. Details (such that they are) are in -the makefile. - -In the tinyxml directory, type "make clean" then "make". The executable -file 'xmltest' will be created. - - - -

To Use in an Application:

- -Add tinyxml.cpp, tinyxml.h, tinyxmlerror.cpp, tinyxmlparser.cpp, tinystr.cpp, and tinystr.h to your -project or make file. That's it! It should compile on any reasonably -compliant C++ system. You do not need to enable exceptions or -RTTI for TinyXML. - - -

How TinyXML works.

- -An example is probably the best way to go. Take: -@verbatim - - - - Go to the Toy store! - Do bills - -@endverbatim - -Its not much of a To Do list, but it will do. To read this file -(say "demo.xml") you would create a document, and parse it in: -@verbatim - TiXmlDocument doc( "demo.xml" ); - doc.LoadFile(); -@endverbatim - -And its ready to go. Now lets look at some lines and how they -relate to the DOM. - -@verbatim - -@endverbatim - - The first line is a declaration, and gets turned into the - TiXmlDeclaration class. It will be the first child of the - document node. - - This is the only directive/special tag parsed by TinyXML. - Generally directive tags are stored in TiXmlUnknown so the - commands wont be lost when it is saved back to disk. - -@verbatim - -@endverbatim - - A comment. Will become a TiXmlComment object. - -@verbatim - -@endverbatim - - The "ToDo" tag defines a TiXmlElement object. This one does not have - any attributes, but does contain 2 other elements. - -@verbatim - -@endverbatim - - Creates another TiXmlElement which is a child of the "ToDo" element. - This element has 1 attribute, with the name "priority" and the value - "1". - -@verbatim -Go to the -@endverbatim - - A TiXmlText. This is a leaf node and cannot contain other nodes. - It is a child of the "Item" TiXmlElement. - -@verbatim - -@endverbatim - - - Another TiXmlElement, this one a child of the "Item" element. - -Etc. - -Looking at the entire object tree, you end up with: -@verbatim -TiXmlDocument "demo.xml" - TiXmlDeclaration "version='1.0'" "standalone=no" - TiXmlComment " Our to do list data" - TiXmlElement "ToDo" - TiXmlElement "Item" Attribtutes: priority = 1 - TiXmlText "Go to the " - TiXmlElement "bold" - TiXmlText "Toy store!" - TiXmlElement "Item" Attributes: priority=2 - TiXmlText "Do bills" -@endverbatim - -

Documentation

- -The documentation is build with Doxygen, using the 'dox' -configuration file. - -

License

- -TinyXML is released under the zlib license: - -This software is provided 'as-is', without any express or implied -warranty. In no event will the authors be held liable for any -damages arising from the use of this software. - -Permission is granted to anyone to use this software for any -purpose, including commercial applications, and to alter it and -redistribute it freely, subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must -not claim that you wrote the original software. If you use this -software in a product, an acknowledgment in the product documentation -would be appreciated but is not required. - -2. Altered source versions must be plainly marked as such, and -must not be misrepresented as being the original software. - -3. This notice may not be removed or altered from any source -distribution. - -

References

- -The World Wide Web Consortium is the definitive standard body for -XML, and their web pages contain huge amounts of information. - -The definitive spec: -http://www.w3.org/TR/2004/REC-xml-20040204/ - -I also recommend "XML Pocket Reference" by Robert Eckstein and published by -OReilly...the book that got the whole thing started. - -

Contributors, Contacts, and a Brief History

- -Thanks very much to everyone who sends suggestions, bugs, ideas, and -encouragement. It all helps, and makes this project fun. A special thanks -to the contributors on the web pages that keep it lively. - -So many people have sent in bugs and ideas, that rather than list here -we try to give credit due in the "changes.txt" file. - -TinyXML was originally written by Lee Thomason. (Often the "I" still -in the documentation.) Lee reviews changes and releases new versions, -with the help of Yves Berquin, Andrew Ellerton, and the tinyXml community. - -We appreciate your suggestions, and would love to know if you -use TinyXML. Hopefully you will enjoy it and find it useful. -Please post questions, comments, file bugs, or contact us at: - -www.sourceforge.net/projects/tinyxml - -Lee Thomason, Yves Berquin, Andrew Ellerton -*/ diff --git a/extern/tinyxml/src/tinystr.h b/extern/tinyxml/src/tinystr.h deleted file mode 100644 index 89cca334156..00000000000 --- a/extern/tinyxml/src/tinystr.h +++ /dev/null @@ -1,305 +0,0 @@ -/* -www.sourceforge.net/projects/tinyxml - -This software is provided 'as-is', without any express or implied -warranty. In no event will the authors be held liable for any -damages arising from the use of this software. - -Permission is granted to anyone to use this software for any -purpose, including commercial applications, and to alter it and -redistribute it freely, subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must -not claim that you wrote the original software. If you use this -software in a product, an acknowledgment in the product documentation -would be appreciated but is not required. - -2. Altered source versions must be plainly marked as such, and -must not be misrepresented as being the original software. - -3. This notice may not be removed or altered from any source -distribution. -*/ - - -#ifndef TIXML_USE_STL - -#ifndef TIXML_STRING_INCLUDED -#define TIXML_STRING_INCLUDED - -#include -#include - -/* The support for explicit isn't that universal, and it isn't really - required - it is used to check that the TiXmlString class isn't incorrectly - used. Be nice to old compilers and macro it here: -*/ -#if defined(_MSC_VER) && (_MSC_VER >= 1200 ) - // Microsoft visual studio, version 6 and higher. - #define TIXML_EXPLICIT explicit -#elif defined(__GNUC__) && (__GNUC__ >= 3 ) - // GCC version 3 and higher.s - #define TIXML_EXPLICIT explicit -#else - #define TIXML_EXPLICIT -#endif - - -/* - TiXmlString is an emulation of a subset of the std::string template. - Its purpose is to allow compiling TinyXML on compilers with no or poor STL support. - Only the member functions relevant to the TinyXML project have been implemented. - The buffer allocation is made by a simplistic power of 2 like mechanism : if we increase - a string and there's no more room, we allocate a buffer twice as big as we need. -*/ -class TiXmlString -{ - public : - // The size type used - typedef size_t size_type; - - // Error value for find primitive - static const size_type npos; // = -1; - - - // TiXmlString empty constructor - TiXmlString () : rep_(&nullrep_) - { - } - - // TiXmlString copy constructor - TiXmlString ( const TiXmlString & copy) : rep_(0) - { - init(copy.length()); - memcpy(start(), copy.data(), length()); - } - - // TiXmlString constructor, based on a string - TIXML_EXPLICIT TiXmlString ( const char * copy) : rep_(0) - { - init( static_cast( strlen(copy) )); - memcpy(start(), copy, length()); - } - - // TiXmlString constructor, based on a string - TIXML_EXPLICIT TiXmlString ( const char * str, size_type len) : rep_(0) - { - init(len); - memcpy(start(), str, len); - } - - // TiXmlString destructor - ~TiXmlString () - { - quit(); - } - - TiXmlString& operator = (const char * copy) - { - return assign( copy, (size_type)strlen(copy)); - } - - TiXmlString& operator = (const TiXmlString & copy) - { - return assign(copy.start(), copy.length()); - } - - - // += operator. Maps to append - TiXmlString& operator += (const char * suffix) - { - return append(suffix, static_cast( strlen(suffix) )); - } - - // += operator. Maps to append - TiXmlString& operator += (char single) - { - return append(&single, 1); - } - - // += operator. Maps to append - TiXmlString& operator += (const TiXmlString & suffix) - { - return append(suffix.data(), suffix.length()); - } - - - // Convert a TiXmlString into a null-terminated char * - const char * c_str () const { return rep_->str; } - - // Convert a TiXmlString into a char * (need not be null terminated). - const char * data () const { return rep_->str; } - - // Return the length of a TiXmlString - size_type length () const { return rep_->size; } - - // Alias for length() - size_type size () const { return rep_->size; } - - // Checks if a TiXmlString is empty - bool empty () const { return rep_->size == 0; } - - // Return capacity of string - size_type capacity () const { return rep_->capacity; } - - - // single char extraction - const char& at (size_type index) const - { - assert( index < length() ); - return rep_->str[ index ]; - } - - // [] operator - char& operator [] (size_type index) const - { - assert( index < length() ); - return rep_->str[ index ]; - } - - // find a char in a string. Return TiXmlString::npos if not found - size_type find (char lookup) const - { - return find(lookup, 0); - } - - // find a char in a string from an offset. Return TiXmlString::npos if not found - size_type find (char tofind, size_type offset) const - { - if (offset >= length()) return npos; - - for (const char* p = c_str() + offset; *p != '\0'; ++p) - { - if (*p == tofind) return static_cast< size_type >( p - c_str() ); - } - return npos; - } - - void clear () - { - //Lee: - //The original was just too strange, though correct: - // TiXmlString().swap(*this); - //Instead use the quit & re-init: - quit(); - init(0,0); - } - - /* Function to reserve a big amount of data when we know we'll need it. Be aware that this - function DOES NOT clear the content of the TiXmlString if any exists. - */ - void reserve (size_type cap); - - TiXmlString& assign (const char* str, size_type len); - - TiXmlString& append (const char* str, size_type len); - - void swap (TiXmlString& other) - { - Rep* r = rep_; - rep_ = other.rep_; - other.rep_ = r; - } - - private: - - void init(size_type sz) { init(sz, sz); } - void set_size(size_type sz) { rep_->str[ rep_->size = sz ] = '\0'; } - char* start() const { return rep_->str; } - char* finish() const { return rep_->str + rep_->size; } - - struct Rep - { - size_type size, capacity; - char str[1]; - }; - - void init(size_type sz, size_type cap) - { - if (cap) - { - // Lee: the original form: - // rep_ = static_cast(operator new(sizeof(Rep) + cap)); - // doesn't work in some cases of new being overloaded. Switching - // to the normal allocation, although use an 'int' for systems - // that are overly picky about structure alignment. - const size_type bytesNeeded = sizeof(Rep) + cap; - const size_type intsNeeded = ( bytesNeeded + sizeof(int) - 1 ) / sizeof( int ); - rep_ = reinterpret_cast( new int[ intsNeeded ] ); - - rep_->str[ rep_->size = sz ] = '\0'; - rep_->capacity = cap; - } - else - { - rep_ = &nullrep_; - } - } - - void quit() - { - if (rep_ != &nullrep_) - { - // The rep_ is really an array of ints. (see the allocator, above). - // Cast it back before delete, so the compiler won't incorrectly call destructors. - delete [] ( reinterpret_cast( rep_ ) ); - } - } - - Rep * rep_; - static Rep nullrep_; - -} ; - - -inline bool operator == (const TiXmlString & a, const TiXmlString & b) -{ - return ( a.length() == b.length() ) // optimization on some platforms - && ( strcmp(a.c_str(), b.c_str()) == 0 ); // actual compare -} -inline bool operator < (const TiXmlString & a, const TiXmlString & b) -{ - return strcmp(a.c_str(), b.c_str()) < 0; -} - -inline bool operator != (const TiXmlString & a, const TiXmlString & b) { return !(a == b); } -inline bool operator > (const TiXmlString & a, const TiXmlString & b) { return b < a; } -inline bool operator <= (const TiXmlString & a, const TiXmlString & b) { return !(b < a); } -inline bool operator >= (const TiXmlString & a, const TiXmlString & b) { return !(a < b); } - -inline bool operator == (const TiXmlString & a, const char* b) { return strcmp(a.c_str(), b) == 0; } -inline bool operator == (const char* a, const TiXmlString & b) { return b == a; } -inline bool operator != (const TiXmlString & a, const char* b) { return !(a == b); } -inline bool operator != (const char* a, const TiXmlString & b) { return !(b == a); } - -TiXmlString operator + (const TiXmlString & a, const TiXmlString & b); -TiXmlString operator + (const TiXmlString & a, const char* b); -TiXmlString operator + (const char* a, const TiXmlString & b); - - -/* - TiXmlOutStream is an emulation of std::ostream. It is based on TiXmlString. - Only the operators that we need for TinyXML have been developped. -*/ -class TiXmlOutStream : public TiXmlString -{ -public : - - // TiXmlOutStream << operator. - TiXmlOutStream & operator << (const TiXmlString & in) - { - *this += in; - return *this; - } - - // TiXmlOutStream << operator. - TiXmlOutStream & operator << (const char * in) - { - *this += in; - return *this; - } - -} ; - -#endif // TIXML_STRING_INCLUDED -#endif // TIXML_USE_STL diff --git a/extern/tinyxml/src/tinyxml.cpp b/extern/tinyxml/src/tinyxml.cpp deleted file mode 100644 index 8577008393a..00000000000 --- a/extern/tinyxml/src/tinyxml.cpp +++ /dev/null @@ -1,1866 +0,0 @@ -/* -www.sourceforge.net/projects/tinyxml -Original code by Lee Thomason (www.grinninglizard.com) - -This software is provided 'as-is', without any express or implied -warranty. In no event will the authors be held liable for any -damages arising from the use of this software. - -Permission is granted to anyone to use this software for any -purpose, including commercial applications, and to alter it and -redistribute it freely, subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must -not claim that you wrote the original software. If you use this -software in a product, an acknowledgment in the product documentation -would be appreciated but is not required. - -2. Altered source versions must be plainly marked as such, and -must not be misrepresented as being the original software. - -3. This notice may not be removed or altered from any source -distribution. -*/ - -#include - -#ifdef TIXML_USE_STL -#include -#include -#endif - -#include "tinyxml.h" - -FILE* TiXmlFOpen( const char* filename, const char* mode ); - -bool TiXmlBase::condenseWhiteSpace = true; - -// Microsoft compiler security -FILE* TiXmlFOpen( const char* filename, const char* mode ) -{ - #if defined(_MSC_VER) && (_MSC_VER >= 1400 ) - FILE* fp = 0; - errno_t err = fopen_s( &fp, filename, mode ); - if ( !err && fp ) - return fp; - return 0; - #else - return fopen( filename, mode ); - #endif -} - -void TiXmlBase::EncodeString( const TIXML_STRING& str, TIXML_STRING* outString ) -{ - int i=0; - - while( i<(int)str.length() ) - { - unsigned char c = (unsigned char) str[i]; - - if ( c == '&' ) - { - outString->append( entity[0].str, entity[0].strLength ); - ++i; - } - else if ( c == '<' ) - { - outString->append( entity[1].str, entity[1].strLength ); - ++i; - } - else if ( c == '>' ) - { - outString->append( entity[2].str, entity[2].strLength ); - ++i; - } - else if ( c == '\"' ) - { - outString->append( entity[3].str, entity[3].strLength ); - ++i; - } - else if ( c == '\'' ) - { - outString->append( entity[4].str, entity[4].strLength ); - ++i; - } - else if ( c < 32 ) - { - // Easy pass at non-alpha/numeric/symbol - // Below 32 is symbolic. - char buf[ 32 ]; - - #if defined(TIXML_SNPRINTF) - TIXML_SNPRINTF( buf, sizeof(buf), "&#x%02X;", (unsigned) ( c & 0xff ) ); - #else - sprintf( buf, "&#x%02X;", (unsigned) ( c & 0xff ) ); - #endif - - //*ME: warning C4267: convert 'size_t' to 'int' - //*ME: Int-Cast to make compiler happy ... - outString->append( buf, (int)strlen( buf ) ); - ++i; - } - else - { - //char realc = (char) c; - //outString->append( &realc, 1 ); - *outString += (char) c; // somewhat more efficient function call. - ++i; - } - } -} - - -TiXmlNode::TiXmlNode( NodeType _type ) : TiXmlBase() -{ - parent = 0; - type = _type; - firstChild = 0; - lastChild = 0; - prev = 0; - next = 0; -} - - -TiXmlNode::~TiXmlNode() -{ - TiXmlNode* node = firstChild; - TiXmlNode* temp = 0; - - while ( node ) - { - temp = node; - node = node->next; - delete temp; - } -} - - -void TiXmlNode::CopyTo( TiXmlNode* target ) const -{ - target->SetValue (value.c_str() ); - target->userData = userData; - target->location = location; -} - - -void TiXmlNode::Clear() -{ - TiXmlNode* node = firstChild; - TiXmlNode* temp = 0; - - while ( node ) - { - temp = node; - node = node->next; - delete temp; - } - - firstChild = 0; - lastChild = 0; -} - - -TiXmlNode* TiXmlNode::LinkEndChild( TiXmlNode* node ) -{ - assert( node->parent == 0 || node->parent == this ); - assert( node->GetDocument() == 0 || node->GetDocument() == this->GetDocument() ); - - if ( node->Type() == TiXmlNode::TINYXML_DOCUMENT ) - { - delete node; - if ( GetDocument() ) - GetDocument()->SetError( TIXML_ERROR_DOCUMENT_TOP_ONLY, 0, 0, TIXML_ENCODING_UNKNOWN ); - return 0; - } - - node->parent = this; - - node->prev = lastChild; - node->next = 0; - - if ( lastChild ) - lastChild->next = node; - else - firstChild = node; // it was an empty list. - - lastChild = node; - return node; -} - - -TiXmlNode* TiXmlNode::InsertEndChild( const TiXmlNode& addThis ) -{ - if ( addThis.Type() == TiXmlNode::TINYXML_DOCUMENT ) - { - if ( GetDocument() ) - GetDocument()->SetError( TIXML_ERROR_DOCUMENT_TOP_ONLY, 0, 0, TIXML_ENCODING_UNKNOWN ); - return 0; - } - TiXmlNode* node = addThis.Clone(); - if ( !node ) - return 0; - - return LinkEndChild( node ); -} - - -TiXmlNode* TiXmlNode::InsertBeforeChild( TiXmlNode* beforeThis, const TiXmlNode& addThis ) -{ - if ( !beforeThis || beforeThis->parent != this ) { - return 0; - } - if ( addThis.Type() == TiXmlNode::TINYXML_DOCUMENT ) - { - if ( GetDocument() ) - GetDocument()->SetError( TIXML_ERROR_DOCUMENT_TOP_ONLY, 0, 0, TIXML_ENCODING_UNKNOWN ); - return 0; - } - - TiXmlNode* node = addThis.Clone(); - if ( !node ) - return 0; - node->parent = this; - - node->next = beforeThis; - node->prev = beforeThis->prev; - if ( beforeThis->prev ) - { - beforeThis->prev->next = node; - } - else - { - assert( firstChild == beforeThis ); - firstChild = node; - } - beforeThis->prev = node; - return node; -} - - -TiXmlNode* TiXmlNode::InsertAfterChild( TiXmlNode* afterThis, const TiXmlNode& addThis ) -{ - if ( !afterThis || afterThis->parent != this ) { - return 0; - } - if ( addThis.Type() == TiXmlNode::TINYXML_DOCUMENT ) - { - if ( GetDocument() ) - GetDocument()->SetError( TIXML_ERROR_DOCUMENT_TOP_ONLY, 0, 0, TIXML_ENCODING_UNKNOWN ); - return 0; - } - - TiXmlNode* node = addThis.Clone(); - if ( !node ) - return 0; - node->parent = this; - - node->prev = afterThis; - node->next = afterThis->next; - if ( afterThis->next ) - { - afterThis->next->prev = node; - } - else - { - assert( lastChild == afterThis ); - lastChild = node; - } - afterThis->next = node; - return node; -} - - -TiXmlNode* TiXmlNode::ReplaceChild( TiXmlNode* replaceThis, const TiXmlNode& withThis ) -{ - if ( !replaceThis ) - return 0; - - if ( replaceThis->parent != this ) - return 0; - - if ( withThis.ToDocument() ) { - // A document can never be a child. Thanks to Noam. - TiXmlDocument* document = GetDocument(); - if ( document ) - document->SetError( TIXML_ERROR_DOCUMENT_TOP_ONLY, 0, 0, TIXML_ENCODING_UNKNOWN ); - return 0; - } - - TiXmlNode* node = withThis.Clone(); - if ( !node ) - return 0; - - node->next = replaceThis->next; - node->prev = replaceThis->prev; - - if ( replaceThis->next ) - replaceThis->next->prev = node; - else - lastChild = node; - - if ( replaceThis->prev ) - replaceThis->prev->next = node; - else - firstChild = node; - - delete replaceThis; - node->parent = this; - return node; -} - - -bool TiXmlNode::RemoveChild( TiXmlNode* removeThis ) -{ - if ( !removeThis ) { - return false; - } - - if ( removeThis->parent != this ) - { - assert( 0 ); - return false; - } - - if ( removeThis->next ) - removeThis->next->prev = removeThis->prev; - else - lastChild = removeThis->prev; - - if ( removeThis->prev ) - removeThis->prev->next = removeThis->next; - else - firstChild = removeThis->next; - - delete removeThis; - return true; -} - -const TiXmlNode* TiXmlNode::FirstChild( const char * _value ) const -{ - const TiXmlNode* node; - for ( node = firstChild; node; node = node->next ) - { - if ( strcmp( node->Value(), _value ) == 0 ) - return node; - } - return 0; -} - - -const TiXmlNode* TiXmlNode::LastChild( const char * _value ) const -{ - const TiXmlNode* node; - for ( node = lastChild; node; node = node->prev ) - { - if ( strcmp( node->Value(), _value ) == 0 ) - return node; - } - return 0; -} - - -const TiXmlNode* TiXmlNode::IterateChildren( const TiXmlNode* previous ) const -{ - if ( !previous ) - { - return FirstChild(); - } - else - { - assert( previous->parent == this ); - return previous->NextSibling(); - } -} - - -const TiXmlNode* TiXmlNode::IterateChildren( const char * val, const TiXmlNode* previous ) const -{ - if ( !previous ) - { - return FirstChild( val ); - } - else - { - assert( previous->parent == this ); - return previous->NextSibling( val ); - } -} - - -const TiXmlNode* TiXmlNode::NextSibling( const char * _value ) const -{ - const TiXmlNode* node; - for ( node = next; node; node = node->next ) - { - if ( strcmp( node->Value(), _value ) == 0 ) - return node; - } - return 0; -} - - -const TiXmlNode* TiXmlNode::PreviousSibling( const char * _value ) const -{ - const TiXmlNode* node; - for ( node = prev; node; node = node->prev ) - { - if ( strcmp( node->Value(), _value ) == 0 ) - return node; - } - return 0; -} - - -void TiXmlElement::RemoveAttribute( const char * name ) -{ - #ifdef TIXML_USE_STL - TIXML_STRING str( name ); - TiXmlAttribute* node = attributeSet.Find( str ); - #else - TiXmlAttribute* node = attributeSet.Find( name ); - #endif - if ( node ) - { - attributeSet.Remove( node ); - delete node; - } -} - -const TiXmlElement* TiXmlNode::FirstChildElement() const -{ - const TiXmlNode* node; - - for ( node = FirstChild(); - node; - node = node->NextSibling() ) - { - if ( node->ToElement() ) - return node->ToElement(); - } - return 0; -} - - -const TiXmlElement* TiXmlNode::FirstChildElement( const char * _value ) const -{ - const TiXmlNode* node; - - for ( node = FirstChild( _value ); - node; - node = node->NextSibling( _value ) ) - { - if ( node->ToElement() ) - return node->ToElement(); - } - return 0; -} - - -const TiXmlElement* TiXmlNode::NextSiblingElement() const -{ - const TiXmlNode* node; - - for ( node = NextSibling(); - node; - node = node->NextSibling() ) - { - if ( node->ToElement() ) - return node->ToElement(); - } - return 0; -} - - -const TiXmlElement* TiXmlNode::NextSiblingElement( const char * _value ) const -{ - const TiXmlNode* node; - - for ( node = NextSibling( _value ); - node; - node = node->NextSibling( _value ) ) - { - if ( node->ToElement() ) - return node->ToElement(); - } - return 0; -} - - -const TiXmlDocument* TiXmlNode::GetDocument() const -{ - const TiXmlNode* node; - - for( node = this; node; node = node->parent ) - { - if ( node->ToDocument() ) - return node->ToDocument(); - } - return 0; -} - - -TiXmlElement::TiXmlElement (const char * _value) - : TiXmlNode( TiXmlNode::TINYXML_ELEMENT ) -{ - firstChild = lastChild = 0; - value = _value; -} - - -#ifdef TIXML_USE_STL -TiXmlElement::TiXmlElement( const std::string& _value ) - : TiXmlNode( TiXmlNode::TINYXML_ELEMENT ) -{ - firstChild = lastChild = 0; - value = _value; -} -#endif - - -TiXmlElement::TiXmlElement( const TiXmlElement& copy) - : TiXmlNode( TiXmlNode::TINYXML_ELEMENT ) -{ - firstChild = lastChild = 0; - copy.CopyTo( this ); -} - - -TiXmlElement& TiXmlElement::operator=( const TiXmlElement& base ) -{ - ClearThis(); - base.CopyTo( this ); - return *this; -} - - -TiXmlElement::~TiXmlElement() -{ - ClearThis(); -} - - -void TiXmlElement::ClearThis() -{ - Clear(); - while( attributeSet.First() ) - { - TiXmlAttribute* node = attributeSet.First(); - attributeSet.Remove( node ); - delete node; - } -} - - -const char* TiXmlElement::Attribute( const char* name ) const -{ - const TiXmlAttribute* node = attributeSet.Find( name ); - if ( node ) - return node->Value(); - return 0; -} - - -#ifdef TIXML_USE_STL -const std::string* TiXmlElement::Attribute( const std::string& name ) const -{ - const TiXmlAttribute* attrib = attributeSet.Find( name ); - if ( attrib ) - return &attrib->ValueStr(); - return 0; -} -#endif - - -const char* TiXmlElement::Attribute( const char* name, int* i ) const -{ - const TiXmlAttribute* attrib = attributeSet.Find( name ); - const char* result = 0; - - if ( attrib ) { - result = attrib->Value(); - if ( i ) { - attrib->QueryIntValue( i ); - } - } - return result; -} - - -#ifdef TIXML_USE_STL -const std::string* TiXmlElement::Attribute( const std::string& name, int* i ) const -{ - const TiXmlAttribute* attrib = attributeSet.Find( name ); - const std::string* result = 0; - - if ( attrib ) { - result = &attrib->ValueStr(); - if ( i ) { - attrib->QueryIntValue( i ); - } - } - return result; -} -#endif - - -const char* TiXmlElement::Attribute( const char* name, double* d ) const -{ - const TiXmlAttribute* attrib = attributeSet.Find( name ); - const char* result = 0; - - if ( attrib ) { - result = attrib->Value(); - if ( d ) { - attrib->QueryDoubleValue( d ); - } - } - return result; -} - - -#ifdef TIXML_USE_STL -const std::string* TiXmlElement::Attribute( const std::string& name, double* d ) const -{ - const TiXmlAttribute* attrib = attributeSet.Find( name ); - const std::string* result = 0; - - if ( attrib ) { - result = &attrib->ValueStr(); - if ( d ) { - attrib->QueryDoubleValue( d ); - } - } - return result; -} -#endif - - -int TiXmlElement::QueryIntAttribute( const char* name, int* ival ) const -{ - const TiXmlAttribute* attrib = attributeSet.Find( name ); - if ( !attrib ) - return TIXML_NO_ATTRIBUTE; - return attrib->QueryIntValue( ival ); -} - - -int TiXmlElement::QueryUnsignedAttribute( const char* name, unsigned* value ) const -{ - const TiXmlAttribute* node = attributeSet.Find( name ); - if ( !node ) - return TIXML_NO_ATTRIBUTE; - - int ival = 0; - int result = node->QueryIntValue( &ival ); - if (ival < 0) - return TIXML_WRONG_TYPE; - - *value = (unsigned)ival; - return result; -} - - -int TiXmlElement::QueryBoolAttribute( const char* name, bool* bval ) const -{ - const TiXmlAttribute* node = attributeSet.Find( name ); - if ( !node ) - return TIXML_NO_ATTRIBUTE; - - int result = TIXML_WRONG_TYPE; - if ( StringEqual( node->Value(), "true", true, TIXML_ENCODING_UNKNOWN ) - || StringEqual( node->Value(), "yes", true, TIXML_ENCODING_UNKNOWN ) - || StringEqual( node->Value(), "1", true, TIXML_ENCODING_UNKNOWN ) ) - { - *bval = true; - result = TIXML_SUCCESS; - } - else if ( StringEqual( node->Value(), "false", true, TIXML_ENCODING_UNKNOWN ) - || StringEqual( node->Value(), "no", true, TIXML_ENCODING_UNKNOWN ) - || StringEqual( node->Value(), "0", true, TIXML_ENCODING_UNKNOWN ) ) - { - *bval = false; - result = TIXML_SUCCESS; - } - return result; -} - - - -#ifdef TIXML_USE_STL -int TiXmlElement::QueryIntAttribute( const std::string& name, int* ival ) const -{ - const TiXmlAttribute* attrib = attributeSet.Find( name ); - if ( !attrib ) - return TIXML_NO_ATTRIBUTE; - return attrib->QueryIntValue( ival ); -} -#endif - - -int TiXmlElement::QueryDoubleAttribute( const char* name, double* dval ) const -{ - const TiXmlAttribute* attrib = attributeSet.Find( name ); - if ( !attrib ) - return TIXML_NO_ATTRIBUTE; - return attrib->QueryDoubleValue( dval ); -} - - -#ifdef TIXML_USE_STL -int TiXmlElement::QueryDoubleAttribute( const std::string& name, double* dval ) const -{ - const TiXmlAttribute* attrib = attributeSet.Find( name ); - if ( !attrib ) - return TIXML_NO_ATTRIBUTE; - return attrib->QueryDoubleValue( dval ); -} -#endif - - -void TiXmlElement::SetAttribute( const char * name, int val ) -{ - TiXmlAttribute* attrib = attributeSet.FindOrCreate( name ); - if ( attrib ) { - attrib->SetIntValue( val ); - } -} - - -#ifdef TIXML_USE_STL -void TiXmlElement::SetAttribute( const std::string& name, int val ) -{ - TiXmlAttribute* attrib = attributeSet.FindOrCreate( name ); - if ( attrib ) { - attrib->SetIntValue( val ); - } -} -#endif - - -void TiXmlElement::SetDoubleAttribute( const char * name, double val ) -{ - TiXmlAttribute* attrib = attributeSet.FindOrCreate( name ); - if ( attrib ) { - attrib->SetDoubleValue( val ); - } -} - - -#ifdef TIXML_USE_STL -void TiXmlElement::SetDoubleAttribute( const std::string& name, double val ) -{ - TiXmlAttribute* attrib = attributeSet.FindOrCreate( name ); - if ( attrib ) { - attrib->SetDoubleValue( val ); - } -} -#endif - - -void TiXmlElement::SetAttribute( const char * cname, const char * cvalue ) -{ - TiXmlAttribute* attrib = attributeSet.FindOrCreate( cname ); - if ( attrib ) { - attrib->SetValue( cvalue ); - } -} - - -#ifdef TIXML_USE_STL -void TiXmlElement::SetAttribute( const std::string& _name, const std::string& _value ) -{ - TiXmlAttribute* attrib = attributeSet.FindOrCreate( _name ); - if ( attrib ) { - attrib->SetValue( _value ); - } -} -#endif - - -void TiXmlElement::Print( FILE* cfile, int depth ) const -{ - int i; - assert( cfile ); - for ( i=0; iNext() ) - { - fprintf( cfile, " " ); - attrib->Print( cfile, depth ); - } - - // There are 3 different formatting approaches: - // 1) An element without children is printed as a node - // 2) An element with only a text child is printed as text - // 3) An element with children is printed on multiple lines. - TiXmlNode* node; - if ( !firstChild ) - { - fprintf( cfile, " />" ); - } - else if ( firstChild == lastChild && firstChild->ToText() ) - { - fprintf( cfile, ">" ); - firstChild->Print( cfile, depth + 1 ); - fprintf( cfile, "", value.c_str() ); - } - else - { - fprintf( cfile, ">" ); - - for ( node = firstChild; node; node=node->NextSibling() ) - { - if ( !node->ToText() ) - { - fprintf( cfile, "\n" ); - } - node->Print( cfile, depth+1 ); - } - fprintf( cfile, "\n" ); - for( i=0; i", value.c_str() ); - } -} - - -void TiXmlElement::CopyTo( TiXmlElement* target ) const -{ - // superclass: - TiXmlNode::CopyTo( target ); - - // Element class: - // Clone the attributes, then clone the children. - const TiXmlAttribute* attribute = 0; - for( attribute = attributeSet.First(); - attribute; - attribute = attribute->Next() ) - { - target->SetAttribute( attribute->Name(), attribute->Value() ); - } - - TiXmlNode* node = 0; - for ( node = firstChild; node; node = node->NextSibling() ) - { - target->LinkEndChild( node->Clone() ); - } -} - -bool TiXmlElement::Accept( TiXmlVisitor* visitor ) const -{ - if ( visitor->VisitEnter( *this, attributeSet.First() ) ) - { - for ( const TiXmlNode* node=FirstChild(); node; node=node->NextSibling() ) - { - if ( !node->Accept( visitor ) ) - break; - } - } - return visitor->VisitExit( *this ); -} - - -TiXmlNode* TiXmlElement::Clone() const -{ - TiXmlElement* clone = new TiXmlElement( Value() ); - if ( !clone ) - return 0; - - CopyTo( clone ); - return clone; -} - - -const char* TiXmlElement::GetText() const -{ - const TiXmlNode* child = this->FirstChild(); - if ( child ) { - const TiXmlText* childText = child->ToText(); - if ( childText ) { - return childText->Value(); - } - } - return 0; -} - - -TiXmlDocument::TiXmlDocument() : TiXmlNode( TiXmlNode::TINYXML_DOCUMENT ) -{ - tabsize = 4; - useMicrosoftBOM = false; - ClearError(); -} - -TiXmlDocument::TiXmlDocument( const char * documentName ) : TiXmlNode( TiXmlNode::TINYXML_DOCUMENT ) -{ - tabsize = 4; - useMicrosoftBOM = false; - value = documentName; - ClearError(); -} - - -#ifdef TIXML_USE_STL -TiXmlDocument::TiXmlDocument( const std::string& documentName ) : TiXmlNode( TiXmlNode::TINYXML_DOCUMENT ) -{ - tabsize = 4; - useMicrosoftBOM = false; - value = documentName; - ClearError(); -} -#endif - - -TiXmlDocument::TiXmlDocument( const TiXmlDocument& copy ) : TiXmlNode( TiXmlNode::TINYXML_DOCUMENT ) -{ - copy.CopyTo( this ); -} - - -TiXmlDocument& TiXmlDocument::operator=( const TiXmlDocument& copy ) -{ - Clear(); - copy.CopyTo( this ); - return *this; -} - - -bool TiXmlDocument::LoadFile( TiXmlEncoding encoding ) -{ - return LoadFile( Value(), encoding ); -} - - -bool TiXmlDocument::SaveFile() const -{ - return SaveFile( Value() ); -} - -bool TiXmlDocument::LoadFile( const char* _filename, TiXmlEncoding encoding ) -{ - TIXML_STRING filename( _filename ); - value = filename; - - // reading in binary mode so that tinyxml can normalize the EOL - FILE* file = TiXmlFOpen( value.c_str (), "rb" ); - - if ( file ) - { - bool result = LoadFile( file, encoding ); - fclose( file ); - return result; - } - else - { - SetError( TIXML_ERROR_OPENING_FILE, 0, 0, TIXML_ENCODING_UNKNOWN ); - return false; - } -} - -bool TiXmlDocument::LoadFile( FILE* file, TiXmlEncoding encoding ) -{ - if ( !file ) - { - SetError( TIXML_ERROR_OPENING_FILE, 0, 0, TIXML_ENCODING_UNKNOWN ); - return false; - } - - // Delete the existing data: - Clear(); - location.Clear(); - - // Get the file size, so we can pre-allocate the string. HUGE speed impact. - long length = 0; - fseek( file, 0, SEEK_END ); - length = ftell( file ); - fseek( file, 0, SEEK_SET ); - - // Strange case, but good to handle up front. - if ( length <= 0 ) - { - SetError( TIXML_ERROR_DOCUMENT_EMPTY, 0, 0, TIXML_ENCODING_UNKNOWN ); - return false; - } - - // Subtle bug here. TinyXml did use fgets. But from the XML spec: - // 2.11 End-of-Line Handling - // - // - // ...the XML processor MUST behave as if it normalized all line breaks in external - // parsed entities (including the document entity) on input, before parsing, by translating - // both the two-character sequence #xD #xA and any #xD that is not followed by #xA to - // a single #xA character. - // - // - // It is not clear fgets does that, and certainly isn't clear it works cross platform. - // Generally, you expect fgets to translate from the convention of the OS to the c/unix - // convention, and not work generally. - - /* - while( fgets( buf, sizeof(buf), file ) ) - { - data += buf; - } - */ - - char* buf = new char[ length+1 ]; - buf[0] = 0; - - if ( fread( buf, length, 1, file ) != 1 ) { - delete [] buf; - SetError( TIXML_ERROR_OPENING_FILE, 0, 0, TIXML_ENCODING_UNKNOWN ); - return false; - } - - // Process the buffer in place to normalize new lines. (See comment above.) - // Copies from the 'p' to 'q' pointer, where p can advance faster if - // a newline-carriage return is hit. - // - // Wikipedia: - // Systems based on ASCII or a compatible character set use either LF (Line feed, '\n', 0x0A, 10 in decimal) or - // CR (Carriage return, '\r', 0x0D, 13 in decimal) individually, or CR followed by LF (CR+LF, 0x0D 0x0A)... - // * LF: Multics, Unix and Unix-like systems (GNU/Linux, AIX, Xenix, Mac OS X, FreeBSD, etc.), BeOS, Amiga, RISC OS, and others - // * CR+LF: DEC RT-11 and most other early non-Unix, non-IBM OSes, CP/M, MP/M, DOS, OS/2, Microsoft Windows, Symbian OS - // * CR: Commodore 8-bit machines, Apple II family, Mac OS up to version 9 and OS-9 - - const char* p = buf; // the read head - char* q = buf; // the write head - const char CR = 0x0d; - const char LF = 0x0a; - - buf[length] = 0; - while( *p ) { - assert( p < (buf+length) ); - assert( q <= (buf+length) ); - assert( q <= p ); - - if ( *p == CR ) { - *q++ = LF; - p++; - if ( *p == LF ) { // check for CR+LF (and skip LF) - p++; - } - } - else { - *q++ = *p++; - } - } - assert( q <= (buf+length) ); - *q = 0; - - Parse( buf, 0, encoding ); - - delete [] buf; - return !Error(); -} - - -bool TiXmlDocument::SaveFile( const char * filename ) const -{ - // The old c stuff lives on... - FILE* fp = TiXmlFOpen( filename, "w" ); - if ( fp ) - { - bool result = SaveFile( fp ); - fclose( fp ); - return result; - } - return false; -} - - -bool TiXmlDocument::SaveFile( FILE* fp ) const -{ - if ( useMicrosoftBOM ) - { - const unsigned char TIXML_UTF_LEAD_0 = 0xefU; - const unsigned char TIXML_UTF_LEAD_1 = 0xbbU; - const unsigned char TIXML_UTF_LEAD_2 = 0xbfU; - - fputc( TIXML_UTF_LEAD_0, fp ); - fputc( TIXML_UTF_LEAD_1, fp ); - fputc( TIXML_UTF_LEAD_2, fp ); - } - Print( fp, 0 ); - return (ferror(fp) == 0); -} - - -void TiXmlDocument::CopyTo( TiXmlDocument* target ) const -{ - TiXmlNode::CopyTo( target ); - - target->error = error; - target->errorId = errorId; - target->errorDesc = errorDesc; - target->tabsize = tabsize; - target->errorLocation = errorLocation; - target->useMicrosoftBOM = useMicrosoftBOM; - - TiXmlNode* node = 0; - for ( node = firstChild; node; node = node->NextSibling() ) - { - target->LinkEndChild( node->Clone() ); - } -} - - -TiXmlNode* TiXmlDocument::Clone() const -{ - TiXmlDocument* clone = new TiXmlDocument(); - if ( !clone ) - return 0; - - CopyTo( clone ); - return clone; -} - - -void TiXmlDocument::Print( FILE* cfile, int depth ) const -{ - assert( cfile ); - for ( const TiXmlNode* node=FirstChild(); node; node=node->NextSibling() ) - { - node->Print( cfile, depth ); - fprintf( cfile, "\n" ); - } -} - - -bool TiXmlDocument::Accept( TiXmlVisitor* visitor ) const -{ - if ( visitor->VisitEnter( *this ) ) - { - for ( const TiXmlNode* node=FirstChild(); node; node=node->NextSibling() ) - { - if ( !node->Accept( visitor ) ) - break; - } - } - return visitor->VisitExit( *this ); -} - - -const TiXmlAttribute* TiXmlAttribute::Next() const -{ - // We are using knowledge of the sentinel. The sentinel - // have a value or name. - if ( next->value.empty() && next->name.empty() ) - return 0; - return next; -} - -/* -TiXmlAttribute* TiXmlAttribute::Next() -{ - // We are using knowledge of the sentinel. The sentinel - // have a value or name. - if ( next->value.empty() && next->name.empty() ) - return 0; - return next; -} -*/ - -const TiXmlAttribute* TiXmlAttribute::Previous() const -{ - // We are using knowledge of the sentinel. The sentinel - // have a value or name. - if ( prev->value.empty() && prev->name.empty() ) - return 0; - return prev; -} - -/* -TiXmlAttribute* TiXmlAttribute::Previous() -{ - // We are using knowledge of the sentinel. The sentinel - // have a value or name. - if ( prev->value.empty() && prev->name.empty() ) - return 0; - return prev; -} -*/ - -void TiXmlAttribute::Print( FILE* cfile, int /*depth*/, TIXML_STRING* str ) const -{ - TIXML_STRING n, v; - - EncodeString( name, &n ); - EncodeString( value, &v ); - - if (value.find ('\"') == TIXML_STRING::npos) { - if ( cfile ) { - fprintf (cfile, "%s=\"%s\"", n.c_str(), v.c_str() ); - } - if ( str ) { - (*str) += n; (*str) += "=\""; (*str) += v; (*str) += "\""; - } - } - else { - if ( cfile ) { - fprintf (cfile, "%s='%s'", n.c_str(), v.c_str() ); - } - if ( str ) { - (*str) += n; (*str) += "='"; (*str) += v; (*str) += "'"; - } - } -} - - -int TiXmlAttribute::QueryIntValue( int* ival ) const -{ - if ( TIXML_SSCANF( value.c_str(), "%d", ival ) == 1 ) - return TIXML_SUCCESS; - return TIXML_WRONG_TYPE; -} - -int TiXmlAttribute::QueryDoubleValue( double* dval ) const -{ - if ( TIXML_SSCANF( value.c_str(), "%lf", dval ) == 1 ) - return TIXML_SUCCESS; - return TIXML_WRONG_TYPE; -} - -void TiXmlAttribute::SetIntValue( int _value ) -{ - char buf [64]; - #if defined(TIXML_SNPRINTF) - TIXML_SNPRINTF(buf, sizeof(buf), "%d", _value); - #else - sprintf (buf, "%d", _value); - #endif - SetValue (buf); -} - -void TiXmlAttribute::SetDoubleValue( double _value ) -{ - char buf [256]; - #if defined(TIXML_SNPRINTF) - TIXML_SNPRINTF( buf, sizeof(buf), "%g", _value); - #else - sprintf (buf, "%g", _value); - #endif - SetValue (buf); -} - -int TiXmlAttribute::IntValue() const -{ - return atoi (value.c_str ()); -} - -double TiXmlAttribute::DoubleValue() const -{ - return atof (value.c_str ()); -} - - -TiXmlComment::TiXmlComment( const TiXmlComment& copy ) : TiXmlNode( TiXmlNode::TINYXML_COMMENT ) -{ - copy.CopyTo( this ); -} - - -TiXmlComment& TiXmlComment::operator=( const TiXmlComment& base ) -{ - Clear(); - base.CopyTo( this ); - return *this; -} - - -void TiXmlComment::Print( FILE* cfile, int depth ) const -{ - assert( cfile ); - for ( int i=0; i", value.c_str() ); -} - - -void TiXmlComment::CopyTo( TiXmlComment* target ) const -{ - TiXmlNode::CopyTo( target ); -} - - -bool TiXmlComment::Accept( TiXmlVisitor* visitor ) const -{ - return visitor->Visit( *this ); -} - - -TiXmlNode* TiXmlComment::Clone() const -{ - TiXmlComment* clone = new TiXmlComment(); - - if ( !clone ) - return 0; - - CopyTo( clone ); - return clone; -} - - -void TiXmlText::Print( FILE* cfile, int depth ) const -{ - assert( cfile ); - if ( cdata ) - { - int i; - fprintf( cfile, "\n" ); - for ( i=0; i\n", value.c_str() ); // unformatted output - } - else - { - TIXML_STRING buffer; - EncodeString( value, &buffer ); - fprintf( cfile, "%s", buffer.c_str() ); - } -} - - -void TiXmlText::CopyTo( TiXmlText* target ) const -{ - TiXmlNode::CopyTo( target ); - target->cdata = cdata; -} - - -bool TiXmlText::Accept( TiXmlVisitor* visitor ) const -{ - return visitor->Visit( *this ); -} - - -TiXmlNode* TiXmlText::Clone() const -{ - TiXmlText* clone = 0; - clone = new TiXmlText( "" ); - - if ( !clone ) - return 0; - - CopyTo( clone ); - return clone; -} - - -TiXmlDeclaration::TiXmlDeclaration( const char * _version, - const char * _encoding, - const char * _standalone ) - : TiXmlNode( TiXmlNode::TINYXML_DECLARATION ) -{ - version = _version; - encoding = _encoding; - standalone = _standalone; -} - - -#ifdef TIXML_USE_STL -TiXmlDeclaration::TiXmlDeclaration( const std::string& _version, - const std::string& _encoding, - const std::string& _standalone ) - : TiXmlNode( TiXmlNode::TINYXML_DECLARATION ) -{ - version = _version; - encoding = _encoding; - standalone = _standalone; -} -#endif - - -TiXmlDeclaration::TiXmlDeclaration( const TiXmlDeclaration& copy ) - : TiXmlNode( TiXmlNode::TINYXML_DECLARATION ) -{ - copy.CopyTo( this ); -} - - -TiXmlDeclaration& TiXmlDeclaration::operator=( const TiXmlDeclaration& copy ) -{ - Clear(); - copy.CopyTo( this ); - return *this; -} - - -void TiXmlDeclaration::Print( FILE* cfile, int /*depth*/, TIXML_STRING* str ) const -{ - if ( cfile ) fprintf( cfile, "" ); - if ( str ) (*str) += "?>"; -} - - -void TiXmlDeclaration::CopyTo( TiXmlDeclaration* target ) const -{ - TiXmlNode::CopyTo( target ); - - target->version = version; - target->encoding = encoding; - target->standalone = standalone; -} - - -bool TiXmlDeclaration::Accept( TiXmlVisitor* visitor ) const -{ - return visitor->Visit( *this ); -} - - -TiXmlNode* TiXmlDeclaration::Clone() const -{ - TiXmlDeclaration* clone = new TiXmlDeclaration(); - - if ( !clone ) - return 0; - - CopyTo( clone ); - return clone; -} - - -void TiXmlUnknown::Print( FILE* cfile, int depth ) const -{ - for ( int i=0; i", value.c_str() ); -} - - -void TiXmlUnknown::CopyTo( TiXmlUnknown* target ) const -{ - TiXmlNode::CopyTo( target ); -} - - -bool TiXmlUnknown::Accept( TiXmlVisitor* visitor ) const -{ - return visitor->Visit( *this ); -} - - -TiXmlNode* TiXmlUnknown::Clone() const -{ - TiXmlUnknown* clone = new TiXmlUnknown(); - - if ( !clone ) - return 0; - - CopyTo( clone ); - return clone; -} - - -TiXmlAttributeSet::TiXmlAttributeSet() -{ - sentinel.next = &sentinel; - sentinel.prev = &sentinel; -} - - -TiXmlAttributeSet::~TiXmlAttributeSet() -{ - assert( sentinel.next == &sentinel ); - assert( sentinel.prev == &sentinel ); -} - - -void TiXmlAttributeSet::Add( TiXmlAttribute* addMe ) -{ - #ifdef TIXML_USE_STL - assert( !Find( TIXML_STRING( addMe->Name() ) ) ); // Shouldn't be multiply adding to the set. - #else - assert( !Find( addMe->Name() ) ); // Shouldn't be multiply adding to the set. - #endif - - addMe->next = &sentinel; - addMe->prev = sentinel.prev; - - sentinel.prev->next = addMe; - sentinel.prev = addMe; -} - -void TiXmlAttributeSet::Remove( TiXmlAttribute* removeMe ) -{ - TiXmlAttribute* node; - - for( node = sentinel.next; node != &sentinel; node = node->next ) - { - if ( node == removeMe ) - { - node->prev->next = node->next; - node->next->prev = node->prev; - node->next = 0; - node->prev = 0; - return; - } - } - assert( 0 ); // we tried to remove a non-linked attribute. -} - - -#ifdef TIXML_USE_STL -TiXmlAttribute* TiXmlAttributeSet::Find( const std::string& name ) const -{ - for( TiXmlAttribute* node = sentinel.next; node != &sentinel; node = node->next ) - { - if ( node->name == name ) - return node; - } - return 0; -} - -TiXmlAttribute* TiXmlAttributeSet::FindOrCreate( const std::string& _name ) -{ - TiXmlAttribute* attrib = Find( _name ); - if ( !attrib ) { - attrib = new TiXmlAttribute(); - Add( attrib ); - attrib->SetName( _name ); - } - return attrib; -} -#endif - - -TiXmlAttribute* TiXmlAttributeSet::Find( const char* name ) const -{ - for( TiXmlAttribute* node = sentinel.next; node != &sentinel; node = node->next ) - { - if ( strcmp( node->name.c_str(), name ) == 0 ) - return node; - } - return 0; -} - - -TiXmlAttribute* TiXmlAttributeSet::FindOrCreate( const char* _name ) -{ - TiXmlAttribute* attrib = Find( _name ); - if ( !attrib ) { - attrib = new TiXmlAttribute(); - Add( attrib ); - attrib->SetName( _name ); - } - return attrib; -} - - -#ifdef TIXML_USE_STL -std::istream& operator>> (std::istream & in, TiXmlNode & base) -{ - TIXML_STRING tag; - tag.reserve( 8 * 1000 ); - base.StreamIn( &in, &tag ); - - base.Parse( tag.c_str(), 0, TIXML_DEFAULT_ENCODING ); - return in; -} -#endif - - -#ifdef TIXML_USE_STL -std::ostream& operator<< (std::ostream & out, const TiXmlNode & base) -{ - TiXmlPrinter printer; - printer.SetStreamPrinting(); - base.Accept( &printer ); - out << printer.Str(); - - return out; -} - - -std::string& operator<< (std::string& out, const TiXmlNode& base ) -{ - TiXmlPrinter printer; - printer.SetStreamPrinting(); - base.Accept( &printer ); - out.append( printer.Str() ); - - return out; -} -#endif - - -TiXmlHandle TiXmlHandle::FirstChild() const -{ - if ( node ) - { - TiXmlNode* child = node->FirstChild(); - if ( child ) - return TiXmlHandle( child ); - } - return TiXmlHandle( 0 ); -} - - -TiXmlHandle TiXmlHandle::FirstChild( const char * value ) const -{ - if ( node ) - { - TiXmlNode* child = node->FirstChild( value ); - if ( child ) - return TiXmlHandle( child ); - } - return TiXmlHandle( 0 ); -} - - -TiXmlHandle TiXmlHandle::FirstChildElement() const -{ - if ( node ) - { - TiXmlElement* child = node->FirstChildElement(); - if ( child ) - return TiXmlHandle( child ); - } - return TiXmlHandle( 0 ); -} - - -TiXmlHandle TiXmlHandle::FirstChildElement( const char * value ) const -{ - if ( node ) - { - TiXmlElement* child = node->FirstChildElement( value ); - if ( child ) - return TiXmlHandle( child ); - } - return TiXmlHandle( 0 ); -} - - -TiXmlHandle TiXmlHandle::Child( int count ) const -{ - if ( node ) - { - int i; - TiXmlNode* child = node->FirstChild(); - for ( i=0; - child && iNextSibling(), ++i ) - { - // nothing - } - if ( child ) - return TiXmlHandle( child ); - } - return TiXmlHandle( 0 ); -} - - -TiXmlHandle TiXmlHandle::Child( const char* value, int count ) const -{ - if ( node ) - { - int i; - TiXmlNode* child = node->FirstChild( value ); - for ( i=0; - child && iNextSibling( value ), ++i ) - { - // nothing - } - if ( child ) - return TiXmlHandle( child ); - } - return TiXmlHandle( 0 ); -} - - -TiXmlHandle TiXmlHandle::ChildElement( int count ) const -{ - if ( node ) - { - int i; - TiXmlElement* child = node->FirstChildElement(); - for ( i=0; - child && iNextSiblingElement(), ++i ) - { - // nothing - } - if ( child ) - return TiXmlHandle( child ); - } - return TiXmlHandle( 0 ); -} - - -TiXmlHandle TiXmlHandle::ChildElement( const char* value, int count ) const -{ - if ( node ) - { - int i; - TiXmlElement* child = node->FirstChildElement( value ); - for ( i=0; - child && iNextSiblingElement( value ), ++i ) - { - // nothing - } - if ( child ) - return TiXmlHandle( child ); - } - return TiXmlHandle( 0 ); -} - - -bool TiXmlPrinter::VisitEnter( const TiXmlDocument& ) -{ - return true; -} - -bool TiXmlPrinter::VisitExit( const TiXmlDocument& ) -{ - return true; -} - -bool TiXmlPrinter::VisitEnter( const TiXmlElement& element, const TiXmlAttribute* firstAttribute ) -{ - DoIndent(); - buffer += "<"; - buffer += element.Value(); - - for( const TiXmlAttribute* attrib = firstAttribute; attrib; attrib = attrib->Next() ) - { - buffer += " "; - attrib->Print( 0, 0, &buffer ); - } - - if ( !element.FirstChild() ) - { - buffer += " />"; - DoLineBreak(); - } - else - { - buffer += ">"; - if ( element.FirstChild()->ToText() - && element.LastChild() == element.FirstChild() - && element.FirstChild()->ToText()->CDATA() == false ) - { - simpleTextPrint = true; - // no DoLineBreak()! - } - else - { - DoLineBreak(); - } - } - ++depth; - return true; -} - - -bool TiXmlPrinter::VisitExit( const TiXmlElement& element ) -{ - --depth; - if ( !element.FirstChild() ) - { - // nothing. - } - else - { - if ( simpleTextPrint ) - { - simpleTextPrint = false; - } - else - { - DoIndent(); - } - buffer += ""; - DoLineBreak(); - } - return true; -} - - -bool TiXmlPrinter::Visit( const TiXmlText& text ) -{ - if ( text.CDATA() ) - { - DoIndent(); - buffer += ""; - DoLineBreak(); - } - else if ( simpleTextPrint ) - { - TIXML_STRING str; - TiXmlBase::EncodeString( text.ValueTStr(), &str ); - buffer += str; - } - else - { - DoIndent(); - TIXML_STRING str; - TiXmlBase::EncodeString( text.ValueTStr(), &str ); - buffer += str; - DoLineBreak(); - } - return true; -} - - -bool TiXmlPrinter::Visit( const TiXmlDeclaration& declaration ) -{ - DoIndent(); - declaration.Print( 0, 0, &buffer ); - DoLineBreak(); - return true; -} - - -bool TiXmlPrinter::Visit( const TiXmlComment& comment ) -{ - DoIndent(); - buffer += ""; - DoLineBreak(); - return true; -} - - -bool TiXmlPrinter::Visit( const TiXmlUnknown& unknown ) -{ - DoIndent(); - buffer += "<"; - buffer += unknown.Value(); - buffer += ">"; - DoLineBreak(); - return true; -} - diff --git a/extern/tinyxml/src/tinyxml.h b/extern/tinyxml/src/tinyxml.h deleted file mode 100644 index 12a77507aad..00000000000 --- a/extern/tinyxml/src/tinyxml.h +++ /dev/null @@ -1,1809 +0,0 @@ -/* -www.sourceforge.net/projects/tinyxml -Original code by Lee Thomason (www.grinninglizard.com) - -This software is provided 'as-is', without any express or implied -warranty. In no event will the authors be held liable for any -damages arising from the use of this software. - -Permission is granted to anyone to use this software for any -purpose, including commercial applications, and to alter it and -redistribute it freely, subject to the following restrictions: - -1. The origin of this software must not be misrepresented; you must -not claim that you wrote the original software. If you use this -software in a product, an acknowledgment in the product documentation -would be appreciated but is not required. - -2. Altered source versions must be plainly marked as such, and -must not be misrepresented as being the original software. - -3. This notice may not be removed or altered from any source -distribution. -*/ - - -#ifndef TINYXML_INCLUDED -#define TINYXML_INCLUDED - -#ifndef TIXML_USE_STL - #define TIXML_USE_STL -#endif - -#ifdef _MSC_VER -#pragma warning( push ) -#pragma warning( disable : 4530 ) -#pragma warning( disable : 4786 ) -#endif - -#include -#include -#include -#include -#include - -// Help out windows: -#if defined( _DEBUG ) && !defined( DEBUG ) -#define DEBUG -#endif - -#ifdef TIXML_USE_STL - #include - #include - #include - #define TIXML_STRING std::string -#else - #include "tinystr.h" - #define TIXML_STRING TiXmlString -#endif - -// Deprecated library function hell. Compilers want to use the -// new safe versions. This probably doesn't fully address the problem, -// but it gets closer. There are too many compilers for me to fully -// test. If you get compilation troubles, undefine TIXML_SAFE -#define TIXML_SAFE - -#ifdef TIXML_SAFE - #if defined(_MSC_VER) && (_MSC_VER >= 1400 ) - // Microsoft visual studio, version 2005 and higher. - #define TIXML_SNPRINTF _snprintf_s - #define TIXML_SSCANF sscanf_s - #elif defined(_MSC_VER) && (_MSC_VER >= 1200 ) - // Microsoft visual studio, version 6 and higher. - //#pragma message( "Using _sn* functions." ) - #define TIXML_SNPRINTF _snprintf - #define TIXML_SSCANF sscanf - #elif defined(__GNUC__) && (__GNUC__ >= 3 ) - // GCC version 3 and higher.s - //#warning( "Using sn* functions." ) - #define TIXML_SNPRINTF snprintf - #define TIXML_SSCANF sscanf - #else - #define TIXML_SNPRINTF snprintf - #define TIXML_SSCANF sscanf - #endif -#endif - -class TiXmlDocument; -class TiXmlElement; -class TiXmlComment; -class TiXmlUnknown; -class TiXmlAttribute; -class TiXmlText; -class TiXmlDeclaration; -class TiXmlParsingData; - -const int TIXML_MAJOR_VERSION = 2; -const int TIXML_MINOR_VERSION = 6; -const int TIXML_PATCH_VERSION = 2; - -/* Internal structure for tracking location of items - in the XML file. -*/ -struct TiXmlCursor -{ - TiXmlCursor() { Clear(); } - void Clear() { row = col = -1; } - - int row; // 0 based. - int col; // 0 based. -}; - - -/** - Implements the interface to the "Visitor pattern" (see the Accept() method.) - If you call the Accept() method, it requires being passed a TiXmlVisitor - class to handle callbacks. For nodes that contain other nodes (Document, Element) - you will get called with a VisitEnter/VisitExit pair. Nodes that are always leaves - are simply called with Visit(). - - If you return 'true' from a Visit method, recursive parsing will continue. If you return - false, no children of this node or its sibilings will be Visited. - - All flavors of Visit methods have a default implementation that returns 'true' (continue - visiting). You need to only override methods that are interesting to you. - - Generally Accept() is called on the TiXmlDocument, although all nodes suppert Visiting. - - You should never change the document from a callback. - - @sa TiXmlNode::Accept() -*/ -class TiXmlVisitor -{ -public: - virtual ~TiXmlVisitor() {} - - /// Visit a document. - virtual bool VisitEnter( const TiXmlDocument& /*doc*/ ) { return true; } - /// Visit a document. - virtual bool VisitExit( const TiXmlDocument& /*doc*/ ) { return true; } - - /// Visit an element. - virtual bool VisitEnter( const TiXmlElement& /*element*/, const TiXmlAttribute* /*firstAttribute*/ ) { return true; } - /// Visit an element. - virtual bool VisitExit( const TiXmlElement& /*element*/ ) { return true; } - - /// Visit a declaration - virtual bool Visit( const TiXmlDeclaration& /*declaration*/ ) { return true; } - /// Visit a text node - virtual bool Visit( const TiXmlText& /*text*/ ) { return true; } - /// Visit a comment node - virtual bool Visit( const TiXmlComment& /*comment*/ ) { return true; } - /// Visit an unknown node - virtual bool Visit( const TiXmlUnknown& /*unknown*/ ) { return true; } -}; - -// Only used by Attribute::Query functions -enum -{ - TIXML_SUCCESS, - TIXML_NO_ATTRIBUTE, - TIXML_WRONG_TYPE -}; - - -// Used by the parsing routines. -enum TiXmlEncoding -{ - TIXML_ENCODING_UNKNOWN, - TIXML_ENCODING_UTF8, - TIXML_ENCODING_LEGACY -}; - -const TiXmlEncoding TIXML_DEFAULT_ENCODING = TIXML_ENCODING_UNKNOWN; - -/** TiXmlBase is a base class for every class in TinyXml. - It does little except to establish that TinyXml classes - can be printed and provide some utility functions. - - In XML, the document and elements can contain - other elements and other types of nodes. - - @verbatim - A Document can contain: Element (container or leaf) - Comment (leaf) - Unknown (leaf) - Declaration( leaf ) - - An Element can contain: Element (container or leaf) - Text (leaf) - Attributes (not on tree) - Comment (leaf) - Unknown (leaf) - - A Decleration contains: Attributes (not on tree) - @endverbatim -*/ -class TiXmlBase -{ - friend class TiXmlNode; - friend class TiXmlElement; - friend class TiXmlDocument; - -public: - TiXmlBase() : userData(0) {} - virtual ~TiXmlBase() {} - - /** All TinyXml classes can print themselves to a filestream - or the string class (TiXmlString in non-STL mode, std::string - in STL mode.) Either or both cfile and str can be null. - - This is a formatted print, and will insert - tabs and newlines. - - (For an unformatted stream, use the << operator.) - */ - virtual void Print( FILE* cfile, int depth ) const = 0; - - /** The world does not agree on whether white space should be kept or - not. In order to make everyone happy, these global, static functions - are provided to set whether or not TinyXml will condense all white space - into a single space or not. The default is to condense. Note changing this - value is not thread safe. - */ - static void SetCondenseWhiteSpace( bool condense ) { condenseWhiteSpace = condense; } - - /// Return the current white space setting. - static bool IsWhiteSpaceCondensed() { return condenseWhiteSpace; } - - /** Return the position, in the original source file, of this node or attribute. - The row and column are 1-based. (That is the first row and first column is - 1,1). If the returns values are 0 or less, then the parser does not have - a row and column value. - - Generally, the row and column value will be set when the TiXmlDocument::Load(), - TiXmlDocument::LoadFile(), or any TiXmlNode::Parse() is called. It will NOT be set - when the DOM was created from operator>>. - - The values reflect the initial load. Once the DOM is modified programmatically - (by adding or changing nodes and attributes) the new values will NOT update to - reflect changes in the document. - - There is a minor performance cost to computing the row and column. Computation - can be disabled if TiXmlDocument::SetTabSize() is called with 0 as the value. - - @sa TiXmlDocument::SetTabSize() - */ - int Row() const { return location.row + 1; } - int Column() const { return location.col + 1; } ///< See Row() - - void SetUserData( void* user ) { userData = user; } ///< Set a pointer to arbitrary user data. - void* GetUserData() { return userData; } ///< Get a pointer to arbitrary user data. - const void* GetUserData() const { return userData; } ///< Get a pointer to arbitrary user data. - - // Table that returs, for a given lead byte, the total number of bytes - // in the UTF-8 sequence. - static const int utf8ByteTable[256]; - - virtual const char* Parse( const char* p, - TiXmlParsingData* data, - TiXmlEncoding encoding /*= TIXML_ENCODING_UNKNOWN */ ) = 0; - - /** Expands entities in a string. Note this should not contian the tag's '<', '>', etc, - or they will be transformed into entities! - */ - static void EncodeString( const TIXML_STRING& str, TIXML_STRING* out ); - - enum - { - TIXML_NO_ERROR = 0, - TIXML_ERROR, - TIXML_ERROR_OPENING_FILE, - TIXML_ERROR_PARSING_ELEMENT, - TIXML_ERROR_FAILED_TO_READ_ELEMENT_NAME, - TIXML_ERROR_READING_ELEMENT_VALUE, - TIXML_ERROR_READING_ATTRIBUTES, - TIXML_ERROR_PARSING_EMPTY, - TIXML_ERROR_READING_END_TAG, - TIXML_ERROR_PARSING_UNKNOWN, - TIXML_ERROR_PARSING_COMMENT, - TIXML_ERROR_PARSING_DECLARATION, - TIXML_ERROR_DOCUMENT_EMPTY, - TIXML_ERROR_EMBEDDED_NULL, - TIXML_ERROR_PARSING_CDATA, - TIXML_ERROR_DOCUMENT_TOP_ONLY, - - TIXML_ERROR_STRING_COUNT - }; - -protected: - - static const char* SkipWhiteSpace( const char*, TiXmlEncoding encoding ); - - inline static bool IsWhiteSpace( char c ) - { - return ( isspace( (unsigned char) c ) || c == '\n' || c == '\r' ); - } - inline static bool IsWhiteSpace( int c ) - { - if ( c < 256 ) - return IsWhiteSpace( (char) c ); - return false; // Again, only truly correct for English/Latin...but usually works. - } - - #ifdef TIXML_USE_STL - static bool StreamWhiteSpace( std::istream * in, TIXML_STRING * tag ); - static bool StreamTo( std::istream * in, int character, TIXML_STRING * tag ); - #endif - - /* Reads an XML name into the string provided. Returns - a pointer just past the last character of the name, - or 0 if the function has an error. - */ - static const char* ReadName( const char* p, TIXML_STRING* name, TiXmlEncoding encoding ); - - /* Reads text. Returns a pointer past the given end tag. - Wickedly complex options, but it keeps the (sensitive) code in one place. - */ - static const char* ReadText( const char* in, // where to start - TIXML_STRING* text, // the string read - bool ignoreWhiteSpace, // whether to keep the white space - const char* endTag, // what ends this text - bool ignoreCase, // whether to ignore case in the end tag - TiXmlEncoding encoding ); // the current encoding - - // If an entity has been found, transform it into a character. - static const char* GetEntity( const char* in, char* value, int* length, TiXmlEncoding encoding ); - - // Get a character, while interpreting entities. - // The length can be from 0 to 4 bytes. - inline static const char* GetChar( const char* p, char* _value, int* length, TiXmlEncoding encoding ) - { - assert( p ); - if ( encoding == TIXML_ENCODING_UTF8 ) - { - *length = utf8ByteTable[ *((const unsigned char*)p) ]; - assert( *length >= 0 && *length < 5 ); - } - else - { - *length = 1; - } - - if ( *length == 1 ) - { - if ( *p == '&' ) - return GetEntity( p, _value, length, encoding ); - *_value = *p; - return p+1; - } - else if ( *length ) - { - //strncpy( _value, p, *length ); // lots of compilers don't like this function (unsafe), - // and the null terminator isn't needed - for( int i=0; p[i] && i<*length; ++i ) { - _value[i] = p[i]; - } - return p + (*length); - } - else - { - // Not valid text. - return 0; - } - } - - // Return true if the next characters in the stream are any of the endTag sequences. - // Ignore case only works for english, and should only be relied on when comparing - // to English words: StringEqual( p, "version", true ) is fine. - static bool StringEqual( const char* p, - const char* endTag, - bool ignoreCase, - TiXmlEncoding encoding ); - - static const char* errorString[ TIXML_ERROR_STRING_COUNT ]; - - TiXmlCursor location; - - /// Field containing a generic user pointer - void* userData; - - // None of these methods are reliable for any language except English. - // Good for approximation, not great for accuracy. - static int IsAlpha( unsigned char anyByte, TiXmlEncoding encoding ); - static int IsAlphaNum( unsigned char anyByte, TiXmlEncoding encoding ); - inline static int ToLower( int v, TiXmlEncoding encoding ) - { - if ( encoding == TIXML_ENCODING_UTF8 ) - { - if ( v < 128 ) return tolower( v ); - return v; - } - else - { - return tolower( v ); - } - } - static void ConvertUTF32ToUTF8( unsigned long input, char* output, int* length ); - -private: - TiXmlBase( const TiXmlBase& ); // not implemented. - void operator=( const TiXmlBase& base ); // not allowed. - - struct Entity - { - const char* str; - unsigned int strLength; - char chr; - }; - enum - { - NUM_ENTITY = 5, - MAX_ENTITY_LENGTH = 6 - - }; - static Entity entity[ NUM_ENTITY ]; - static bool condenseWhiteSpace; -}; - - -/** The parent class for everything in the Document Object Model. - (Except for attributes). - Nodes have siblings, a parent, and children. A node can be - in a document, or stand on its own. The type of a TiXmlNode - can be queried, and it can be cast to its more defined type. -*/ -class TiXmlNode : public TiXmlBase -{ - friend class TiXmlDocument; - friend class TiXmlElement; - -public: - #ifdef TIXML_USE_STL - - /** An input stream operator, for every class. Tolerant of newlines and - formatting, but doesn't expect them. - */ - friend std::istream& operator >> (std::istream& in, TiXmlNode& base); - - /** An output stream operator, for every class. Note that this outputs - without any newlines or formatting, as opposed to Print(), which - includes tabs and new lines. - - The operator<< and operator>> are not completely symmetric. Writing - a node to a stream is very well defined. You'll get a nice stream - of output, without any extra whitespace or newlines. - - But reading is not as well defined. (As it always is.) If you create - a TiXmlElement (for example) and read that from an input stream, - the text needs to define an element or junk will result. This is - true of all input streams, but it's worth keeping in mind. - - A TiXmlDocument will read nodes until it reads a root element, and - all the children of that root element. - */ - friend std::ostream& operator<< (std::ostream& out, const TiXmlNode& base); - - /// Appends the XML node or attribute to a std::string. - friend std::string& operator<< (std::string& out, const TiXmlNode& base ); - - #endif - - /** The types of XML nodes supported by TinyXml. (All the - unsupported types are picked up by UNKNOWN.) - */ - enum NodeType - { - TINYXML_DOCUMENT, - TINYXML_ELEMENT, - TINYXML_COMMENT, - TINYXML_UNKNOWN, - TINYXML_TEXT, - TINYXML_DECLARATION, - TINYXML_TYPECOUNT - }; - - virtual ~TiXmlNode(); - - /** The meaning of 'value' changes for the specific type of - TiXmlNode. - @verbatim - Document: filename of the xml file - Element: name of the element - Comment: the comment text - Unknown: the tag contents - Text: the text string - @endverbatim - - The subclasses will wrap this function. - */ - const char *Value() const { return value.c_str (); } - - #ifdef TIXML_USE_STL - /** Return Value() as a std::string. If you only use STL, - this is more efficient than calling Value(). - Only available in STL mode. - */ - const std::string& ValueStr() const { return value; } - #endif - - const TIXML_STRING& ValueTStr() const { return value; } - - /** Changes the value of the node. Defined as: - @verbatim - Document: filename of the xml file - Element: name of the element - Comment: the comment text - Unknown: the tag contents - Text: the text string - @endverbatim - */ - void SetValue(const char * _value) { value = _value;} - - #ifdef TIXML_USE_STL - /// STL std::string form. - void SetValue( const std::string& _value ) { value = _value; } - #endif - - /// Delete all the children of this node. Does not affect 'this'. - void Clear(); - - /// One step up the DOM. - TiXmlNode* Parent() { return parent; } - const TiXmlNode* Parent() const { return parent; } - - const TiXmlNode* FirstChild() const { return firstChild; } ///< The first child of this node. Will be null if there are no children. - TiXmlNode* FirstChild() { return firstChild; } - const TiXmlNode* FirstChild( const char * value ) const; ///< The first child of this node with the matching 'value'. Will be null if none found. - /// The first child of this node with the matching 'value'. Will be null if none found. - TiXmlNode* FirstChild( const char * _value ) { - // Call through to the const version - safe since nothing is changed. Exiting syntax: cast this to a const (always safe) - // call the method, cast the return back to non-const. - return const_cast< TiXmlNode* > ((const_cast< const TiXmlNode* >(this))->FirstChild( _value )); - } - const TiXmlNode* LastChild() const { return lastChild; } /// The last child of this node. Will be null if there are no children. - TiXmlNode* LastChild() { return lastChild; } - - const TiXmlNode* LastChild( const char * value ) const; /// The last child of this node matching 'value'. Will be null if there are no children. - TiXmlNode* LastChild( const char * _value ) { - return const_cast< TiXmlNode* > ((const_cast< const TiXmlNode* >(this))->LastChild( _value )); - } - - #ifdef TIXML_USE_STL - const TiXmlNode* FirstChild( const std::string& _value ) const { return FirstChild (_value.c_str ()); } ///< STL std::string form. - TiXmlNode* FirstChild( const std::string& _value ) { return FirstChild (_value.c_str ()); } ///< STL std::string form. - const TiXmlNode* LastChild( const std::string& _value ) const { return LastChild (_value.c_str ()); } ///< STL std::string form. - TiXmlNode* LastChild( const std::string& _value ) { return LastChild (_value.c_str ()); } ///< STL std::string form. - #endif - - /** An alternate way to walk the children of a node. - One way to iterate over nodes is: - @verbatim - for( child = parent->FirstChild(); child; child = child->NextSibling() ) - @endverbatim - - IterateChildren does the same thing with the syntax: - @verbatim - child = 0; - while( child = parent->IterateChildren( child ) ) - @endverbatim - - IterateChildren takes the previous child as input and finds - the next one. If the previous child is null, it returns the - first. IterateChildren will return null when done. - */ - const TiXmlNode* IterateChildren( const TiXmlNode* previous ) const; - TiXmlNode* IterateChildren( const TiXmlNode* previous ) { - return const_cast< TiXmlNode* >( (const_cast< const TiXmlNode* >(this))->IterateChildren( previous ) ); - } - - /// This flavor of IterateChildren searches for children with a particular 'value' - const TiXmlNode* IterateChildren( const char * value, const TiXmlNode* previous ) const; - TiXmlNode* IterateChildren( const char * _value, const TiXmlNode* previous ) { - return const_cast< TiXmlNode* >( (const_cast< const TiXmlNode* >(this))->IterateChildren( _value, previous ) ); - } - - #ifdef TIXML_USE_STL - const TiXmlNode* IterateChildren( const std::string& _value, const TiXmlNode* previous ) const { return IterateChildren (_value.c_str (), previous); } ///< STL std::string form. - TiXmlNode* IterateChildren( const std::string& _value, const TiXmlNode* previous ) { return IterateChildren (_value.c_str (), previous); } ///< STL std::string form. - #endif - - /** Add a new node related to this. Adds a child past the LastChild. - Returns a pointer to the new object or NULL if an error occured. - */ - TiXmlNode* InsertEndChild( const TiXmlNode& addThis ); - - - /** Add a new node related to this. Adds a child past the LastChild. - - NOTE: the node to be added is passed by pointer, and will be - henceforth owned (and deleted) by tinyXml. This method is efficient - and avoids an extra copy, but should be used with care as it - uses a different memory model than the other insert functions. - - @sa InsertEndChild - */ - TiXmlNode* LinkEndChild( TiXmlNode* addThis ); - - /** Add a new node related to this. Adds a child before the specified child. - Returns a pointer to the new object or NULL if an error occured. - */ - TiXmlNode* InsertBeforeChild( TiXmlNode* beforeThis, const TiXmlNode& addThis ); - - /** Add a new node related to this. Adds a child after the specified child. - Returns a pointer to the new object or NULL if an error occured. - */ - TiXmlNode* InsertAfterChild( TiXmlNode* afterThis, const TiXmlNode& addThis ); - - /** Replace a child of this node. - Returns a pointer to the new object or NULL if an error occured. - */ - TiXmlNode* ReplaceChild( TiXmlNode* replaceThis, const TiXmlNode& withThis ); - - /// Delete a child of this node. - bool RemoveChild( TiXmlNode* removeThis ); - - /// Navigate to a sibling node. - const TiXmlNode* PreviousSibling() const { return prev; } - TiXmlNode* PreviousSibling() { return prev; } - - /// Navigate to a sibling node. - const TiXmlNode* PreviousSibling( const char * ) const; - TiXmlNode* PreviousSibling( const char *_prev ) { - return const_cast< TiXmlNode* >( (const_cast< const TiXmlNode* >(this))->PreviousSibling( _prev ) ); - } - - #ifdef TIXML_USE_STL - const TiXmlNode* PreviousSibling( const std::string& _value ) const { return PreviousSibling (_value.c_str ()); } ///< STL std::string form. - TiXmlNode* PreviousSibling( const std::string& _value ) { return PreviousSibling (_value.c_str ()); } ///< STL std::string form. - const TiXmlNode* NextSibling( const std::string& _value) const { return NextSibling (_value.c_str ()); } ///< STL std::string form. - TiXmlNode* NextSibling( const std::string& _value) { return NextSibling (_value.c_str ()); } ///< STL std::string form. - #endif - - /// Navigate to a sibling node. - const TiXmlNode* NextSibling() const { return next; } - TiXmlNode* NextSibling() { return next; } - - /// Navigate to a sibling node with the given 'value'. - const TiXmlNode* NextSibling( const char * ) const; - TiXmlNode* NextSibling( const char* _next ) { - return const_cast< TiXmlNode* >( (const_cast< const TiXmlNode* >(this))->NextSibling( _next ) ); - } - - /** Convenience function to get through elements. - Calls NextSibling and ToElement. Will skip all non-Element - nodes. Returns 0 if there is not another element. - */ - const TiXmlElement* NextSiblingElement() const; - TiXmlElement* NextSiblingElement() { - return const_cast< TiXmlElement* >( (const_cast< const TiXmlNode* >(this))->NextSiblingElement() ); - } - - /** Convenience function to get through elements. - Calls NextSibling and ToElement. Will skip all non-Element - nodes. Returns 0 if there is not another element. - */ - const TiXmlElement* NextSiblingElement( const char * ) const; - TiXmlElement* NextSiblingElement( const char *_next ) { - return const_cast< TiXmlElement* >( (const_cast< const TiXmlNode* >(this))->NextSiblingElement( _next ) ); - } - - #ifdef TIXML_USE_STL - const TiXmlElement* NextSiblingElement( const std::string& _value) const { return NextSiblingElement (_value.c_str ()); } ///< STL std::string form. - TiXmlElement* NextSiblingElement( const std::string& _value) { return NextSiblingElement (_value.c_str ()); } ///< STL std::string form. - #endif - - /// Convenience function to get through elements. - const TiXmlElement* FirstChildElement() const; - TiXmlElement* FirstChildElement() { - return const_cast< TiXmlElement* >( (const_cast< const TiXmlNode* >(this))->FirstChildElement() ); - } - - /// Convenience function to get through elements. - const TiXmlElement* FirstChildElement( const char * _value ) const; - TiXmlElement* FirstChildElement( const char * _value ) { - return const_cast< TiXmlElement* >( (const_cast< const TiXmlNode* >(this))->FirstChildElement( _value ) ); - } - - #ifdef TIXML_USE_STL - const TiXmlElement* FirstChildElement( const std::string& _value ) const { return FirstChildElement (_value.c_str ()); } ///< STL std::string form. - TiXmlElement* FirstChildElement( const std::string& _value ) { return FirstChildElement (_value.c_str ()); } ///< STL std::string form. - #endif - - /** Query the type (as an enumerated value, above) of this node. - The possible types are: TINYXML_DOCUMENT, TINYXML_ELEMENT, TINYXML_COMMENT, - TINYXML_UNKNOWN, TINYXML_TEXT, and TINYXML_DECLARATION. - */ - int Type() const { return type; } - - /** Return a pointer to the Document this node lives in. - Returns null if not in a document. - */ - const TiXmlDocument* GetDocument() const; - TiXmlDocument* GetDocument() { - return const_cast< TiXmlDocument* >( (const_cast< const TiXmlNode* >(this))->GetDocument() ); - } - - /// Returns true if this node has no children. - bool NoChildren() const { return !firstChild; } - - virtual const TiXmlDocument* ToDocument() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. - virtual const TiXmlElement* ToElement() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. - virtual const TiXmlComment* ToComment() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. - virtual const TiXmlUnknown* ToUnknown() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. - virtual const TiXmlText* ToText() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. - virtual const TiXmlDeclaration* ToDeclaration() const { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. - - virtual TiXmlDocument* ToDocument() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. - virtual TiXmlElement* ToElement() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. - virtual TiXmlComment* ToComment() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. - virtual TiXmlUnknown* ToUnknown() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. - virtual TiXmlText* ToText() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. - virtual TiXmlDeclaration* ToDeclaration() { return 0; } ///< Cast to a more defined type. Will return null if not of the requested type. - - /** Create an exact duplicate of this node and return it. The memory must be deleted - by the caller. - */ - virtual TiXmlNode* Clone() const = 0; - - /** Accept a hierchical visit the nodes in the TinyXML DOM. Every node in the - XML tree will be conditionally visited and the host will be called back - via the TiXmlVisitor interface. - - This is essentially a SAX interface for TinyXML. (Note however it doesn't re-parse - the XML for the callbacks, so the performance of TinyXML is unchanged by using this - interface versus any other.) - - The interface has been based on ideas from: - - - http://www.saxproject.org/ - - http://c2.com/cgi/wiki?HierarchicalVisitorPattern - - Which are both good references for "visiting". - - An example of using Accept(): - @verbatim - TiXmlPrinter printer; - tinyxmlDoc.Accept( &printer ); - const char* xmlcstr = printer.CStr(); - @endverbatim - */ - virtual bool Accept( TiXmlVisitor* visitor ) const = 0; - -protected: - TiXmlNode( NodeType _type ); - - // Copy to the allocated object. Shared functionality between Clone, Copy constructor, - // and the assignment operator. - void CopyTo( TiXmlNode* target ) const; - - #ifdef TIXML_USE_STL - // The real work of the input operator. - virtual void StreamIn( std::istream* in, TIXML_STRING* tag ) = 0; - #endif - - // Figure out what is at *p, and parse it. Returns null if it is not an xml node. - TiXmlNode* Identify( const char* start, TiXmlEncoding encoding ); - - TiXmlNode* parent; - NodeType type; - - TiXmlNode* firstChild; - TiXmlNode* lastChild; - - TIXML_STRING value; - - TiXmlNode* prev; - TiXmlNode* next; - -private: - TiXmlNode( const TiXmlNode& ); // not implemented. - void operator=( const TiXmlNode& base ); // not allowed. -}; - - -/** An attribute is a name-value pair. Elements have an arbitrary - number of attributes, each with a unique name. - - @note The attributes are not TiXmlNodes, since they are not - part of the tinyXML document object model. There are other - suggested ways to look at this problem. -*/ -class TiXmlAttribute : public TiXmlBase -{ - friend class TiXmlAttributeSet; - -public: - /// Construct an empty attribute. - TiXmlAttribute() : TiXmlBase() - { - document = 0; - prev = next = 0; - } - - #ifdef TIXML_USE_STL - /// std::string constructor. - TiXmlAttribute( const std::string& _name, const std::string& _value ) - { - name = _name; - value = _value; - document = 0; - prev = next = 0; - } - #endif - - /// Construct an attribute with a name and value. - TiXmlAttribute( const char * _name, const char * _value ) - { - name = _name; - value = _value; - document = 0; - prev = next = 0; - } - - const char* Name() const { return name.c_str(); } ///< Return the name of this attribute. - const char* Value() const { return value.c_str(); } ///< Return the value of this attribute. - #ifdef TIXML_USE_STL - const std::string& ValueStr() const { return value; } ///< Return the value of this attribute. - #endif - int IntValue() const; ///< Return the value of this attribute, converted to an integer. - double DoubleValue() const; ///< Return the value of this attribute, converted to a double. - - // Get the tinyxml string representation - const TIXML_STRING& NameTStr() const { return name; } - - /** QueryIntValue examines the value string. It is an alternative to the - IntValue() method with richer error checking. - If the value is an integer, it is stored in 'value' and - the call returns TIXML_SUCCESS. If it is not - an integer, it returns TIXML_WRONG_TYPE. - - A specialized but useful call. Note that for success it returns 0, - which is the opposite of almost all other TinyXml calls. - */ - int QueryIntValue( int* _value ) const; - /// QueryDoubleValue examines the value string. See QueryIntValue(). - int QueryDoubleValue( double* _value ) const; - - void SetName( const char* _name ) { name = _name; } ///< Set the name of this attribute. - void SetValue( const char* _value ) { value = _value; } ///< Set the value. - - void SetIntValue( int _value ); ///< Set the value from an integer. - void SetDoubleValue( double _value ); ///< Set the value from a double. - - #ifdef TIXML_USE_STL - /// STL std::string form. - void SetName( const std::string& _name ) { name = _name; } - /// STL std::string form. - void SetValue( const std::string& _value ) { value = _value; } - #endif - - /// Get the next sibling attribute in the DOM. Returns null at end. - const TiXmlAttribute* Next() const; - TiXmlAttribute* Next() { - return const_cast< TiXmlAttribute* >( (const_cast< const TiXmlAttribute* >(this))->Next() ); - } - - /// Get the previous sibling attribute in the DOM. Returns null at beginning. - const TiXmlAttribute* Previous() const; - TiXmlAttribute* Previous() { - return const_cast< TiXmlAttribute* >( (const_cast< const TiXmlAttribute* >(this))->Previous() ); - } - - bool operator==( const TiXmlAttribute& rhs ) const { return rhs.name == name; } - bool operator<( const TiXmlAttribute& rhs ) const { return name < rhs.name; } - bool operator>( const TiXmlAttribute& rhs ) const { return name > rhs.name; } - - /* Attribute parsing starts: first letter of the name - returns: the next char after the value end quote - */ - virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding ); - - // Prints this Attribute to a FILE stream. - virtual void Print( FILE* cfile, int depth ) const { - Print( cfile, depth, 0 ); - } - void Print( FILE* cfile, int depth, TIXML_STRING* str ) const; - - // [internal use] - // Set the document pointer so the attribute can report errors. - void SetDocument( TiXmlDocument* doc ) { document = doc; } - -private: - TiXmlAttribute( const TiXmlAttribute& ); // not implemented. - void operator=( const TiXmlAttribute& base ); // not allowed. - - TiXmlDocument* document; // A pointer back to a document, for error reporting. - TIXML_STRING name; - TIXML_STRING value; - TiXmlAttribute* prev; - TiXmlAttribute* next; -}; - - -/* A class used to manage a group of attributes. - It is only used internally, both by the ELEMENT and the DECLARATION. - - The set can be changed transparent to the Element and Declaration - classes that use it, but NOT transparent to the Attribute - which has to implement a next() and previous() method. Which makes - it a bit problematic and prevents the use of STL. - - This version is implemented with circular lists because: - - I like circular lists - - it demonstrates some independence from the (typical) doubly linked list. -*/ -class TiXmlAttributeSet -{ -public: - TiXmlAttributeSet(); - ~TiXmlAttributeSet(); - - void Add( TiXmlAttribute* attribute ); - void Remove( TiXmlAttribute* attribute ); - - const TiXmlAttribute* First() const { return ( sentinel.next == &sentinel ) ? 0 : sentinel.next; } - TiXmlAttribute* First() { return ( sentinel.next == &sentinel ) ? 0 : sentinel.next; } - const TiXmlAttribute* Last() const { return ( sentinel.prev == &sentinel ) ? 0 : sentinel.prev; } - TiXmlAttribute* Last() { return ( sentinel.prev == &sentinel ) ? 0 : sentinel.prev; } - - TiXmlAttribute* Find( const char* _name ) const; - TiXmlAttribute* FindOrCreate( const char* _name ); - -# ifdef TIXML_USE_STL - TiXmlAttribute* Find( const std::string& _name ) const; - TiXmlAttribute* FindOrCreate( const std::string& _name ); -# endif - - -private: - //*ME: Because of hidden/disabled copy-construktor in TiXmlAttribute (sentinel-element), - //*ME: this class must be also use a hidden/disabled copy-constructor !!! - TiXmlAttributeSet( const TiXmlAttributeSet& ); // not allowed - void operator=( const TiXmlAttributeSet& ); // not allowed (as TiXmlAttribute) - - TiXmlAttribute sentinel; -}; - - -/** The element is a container class. It has a value, the element name, - and can contain other elements, text, comments, and unknowns. - Elements also contain an arbitrary number of attributes. -*/ -class TiXmlElement : public TiXmlNode -{ -public: - /// Construct an element. - TiXmlElement (const char * in_value); - - #ifdef TIXML_USE_STL - /// std::string constructor. - TiXmlElement( const std::string& _value ); - #endif - - TiXmlElement( const TiXmlElement& ); - - TiXmlElement& operator=( const TiXmlElement& base ); - - virtual ~TiXmlElement(); - - /** Given an attribute name, Attribute() returns the value - for the attribute of that name, or null if none exists. - */ - const char* Attribute( const char* name ) const; - - /** Given an attribute name, Attribute() returns the value - for the attribute of that name, or null if none exists. - If the attribute exists and can be converted to an integer, - the integer value will be put in the return 'i', if 'i' - is non-null. - */ - const char* Attribute( const char* name, int* i ) const; - - /** Given an attribute name, Attribute() returns the value - for the attribute of that name, or null if none exists. - If the attribute exists and can be converted to an double, - the double value will be put in the return 'd', if 'd' - is non-null. - */ - const char* Attribute( const char* name, double* d ) const; - - /** QueryIntAttribute examines the attribute - it is an alternative to the - Attribute() method with richer error checking. - If the attribute is an integer, it is stored in 'value' and - the call returns TIXML_SUCCESS. If it is not - an integer, it returns TIXML_WRONG_TYPE. If the attribute - does not exist, then TIXML_NO_ATTRIBUTE is returned. - */ - int QueryIntAttribute( const char* name, int* _value ) const; - /// QueryUnsignedAttribute examines the attribute - see QueryIntAttribute(). - int QueryUnsignedAttribute( const char* name, unsigned* _value ) const; - /** QueryBoolAttribute examines the attribute - see QueryIntAttribute(). - Note that '1', 'true', or 'yes' are considered true, while '0', 'false' - and 'no' are considered false. - */ - int QueryBoolAttribute( const char* name, bool* _value ) const; - /// QueryDoubleAttribute examines the attribute - see QueryIntAttribute(). - int QueryDoubleAttribute( const char* name, double* _value ) const; - /// QueryFloatAttribute examines the attribute - see QueryIntAttribute(). - int QueryFloatAttribute( const char* name, float* _value ) const { - double d; - int result = QueryDoubleAttribute( name, &d ); - if ( result == TIXML_SUCCESS ) { - *_value = (float)d; - } - return result; - } - - #ifdef TIXML_USE_STL - /// QueryStringAttribute examines the attribute - see QueryIntAttribute(). - int QueryStringAttribute( const char* name, std::string* _value ) const { - const char* cstr = Attribute( name ); - if ( cstr ) { - *_value = std::string( cstr ); - return TIXML_SUCCESS; - } - return TIXML_NO_ATTRIBUTE; - } - - /** Template form of the attribute query which will try to read the - attribute into the specified type. Very easy, very powerful, but - be careful to make sure to call this with the correct type. - - NOTE: This method doesn't work correctly for 'string' types that contain spaces. - - @return TIXML_SUCCESS, TIXML_WRONG_TYPE, or TIXML_NO_ATTRIBUTE - */ - template< typename T > int QueryValueAttribute( const std::string& name, T* outValue ) const - { - const TiXmlAttribute* node = attributeSet.Find( name ); - if ( !node ) - return TIXML_NO_ATTRIBUTE; - - std::stringstream sstream( node->ValueStr() ); - sstream >> *outValue; - if ( !sstream.fail() ) - return TIXML_SUCCESS; - return TIXML_WRONG_TYPE; - } - - int QueryValueAttribute( const std::string& name, std::string* outValue ) const - { - const TiXmlAttribute* node = attributeSet.Find( name ); - if ( !node ) - return TIXML_NO_ATTRIBUTE; - *outValue = node->ValueStr(); - return TIXML_SUCCESS; - } - #endif - - /** Sets an attribute of name to a given value. The attribute - will be created if it does not exist, or changed if it does. - */ - void SetAttribute( const char* name, const char * _value ); - - #ifdef TIXML_USE_STL - const std::string* Attribute( const std::string& name ) const; - const std::string* Attribute( const std::string& name, int* i ) const; - const std::string* Attribute( const std::string& name, double* d ) const; - int QueryIntAttribute( const std::string& name, int* _value ) const; - int QueryDoubleAttribute( const std::string& name, double* _value ) const; - - /// STL std::string form. - void SetAttribute( const std::string& name, const std::string& _value ); - ///< STL std::string form. - void SetAttribute( const std::string& name, int _value ); - ///< STL std::string form. - void SetDoubleAttribute( const std::string& name, double value ); - #endif - - /** Sets an attribute of name to a given value. The attribute - will be created if it does not exist, or changed if it does. - */ - void SetAttribute( const char * name, int value ); - - /** Sets an attribute of name to a given value. The attribute - will be created if it does not exist, or changed if it does. - */ - void SetDoubleAttribute( const char * name, double value ); - - /** Deletes an attribute with the given name. - */ - void RemoveAttribute( const char * name ); - #ifdef TIXML_USE_STL - void RemoveAttribute( const std::string& name ) { RemoveAttribute (name.c_str ()); } ///< STL std::string form. - #endif - - const TiXmlAttribute* FirstAttribute() const { return attributeSet.First(); } ///< Access the first attribute in this element. - TiXmlAttribute* FirstAttribute() { return attributeSet.First(); } - const TiXmlAttribute* LastAttribute() const { return attributeSet.Last(); } ///< Access the last attribute in this element. - TiXmlAttribute* LastAttribute() { return attributeSet.Last(); } - - /** Convenience function for easy access to the text inside an element. Although easy - and concise, GetText() is limited compared to getting the TiXmlText child - and accessing it directly. - - If the first child of 'this' is a TiXmlText, the GetText() - returns the character string of the Text node, else null is returned. - - This is a convenient method for getting the text of simple contained text: - @verbatim - This is text - const char* str = fooElement->GetText(); - @endverbatim - - 'str' will be a pointer to "This is text". - - Note that this function can be misleading. If the element foo was created from - this XML: - @verbatim - This is text - @endverbatim - - then the value of str would be null. The first child node isn't a text node, it is - another element. From this XML: - @verbatim - This is text - @endverbatim - GetText() will return "This is ". - - WARNING: GetText() accesses a child node - don't become confused with the - similarly named TiXmlHandle::Text() and TiXmlNode::ToText() which are - safe type casts on the referenced node. - */ - const char* GetText() const; - - /// Creates a new Element and returns it - the returned element is a copy. - virtual TiXmlNode* Clone() const; - // Print the Element to a FILE stream. - virtual void Print( FILE* cfile, int depth ) const; - - /* Attribtue parsing starts: next char past '<' - returns: next char past '>' - */ - virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding ); - - virtual const TiXmlElement* ToElement() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type. - virtual TiXmlElement* ToElement() { return this; } ///< Cast to a more defined type. Will return null not of the requested type. - - /** Walk the XML tree visiting this node and all of its children. - */ - virtual bool Accept( TiXmlVisitor* visitor ) const; - -protected: - - void CopyTo( TiXmlElement* target ) const; - void ClearThis(); // like clear, but initializes 'this' object as well - - // Used to be public [internal use] - #ifdef TIXML_USE_STL - virtual void StreamIn( std::istream * in, TIXML_STRING * tag ); - #endif - /* [internal use] - Reads the "value" of the element -- another element, or text. - This should terminate with the current end tag. - */ - const char* ReadValue( const char* in, TiXmlParsingData* prevData, TiXmlEncoding encoding ); - -private: - TiXmlAttributeSet attributeSet; -}; - - -/** An XML comment. -*/ -class TiXmlComment : public TiXmlNode -{ -public: - /// Constructs an empty comment. - TiXmlComment() : TiXmlNode( TiXmlNode::TINYXML_COMMENT ) {} - /// Construct a comment from text. - TiXmlComment( const char* _value ) : TiXmlNode( TiXmlNode::TINYXML_COMMENT ) { - SetValue( _value ); - } - TiXmlComment( const TiXmlComment& ); - TiXmlComment& operator=( const TiXmlComment& base ); - - virtual ~TiXmlComment() {} - - /// Returns a copy of this Comment. - virtual TiXmlNode* Clone() const; - // Write this Comment to a FILE stream. - virtual void Print( FILE* cfile, int depth ) const; - - /* Attribtue parsing starts: at the ! of the !-- - returns: next char past '>' - */ - virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding ); - - virtual const TiXmlComment* ToComment() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type. - virtual TiXmlComment* ToComment() { return this; } ///< Cast to a more defined type. Will return null not of the requested type. - - /** Walk the XML tree visiting this node and all of its children. - */ - virtual bool Accept( TiXmlVisitor* visitor ) const; - -protected: - void CopyTo( TiXmlComment* target ) const; - - // used to be public - #ifdef TIXML_USE_STL - virtual void StreamIn( std::istream * in, TIXML_STRING * tag ); - #endif -// virtual void StreamOut( TIXML_OSTREAM * out ) const; - -private: - -}; - - -/** XML text. A text node can have 2 ways to output the next. "normal" output - and CDATA. It will default to the mode it was parsed from the XML file and - you generally want to leave it alone, but you can change the output mode with - SetCDATA() and query it with CDATA(). -*/ -class TiXmlText : public TiXmlNode -{ - friend class TiXmlElement; -public: - /** Constructor for text element. By default, it is treated as - normal, encoded text. If you want it be output as a CDATA text - element, set the parameter _cdata to 'true' - */ - TiXmlText (const char * initValue ) : TiXmlNode (TiXmlNode::TINYXML_TEXT) - { - SetValue( initValue ); - cdata = false; - } - virtual ~TiXmlText() {} - - #ifdef TIXML_USE_STL - /// Constructor. - TiXmlText( const std::string& initValue ) : TiXmlNode (TiXmlNode::TINYXML_TEXT) - { - SetValue( initValue ); - cdata = false; - } - #endif - - TiXmlText( const TiXmlText& copy ) : TiXmlNode( TiXmlNode::TINYXML_TEXT ) { copy.CopyTo( this ); } - TiXmlText& operator=( const TiXmlText& base ) { base.CopyTo( this ); return *this; } - - // Write this text object to a FILE stream. - virtual void Print( FILE* cfile, int depth ) const; - - /// Queries whether this represents text using a CDATA section. - bool CDATA() const { return cdata; } - /// Turns on or off a CDATA representation of text. - void SetCDATA( bool _cdata ) { cdata = _cdata; } - - virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding ); - - virtual const TiXmlText* ToText() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type. - virtual TiXmlText* ToText() { return this; } ///< Cast to a more defined type. Will return null not of the requested type. - - /** Walk the XML tree visiting this node and all of its children. - */ - virtual bool Accept( TiXmlVisitor* content ) const; - -protected : - /// [internal use] Creates a new Element and returns it. - virtual TiXmlNode* Clone() const; - void CopyTo( TiXmlText* target ) const; - - bool Blank() const; // returns true if all white space and new lines - // [internal use] - #ifdef TIXML_USE_STL - virtual void StreamIn( std::istream * in, TIXML_STRING * tag ); - #endif - -private: - bool cdata; // true if this should be input and output as a CDATA style text element -}; - - -/** In correct XML the declaration is the first entry in the file. - @verbatim - - @endverbatim - - TinyXml will happily read or write files without a declaration, - however. There are 3 possible attributes to the declaration: - version, encoding, and standalone. - - Note: In this version of the code, the attributes are - handled as special cases, not generic attributes, simply - because there can only be at most 3 and they are always the same. -*/ -class TiXmlDeclaration : public TiXmlNode -{ -public: - /// Construct an empty declaration. - TiXmlDeclaration() : TiXmlNode( TiXmlNode::TINYXML_DECLARATION ) {} - -#ifdef TIXML_USE_STL - /// Constructor. - TiXmlDeclaration( const std::string& _version, - const std::string& _encoding, - const std::string& _standalone ); -#endif - - /// Construct. - TiXmlDeclaration( const char* _version, - const char* _encoding, - const char* _standalone ); - - TiXmlDeclaration( const TiXmlDeclaration& copy ); - TiXmlDeclaration& operator=( const TiXmlDeclaration& copy ); - - virtual ~TiXmlDeclaration() {} - - /// Version. Will return an empty string if none was found. - const char *Version() const { return version.c_str (); } - /// Encoding. Will return an empty string if none was found. - const char *Encoding() const { return encoding.c_str (); } - /// Is this a standalone document? - const char *Standalone() const { return standalone.c_str (); } - - /// Creates a copy of this Declaration and returns it. - virtual TiXmlNode* Clone() const; - // Print this declaration to a FILE stream. - virtual void Print( FILE* cfile, int depth, TIXML_STRING* str ) const; - virtual void Print( FILE* cfile, int depth ) const { - Print( cfile, depth, 0 ); - } - - virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding ); - - virtual const TiXmlDeclaration* ToDeclaration() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type. - virtual TiXmlDeclaration* ToDeclaration() { return this; } ///< Cast to a more defined type. Will return null not of the requested type. - - /** Walk the XML tree visiting this node and all of its children. - */ - virtual bool Accept( TiXmlVisitor* visitor ) const; - -protected: - void CopyTo( TiXmlDeclaration* target ) const; - // used to be public - #ifdef TIXML_USE_STL - virtual void StreamIn( std::istream * in, TIXML_STRING * tag ); - #endif - -private: - - TIXML_STRING version; - TIXML_STRING encoding; - TIXML_STRING standalone; -}; - - -/** Any tag that tinyXml doesn't recognize is saved as an - unknown. It is a tag of text, but should not be modified. - It will be written back to the XML, unchanged, when the file - is saved. - - DTD tags get thrown into TiXmlUnknowns. -*/ -class TiXmlUnknown : public TiXmlNode -{ -public: - TiXmlUnknown() : TiXmlNode( TiXmlNode::TINYXML_UNKNOWN ) {} - virtual ~TiXmlUnknown() {} - - TiXmlUnknown( const TiXmlUnknown& copy ) : TiXmlNode( TiXmlNode::TINYXML_UNKNOWN ) { copy.CopyTo( this ); } - TiXmlUnknown& operator=( const TiXmlUnknown& copy ) { copy.CopyTo( this ); return *this; } - - /// Creates a copy of this Unknown and returns it. - virtual TiXmlNode* Clone() const; - // Print this Unknown to a FILE stream. - virtual void Print( FILE* cfile, int depth ) const; - - virtual const char* Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding ); - - virtual const TiXmlUnknown* ToUnknown() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type. - virtual TiXmlUnknown* ToUnknown() { return this; } ///< Cast to a more defined type. Will return null not of the requested type. - - /** Walk the XML tree visiting this node and all of its children. - */ - virtual bool Accept( TiXmlVisitor* content ) const; - -protected: - void CopyTo( TiXmlUnknown* target ) const; - - #ifdef TIXML_USE_STL - virtual void StreamIn( std::istream * in, TIXML_STRING * tag ); - #endif - -private: - -}; - - -/** Always the top level node. A document binds together all the - XML pieces. It can be saved, loaded, and printed to the screen. - The 'value' of a document node is the xml file name. -*/ -class TiXmlDocument : public TiXmlNode -{ -public: - /// Create an empty document, that has no name. - TiXmlDocument(); - /// Create a document with a name. The name of the document is also the filename of the xml. - TiXmlDocument( const char * documentName ); - - #ifdef TIXML_USE_STL - /// Constructor. - TiXmlDocument( const std::string& documentName ); - #endif - - TiXmlDocument( const TiXmlDocument& copy ); - TiXmlDocument& operator=( const TiXmlDocument& copy ); - - virtual ~TiXmlDocument() {} - - /** Load a file using the current document value. - Returns true if successful. Will delete any existing - document data before loading. - */ - bool LoadFile( TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING ); - /// Save a file using the current document value. Returns true if successful. - bool SaveFile() const; - /// Load a file using the given filename. Returns true if successful. - bool LoadFile( const char * filename, TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING ); - /// Save a file using the given filename. Returns true if successful. - bool SaveFile( const char * filename ) const; - /** Load a file using the given FILE*. Returns true if successful. Note that this method - doesn't stream - the entire object pointed at by the FILE* - will be interpreted as an XML file. TinyXML doesn't stream in XML from the current - file location. Streaming may be added in the future. - */ - bool LoadFile( FILE*, TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING ); - /// Save a file using the given FILE*. Returns true if successful. - bool SaveFile( FILE* ) const; - - #ifdef TIXML_USE_STL - bool LoadFile( const std::string& filename, TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING ) ///< STL std::string version. - { - return LoadFile( filename.c_str(), encoding ); - } - bool SaveFile( const std::string& filename ) const ///< STL std::string version. - { - return SaveFile( filename.c_str() ); - } - #endif - - /** Parse the given null terminated block of xml data. Passing in an encoding to this - method (either TIXML_ENCODING_LEGACY or TIXML_ENCODING_UTF8 will force TinyXml - to use that encoding, regardless of what TinyXml might otherwise try to detect. - */ - virtual const char* Parse( const char* p, TiXmlParsingData* data = 0, TiXmlEncoding encoding = TIXML_DEFAULT_ENCODING ); - - /** Get the root element -- the only top level element -- of the document. - In well formed XML, there should only be one. TinyXml is tolerant of - multiple elements at the document level. - */ - const TiXmlElement* RootElement() const { return FirstChildElement(); } - TiXmlElement* RootElement() { return FirstChildElement(); } - - /** If an error occurs, Error will be set to true. Also, - - The ErrorId() will contain the integer identifier of the error (not generally useful) - - The ErrorDesc() method will return the name of the error. (very useful) - - The ErrorRow() and ErrorCol() will return the location of the error (if known) - */ - bool Error() const { return error; } - - /// Contains a textual (english) description of the error if one occurs. - const char * ErrorDesc() const { return errorDesc.c_str (); } - - /** Generally, you probably want the error string ( ErrorDesc() ). But if you - prefer the ErrorId, this function will fetch it. - */ - int ErrorId() const { return errorId; } - - /** Returns the location (if known) of the error. The first column is column 1, - and the first row is row 1. A value of 0 means the row and column wasn't applicable - (memory errors, for example, have no row/column) or the parser lost the error. (An - error in the error reporting, in that case.) - - @sa SetTabSize, Row, Column - */ - int ErrorRow() const { return errorLocation.row+1; } - int ErrorCol() const { return errorLocation.col+1; } ///< The column where the error occured. See ErrorRow() - - /** SetTabSize() allows the error reporting functions (ErrorRow() and ErrorCol()) - to report the correct values for row and column. It does not change the output - or input in any way. - - By calling this method, with a tab size - greater than 0, the row and column of each node and attribute is stored - when the file is loaded. Very useful for tracking the DOM back in to - the source file. - - The tab size is required for calculating the location of nodes. If not - set, the default of 4 is used. The tabsize is set per document. Setting - the tabsize to 0 disables row/column tracking. - - Note that row and column tracking is not supported when using operator>>. - - The tab size needs to be enabled before the parse or load. Correct usage: - @verbatim - TiXmlDocument doc; - doc.SetTabSize( 8 ); - doc.Load( "myfile.xml" ); - @endverbatim - - @sa Row, Column - */ - void SetTabSize( int _tabsize ) { tabsize = _tabsize; } - - int TabSize() const { return tabsize; } - - /** If you have handled the error, it can be reset with this call. The error - state is automatically cleared if you Parse a new XML block. - */ - void ClearError() { error = false; - errorId = 0; - errorDesc = ""; - errorLocation.row = errorLocation.col = 0; - //errorLocation.last = 0; - } - - /** Write the document to standard out using formatted printing ("pretty print"). */ - void Print() const { Print( stdout, 0 ); } - - /* Write the document to a string using formatted printing ("pretty print"). This - will allocate a character array (new char[]) and return it as a pointer. The - calling code pust call delete[] on the return char* to avoid a memory leak. - */ - //char* PrintToMemory() const; - - /// Print this Document to a FILE stream. - virtual void Print( FILE* cfile, int depth = 0 ) const; - // [internal use] - void SetError( int err, const char* errorLocation, TiXmlParsingData* prevData, TiXmlEncoding encoding ); - - virtual const TiXmlDocument* ToDocument() const { return this; } ///< Cast to a more defined type. Will return null not of the requested type. - virtual TiXmlDocument* ToDocument() { return this; } ///< Cast to a more defined type. Will return null not of the requested type. - - /** Walk the XML tree visiting this node and all of its children. - */ - virtual bool Accept( TiXmlVisitor* content ) const; - -protected : - // [internal use] - virtual TiXmlNode* Clone() const; - #ifdef TIXML_USE_STL - virtual void StreamIn( std::istream * in, TIXML_STRING * tag ); - #endif - -private: - void CopyTo( TiXmlDocument* target ) const; - - bool error; - int errorId; - TIXML_STRING errorDesc; - int tabsize; - TiXmlCursor errorLocation; - bool useMicrosoftBOM; // the UTF-8 BOM were found when read. Note this, and try to write. -}; - - -/** - A TiXmlHandle is a class that wraps a node pointer with null checks; this is - an incredibly useful thing. Note that TiXmlHandle is not part of the TinyXml - DOM structure. It is a separate utility class. - - Take an example: - @verbatim - - - - - - - @endverbatim - - Assuming you want the value of "attributeB" in the 2nd "Child" element, it's very - easy to write a *lot* of code that looks like: - - @verbatim - TiXmlElement* root = document.FirstChildElement( "Document" ); - if ( root ) - { - TiXmlElement* element = root->FirstChildElement( "Element" ); - if ( element ) - { - TiXmlElement* child = element->FirstChildElement( "Child" ); - if ( child ) - { - TiXmlElement* child2 = child->NextSiblingElement( "Child" ); - if ( child2 ) - { - // Finally do something useful. - @endverbatim - - And that doesn't even cover "else" cases. TiXmlHandle addresses the verbosity - of such code. A TiXmlHandle checks for null pointers so it is perfectly safe - and correct to use: - - @verbatim - TiXmlHandle docHandle( &document ); - TiXmlElement* child2 = docHandle.FirstChild( "Document" ).FirstChild( "Element" ).Child( "Child", 1 ).ToElement(); - if ( child2 ) - { - // do something useful - @endverbatim - - Which is MUCH more concise and useful. - - It is also safe to copy handles - internally they are nothing more than node pointers. - @verbatim - TiXmlHandle handleCopy = handle; - @endverbatim - - What they should not be used for is iteration: - - @verbatim - int i=0; - while ( true ) - { - TiXmlElement* child = docHandle.FirstChild( "Document" ).FirstChild( "Element" ).Child( "Child", i ).ToElement(); - if ( !child ) - break; - // do something - ++i; - } - @endverbatim - - It seems reasonable, but it is in fact two embedded while loops. The Child method is - a linear walk to find the element, so this code would iterate much more than it needs - to. Instead, prefer: - - @verbatim - TiXmlElement* child = docHandle.FirstChild( "Document" ).FirstChild( "Element" ).FirstChild( "Child" ).ToElement(); - - for( child; child; child=child->NextSiblingElement() ) - { - // do something - } - @endverbatim -*/ -class TiXmlHandle -{ -public: - /// Create a handle from any node (at any depth of the tree.) This can be a null pointer. - TiXmlHandle( TiXmlNode* _node ) { this->node = _node; } - /// Copy constructor - TiXmlHandle( const TiXmlHandle& ref ) { this->node = ref.node; } - TiXmlHandle operator=( const TiXmlHandle& ref ) { if ( &ref != this ) this->node = ref.node; return *this; } - - /// Return a handle to the first child node. - TiXmlHandle FirstChild() const; - /// Return a handle to the first child node with the given name. - TiXmlHandle FirstChild( const char * value ) const; - /// Return a handle to the first child element. - TiXmlHandle FirstChildElement() const; - /// Return a handle to the first child element with the given name. - TiXmlHandle FirstChildElement( const char * value ) const; - - /** Return a handle to the "index" child with the given name. - The first child is 0, the second 1, etc. - */ - TiXmlHandle Child( const char* value, int index ) const; - /** Return a handle to the "index" child. - The first child is 0, the second 1, etc. - */ - TiXmlHandle Child( int index ) const; - /** Return a handle to the "index" child element with the given name. - The first child element is 0, the second 1, etc. Note that only TiXmlElements - are indexed: other types are not counted. - */ - TiXmlHandle ChildElement( const char* value, int index ) const; - /** Return a handle to the "index" child element. - The first child element is 0, the second 1, etc. Note that only TiXmlElements - are indexed: other types are not counted. - */ - TiXmlHandle ChildElement( int index ) const; - - #ifdef TIXML_USE_STL - TiXmlHandle FirstChild( const std::string& _value ) const { return FirstChild( _value.c_str() ); } - TiXmlHandle FirstChildElement( const std::string& _value ) const { return FirstChildElement( _value.c_str() ); } - - TiXmlHandle Child( const std::string& _value, int index ) const { return Child( _value.c_str(), index ); } - TiXmlHandle ChildElement( const std::string& _value, int index ) const { return ChildElement( _value.c_str(), index ); } - #endif - - /** Return the handle as a TiXmlNode. This may return null. - */ - TiXmlNode* ToNode() const { return node; } - /** Return the handle as a TiXmlElement. This may return null. - */ - TiXmlElement* ToElement() const { return ( ( node && node->ToElement() ) ? node->ToElement() : 0 ); } - /** Return the handle as a TiXmlText. This may return null. - */ - TiXmlText* ToText() const { return ( ( node && node->ToText() ) ? node->ToText() : 0 ); } - /** Return the handle as a TiXmlUnknown. This may return null. - */ - TiXmlUnknown* ToUnknown() const { return ( ( node && node->ToUnknown() ) ? node->ToUnknown() : 0 ); } - - /** @deprecated use ToNode. - Return the handle as a TiXmlNode. This may return null. - */ - TiXmlNode* Node() const { return ToNode(); } - /** @deprecated use ToElement. - Return the handle as a TiXmlElement. This may return null. - */ - TiXmlElement* Element() const { return ToElement(); } - /** @deprecated use ToText() - Return the handle as a TiXmlText. This may return null. - */ - TiXmlText* Text() const { return ToText(); } - /** @deprecated use ToUnknown() - Return the handle as a TiXmlUnknown. This may return null. - */ - TiXmlUnknown* Unknown() const { return ToUnknown(); } - -private: - TiXmlNode* node; -}; - - -/** Print to memory functionality. The TiXmlPrinter is useful when you need to: - - -# Print to memory (especially in non-STL mode) - -# Control formatting (line endings, etc.) - - When constructed, the TiXmlPrinter is in its default "pretty printing" mode. - Before calling Accept() you can call methods to control the printing - of the XML document. After TiXmlNode::Accept() is called, the printed document can - be accessed via the CStr(), Str(), and Size() methods. - - TiXmlPrinter uses the Visitor API. - @verbatim - TiXmlPrinter printer; - printer.SetIndent( "\t" ); - - doc.Accept( &printer ); - fprintf( stdout, "%s", printer.CStr() ); - @endverbatim -*/ -class TiXmlPrinter : public TiXmlVisitor -{ -public: - TiXmlPrinter() : depth( 0 ), simpleTextPrint( false ), - buffer(), indent( " " ), lineBreak( "\n" ) {} - - virtual bool VisitEnter( const TiXmlDocument& doc ); - virtual bool VisitExit( const TiXmlDocument& doc ); - - virtual bool VisitEnter( const TiXmlElement& element, const TiXmlAttribute* firstAttribute ); - virtual bool VisitExit( const TiXmlElement& element ); - - virtual bool Visit( const TiXmlDeclaration& declaration ); - virtual bool Visit( const TiXmlText& text ); - virtual bool Visit( const TiXmlComment& comment ); - virtual bool Visit( const TiXmlUnknown& unknown ); - - /** Set the indent characters for printing. By default 4 spaces - but tab (\t) is also useful, or null/empty string for no indentation. - */ - void SetIndent( const char* _indent ) { indent = _indent ? _indent : "" ; } - /// Query the indention string. - const char* Indent() { return indent.c_str(); } - /** Set the line breaking string. By default set to newline (\n). - Some operating systems prefer other characters, or can be - set to the null/empty string for no indenation. - */ - void SetLineBreak( const char* _lineBreak ) { lineBreak = _lineBreak ? _lineBreak : ""; } - /// Query the current line breaking string. - const char* LineBreak() { return lineBreak.c_str(); } - - /** Switch over to "stream printing" which is the most dense formatting without - linebreaks. Common when the XML is needed for network transmission. - */ - void SetStreamPrinting() { indent = ""; - lineBreak = ""; - } - /// Return the result. - const char* CStr() { return buffer.c_str(); } - /// Return the length of the result string. - size_t Size() { return buffer.size(); } - - #ifdef TIXML_USE_STL - /// Return the result. - const std::string& Str() { return buffer; } - #endif - -private: - void DoIndent() { - for( int i=0; i -#include - -#include "tinyxml.h" - -//#define DEBUG_PARSER -#if defined( DEBUG_PARSER ) -# if defined( DEBUG ) && defined( _MSC_VER ) -# include -# define TIXML_LOG OutputDebugString -# else -# define TIXML_LOG printf -# endif -#endif - -// Note tha "PutString" hardcodes the same list. This -// is less flexible than it appears. Changing the entries -// or order will break putstring. -TiXmlBase::Entity TiXmlBase::entity[ TiXmlBase::NUM_ENTITY ] = -{ - { "&", 5, '&' }, - { "<", 4, '<' }, - { ">", 4, '>' }, - { """, 6, '\"' }, - { "'", 6, '\'' } -}; - -// Bunch of unicode info at: -// http://www.unicode.org/faq/utf_bom.html -// Including the basic of this table, which determines the #bytes in the -// sequence from the lead byte. 1 placed for invalid sequences -- -// although the result will be junk, pass it through as much as possible. -// Beware of the non-characters in UTF-8: -// ef bb bf (Microsoft "lead bytes") -// ef bf be -// ef bf bf - -const unsigned char TIXML_UTF_LEAD_0 = 0xefU; -const unsigned char TIXML_UTF_LEAD_1 = 0xbbU; -const unsigned char TIXML_UTF_LEAD_2 = 0xbfU; - -const int TiXmlBase::utf8ByteTable[256] = -{ - // 0 1 2 3 4 5 6 7 8 9 a b c d e f - 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x00 - 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x10 - 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x20 - 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x30 - 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x40 - 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x50 - 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x60 - 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x70 End of ASCII range - 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x80 0x80 to 0xc1 invalid - 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0x90 - 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0xa0 - 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, // 0xb0 - 1, 1, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, // 0xc0 0xc2 to 0xdf 2 byte - 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, 2, // 0xd0 - 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, 3, // 0xe0 0xe0 to 0xef 3 byte - 4, 4, 4, 4, 4, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1, 1 // 0xf0 0xf0 to 0xf4 4 byte, 0xf5 and higher invalid -}; - - -void TiXmlBase::ConvertUTF32ToUTF8( unsigned long input, char* output, int* length ) -{ - const unsigned long BYTE_MASK = 0xBF; - const unsigned long BYTE_MARK = 0x80; - const unsigned long FIRST_BYTE_MARK[7] = { 0x00, 0x00, 0xC0, 0xE0, 0xF0, 0xF8, 0xFC }; - - if (input < 0x80) - *length = 1; - else if ( input < 0x800 ) - *length = 2; - else if ( input < 0x10000 ) - *length = 3; - else if ( input < 0x200000 ) - *length = 4; - else - { *length = 0; return; } // This code won't covert this correctly anyway. - - output += *length; - - // Scary scary fall throughs. - switch (*length) - { - case 4: - --output; - *output = (char)((input | BYTE_MARK) & BYTE_MASK); - input >>= 6; - case 3: - --output; - *output = (char)((input | BYTE_MARK) & BYTE_MASK); - input >>= 6; - case 2: - --output; - *output = (char)((input | BYTE_MARK) & BYTE_MASK); - input >>= 6; - case 1: - --output; - *output = (char)(input | FIRST_BYTE_MARK[*length]); - } -} - - -/*static*/ int TiXmlBase::IsAlpha( unsigned char anyByte, TiXmlEncoding /*encoding*/ ) -{ - // This will only work for low-ascii, everything else is assumed to be a valid - // letter. I'm not sure this is the best approach, but it is quite tricky trying - // to figure out alhabetical vs. not across encoding. So take a very - // conservative approach. - -// if ( encoding == TIXML_ENCODING_UTF8 ) -// { - if ( anyByte < 127 ) - return isalpha( anyByte ); - else - return 1; // What else to do? The unicode set is huge...get the english ones right. -// } -// else -// { -// return isalpha( anyByte ); -// } -} - - -/*static*/ int TiXmlBase::IsAlphaNum( unsigned char anyByte, TiXmlEncoding /*encoding*/ ) -{ - // This will only work for low-ascii, everything else is assumed to be a valid - // letter. I'm not sure this is the best approach, but it is quite tricky trying - // to figure out alhabetical vs. not across encoding. So take a very - // conservative approach. - -// if ( encoding == TIXML_ENCODING_UTF8 ) -// { - if ( anyByte < 127 ) - return isalnum( anyByte ); - else - return 1; // What else to do? The unicode set is huge...get the english ones right. -// } -// else -// { -// return isalnum( anyByte ); -// } -} - - -class TiXmlParsingData -{ - friend class TiXmlDocument; - public: - void Stamp( const char* now, TiXmlEncoding encoding ); - - const TiXmlCursor& Cursor() const { return cursor; } - - private: - // Only used by the document! - TiXmlParsingData( const char* start, int _tabsize, int row, int col ) - { - assert( start ); - stamp = start; - tabsize = _tabsize; - cursor.row = row; - cursor.col = col; - } - - TiXmlCursor cursor; - const char* stamp; - int tabsize; -}; - - -void TiXmlParsingData::Stamp( const char* now, TiXmlEncoding encoding ) -{ - assert( now ); - - // Do nothing if the tabsize is 0. - if ( tabsize < 1 ) - { - return; - } - - // Get the current row, column. - int row = cursor.row; - int col = cursor.col; - const char* p = stamp; - assert( p ); - - while ( p < now ) - { - // Treat p as unsigned, so we have a happy compiler. - const unsigned char* pU = (const unsigned char*)p; - - // Code contributed by Fletcher Dunn: (modified by lee) - switch (*pU) { - case 0: - // We *should* never get here, but in case we do, don't - // advance past the terminating null character, ever - return; - - case '\r': - // bump down to the next line - ++row; - col = 0; - // Eat the character - ++p; - - // Check for \r\n sequence, and treat this as a single character - if (*p == '\n') { - ++p; - } - break; - - case '\n': - // bump down to the next line - ++row; - col = 0; - - // Eat the character - ++p; - - // Check for \n\r sequence, and treat this as a single - // character. (Yes, this bizarre thing does occur still - // on some arcane platforms...) - if (*p == '\r') { - ++p; - } - break; - - case '\t': - // Eat the character - ++p; - - // Skip to next tab stop - col = (col / tabsize + 1) * tabsize; - break; - - case TIXML_UTF_LEAD_0: - if ( encoding == TIXML_ENCODING_UTF8 ) - { - if ( *(p+1) && *(p+2) ) - { - // In these cases, don't advance the column. These are - // 0-width spaces. - if ( *(pU+1)==TIXML_UTF_LEAD_1 && *(pU+2)==TIXML_UTF_LEAD_2 ) - p += 3; - else if ( *(pU+1)==0xbfU && *(pU+2)==0xbeU ) - p += 3; - else if ( *(pU+1)==0xbfU && *(pU+2)==0xbfU ) - p += 3; - else - { p +=3; ++col; } // A normal character. - } - } - else - { - ++p; - ++col; - } - break; - - default: - if ( encoding == TIXML_ENCODING_UTF8 ) - { - // Eat the 1 to 4 byte utf8 character. - int step = TiXmlBase::utf8ByteTable[*((const unsigned char*)p)]; - if ( step == 0 ) - step = 1; // Error case from bad encoding, but handle gracefully. - p += step; - - // Just advance one column, of course. - ++col; - } - else - { - ++p; - ++col; - } - break; - } - } - cursor.row = row; - cursor.col = col; - assert( cursor.row >= -1 ); - assert( cursor.col >= -1 ); - stamp = p; - assert( stamp ); -} - - -const char* TiXmlBase::SkipWhiteSpace( const char* p, TiXmlEncoding encoding ) -{ - if ( !p || !*p ) - { - return 0; - } - if ( encoding == TIXML_ENCODING_UTF8 ) - { - while ( *p ) - { - const unsigned char* pU = (const unsigned char*)p; - - // Skip the stupid Microsoft UTF-8 Byte order marks - if ( *(pU+0)==TIXML_UTF_LEAD_0 - && *(pU+1)==TIXML_UTF_LEAD_1 - && *(pU+2)==TIXML_UTF_LEAD_2 ) - { - p += 3; - continue; - } - else if(*(pU+0)==TIXML_UTF_LEAD_0 - && *(pU+1)==0xbfU - && *(pU+2)==0xbeU ) - { - p += 3; - continue; - } - else if(*(pU+0)==TIXML_UTF_LEAD_0 - && *(pU+1)==0xbfU - && *(pU+2)==0xbfU ) - { - p += 3; - continue; - } - - if ( IsWhiteSpace( *p ) ) // Still using old rules for white space. - ++p; - else - break; - } - } - else - { - while ( *p && IsWhiteSpace( *p ) ) - ++p; - } - - return p; -} - -#ifdef TIXML_USE_STL -/*static*/ bool TiXmlBase::StreamWhiteSpace( std::istream * in, TIXML_STRING * tag ) -{ - for( ;; ) - { - if ( !in->good() ) return false; - - int c = in->peek(); - // At this scope, we can't get to a document. So fail silently. - if ( !IsWhiteSpace( c ) || c <= 0 ) - return true; - - *tag += (char) in->get(); - } -} - -/*static*/ bool TiXmlBase::StreamTo( std::istream * in, int character, TIXML_STRING * tag ) -{ - //assert( character > 0 && character < 128 ); // else it won't work in utf-8 - while ( in->good() ) - { - int c = in->peek(); - if ( c == character ) - return true; - if ( c <= 0 ) // Silent failure: can't get document at this scope - return false; - - in->get(); - *tag += (char) c; - } - return false; -} -#endif - -// One of TinyXML's more performance demanding functions. Try to keep the memory overhead down. The -// "assign" optimization removes over 10% of the execution time. -// -const char* TiXmlBase::ReadName( const char* p, TIXML_STRING * name, TiXmlEncoding encoding ) -{ - // Oddly, not supported on some comilers, - //name->clear(); - // So use this: - *name = ""; - assert( p ); - - // Names start with letters or underscores. - // Of course, in unicode, tinyxml has no idea what a letter *is*. The - // algorithm is generous. - // - // After that, they can be letters, underscores, numbers, - // hyphens, or colons. (Colons are valid ony for namespaces, - // but tinyxml can't tell namespaces from names.) - if ( p && *p - && ( IsAlpha( (unsigned char) *p, encoding ) || *p == '_' ) ) - { - const char* start = p; - while( p && *p - && ( IsAlphaNum( (unsigned char ) *p, encoding ) - || *p == '_' - || *p == '-' - || *p == '.' - || *p == ':' ) ) - { - //(*name) += *p; // expensive - ++p; - } - if ( p-start > 0 ) { - name->assign( start, p-start ); - } - return p; - } - return 0; -} - -const char* TiXmlBase::GetEntity( const char* p, char* value, int* length, TiXmlEncoding encoding ) -{ - // Presume an entity, and pull it out. - TIXML_STRING ent; - int i; - *length = 0; - - if ( *(p+1) && *(p+1) == '#' && *(p+2) ) - { - unsigned long ucs = 0; - ptrdiff_t delta = 0; - unsigned mult = 1; - - if ( *(p+2) == 'x' ) - { - // Hexadecimal. - if ( !*(p+3) ) return 0; - - const char* q = p+3; - q = strchr( q, ';' ); - - if ( !q || !*q ) return 0; - - delta = q-p; - --q; - - while ( *q != 'x' ) - { - if ( *q >= '0' && *q <= '9' ) - ucs += mult * (*q - '0'); - else if ( *q >= 'a' && *q <= 'f' ) - ucs += mult * (*q - 'a' + 10); - else if ( *q >= 'A' && *q <= 'F' ) - ucs += mult * (*q - 'A' + 10 ); - else - return 0; - mult *= 16; - --q; - } - } - else - { - // Decimal. - if ( !*(p+2) ) return 0; - - const char* q = p+2; - q = strchr( q, ';' ); - - if ( !q || !*q ) return 0; - - delta = q-p; - --q; - - while ( *q != '#' ) - { - if ( *q >= '0' && *q <= '9' ) - ucs += mult * (*q - '0'); - else - return 0; - mult *= 10; - --q; - } - } - if ( encoding == TIXML_ENCODING_UTF8 ) - { - // convert the UCS to UTF-8 - ConvertUTF32ToUTF8( ucs, value, length ); - } - else - { - *value = (char)ucs; - *length = 1; - } - return p + delta + 1; - } - - // Now try to match it. - for( i=0; iappend( cArr, len ); - } - } - else - { - bool whitespace = false; - - // Remove leading white space: - p = SkipWhiteSpace( p, encoding ); - while ( p && *p - && !StringEqual( p, endTag, caseInsensitive, encoding ) ) - { - if ( *p == '\r' || *p == '\n' ) - { - whitespace = true; - ++p; - } - else if ( IsWhiteSpace( *p ) ) - { - whitespace = true; - ++p; - } - else - { - // If we've found whitespace, add it before the - // new character. Any whitespace just becomes a space. - if ( whitespace ) - { - (*text) += ' '; - whitespace = false; - } - int len; - char cArr[4] = { 0, 0, 0, 0 }; - p = GetChar( p, cArr, &len, encoding ); - if ( len == 1 ) - (*text) += cArr[0]; // more efficient - else - text->append( cArr, len ); - } - } - } - if ( p && *p ) - p += strlen( endTag ); - return ( p && *p ) ? p : 0; -} - -#ifdef TIXML_USE_STL - -void TiXmlDocument::StreamIn( std::istream * in, TIXML_STRING * tag ) -{ - // The basic issue with a document is that we don't know what we're - // streaming. Read something presumed to be a tag (and hope), then - // identify it, and call the appropriate stream method on the tag. - // - // This "pre-streaming" will never read the closing ">" so the - // sub-tag can orient itself. - - if ( !StreamTo( in, '<', tag ) ) - { - SetError( TIXML_ERROR_PARSING_EMPTY, 0, 0, TIXML_ENCODING_UNKNOWN ); - return; - } - - while ( in->good() ) - { - int tagIndex = (int) tag->length(); - while ( in->good() && in->peek() != '>' ) - { - int c = in->get(); - if ( c <= 0 ) - { - SetError( TIXML_ERROR_EMBEDDED_NULL, 0, 0, TIXML_ENCODING_UNKNOWN ); - break; - } - (*tag) += (char) c; - } - - if ( in->good() ) - { - // We now have something we presume to be a node of - // some sort. Identify it, and call the node to - // continue streaming. - TiXmlNode* node = Identify( tag->c_str() + tagIndex, TIXML_DEFAULT_ENCODING ); - - if ( node ) - { - node->StreamIn( in, tag ); - bool isElement = node->ToElement() != 0; - delete node; - node = 0; - - // If this is the root element, we're done. Parsing will be - // done by the >> operator. - if ( isElement ) - { - return; - } - } - else - { - SetError( TIXML_ERROR, 0, 0, TIXML_ENCODING_UNKNOWN ); - return; - } - } - } - // We should have returned sooner. - SetError( TIXML_ERROR, 0, 0, TIXML_ENCODING_UNKNOWN ); -} - -#endif - -const char* TiXmlDocument::Parse( const char* p, TiXmlParsingData* prevData, TiXmlEncoding encoding ) -{ - ClearError(); - - // Parse away, at the document level. Since a document - // contains nothing but other tags, most of what happens - // here is skipping white space. - if ( !p || !*p ) - { - SetError( TIXML_ERROR_DOCUMENT_EMPTY, 0, 0, TIXML_ENCODING_UNKNOWN ); - return 0; - } - - // Note that, for a document, this needs to come - // before the while space skip, so that parsing - // starts from the pointer we are given. - location.Clear(); - if ( prevData ) - { - location.row = prevData->cursor.row; - location.col = prevData->cursor.col; - } - else - { - location.row = 0; - location.col = 0; - } - TiXmlParsingData data( p, TabSize(), location.row, location.col ); - location = data.Cursor(); - - if ( encoding == TIXML_ENCODING_UNKNOWN ) - { - // Check for the Microsoft UTF-8 lead bytes. - const unsigned char* pU = (const unsigned char*)p; - if ( *(pU+0) && *(pU+0) == TIXML_UTF_LEAD_0 - && *(pU+1) && *(pU+1) == TIXML_UTF_LEAD_1 - && *(pU+2) && *(pU+2) == TIXML_UTF_LEAD_2 ) - { - encoding = TIXML_ENCODING_UTF8; - useMicrosoftBOM = true; - } - } - - p = SkipWhiteSpace( p, encoding ); - if ( !p ) - { - SetError( TIXML_ERROR_DOCUMENT_EMPTY, 0, 0, TIXML_ENCODING_UNKNOWN ); - return 0; - } - - while ( p && *p ) - { - TiXmlNode* node = Identify( p, encoding ); - if ( node ) - { - p = node->Parse( p, &data, encoding ); - LinkEndChild( node ); - } - else - { - break; - } - - // Did we get encoding info? - if ( encoding == TIXML_ENCODING_UNKNOWN - && node->ToDeclaration() ) - { - TiXmlDeclaration* dec = node->ToDeclaration(); - const char* enc = dec->Encoding(); - assert( enc ); - - if ( *enc == 0 ) - encoding = TIXML_ENCODING_UTF8; - else if ( StringEqual( enc, "UTF-8", true, TIXML_ENCODING_UNKNOWN ) ) - encoding = TIXML_ENCODING_UTF8; - else if ( StringEqual( enc, "UTF8", true, TIXML_ENCODING_UNKNOWN ) ) - encoding = TIXML_ENCODING_UTF8; // incorrect, but be nice - else - encoding = TIXML_ENCODING_LEGACY; - } - - p = SkipWhiteSpace( p, encoding ); - } - - // Was this empty? - if ( !firstChild ) { - SetError( TIXML_ERROR_DOCUMENT_EMPTY, 0, 0, encoding ); - return 0; - } - - // All is well. - return p; -} - -void TiXmlDocument::SetError( int err, const char* pError, TiXmlParsingData* data, TiXmlEncoding encoding ) -{ - // The first error in a chain is more accurate - don't set again! - if ( error ) - return; - - assert( err > 0 && err < TIXML_ERROR_STRING_COUNT ); - error = true; - errorId = err; - errorDesc = errorString[ errorId ]; - - errorLocation.Clear(); - if ( pError && data ) - { - data->Stamp( pError, encoding ); - errorLocation = data->Cursor(); - } -} - - -TiXmlNode* TiXmlNode::Identify( const char* p, TiXmlEncoding encoding ) -{ - TiXmlNode* returnNode = 0; - - p = SkipWhiteSpace( p, encoding ); - if( !p || !*p || *p != '<' ) - { - return 0; - } - - p = SkipWhiteSpace( p, encoding ); - - if ( !p || !*p ) - { - return 0; - } - - // What is this thing? - // - Elements start with a letter or underscore, but xml is reserved. - // - Comments: "; - - if ( !StringEqual( p, startTag, false, encoding ) ) - { - if ( document ) - document->SetError( TIXML_ERROR_PARSING_COMMENT, p, data, encoding ); - return 0; - } - p += strlen( startTag ); - - // [ 1475201 ] TinyXML parses entities in comments - // Oops - ReadText doesn't work, because we don't want to parse the entities. - // p = ReadText( p, &value, false, endTag, false, encoding ); - // - // from the XML spec: - /* - [Definition: Comments may appear anywhere in a document outside other markup; in addition, - they may appear within the document type declaration at places allowed by the grammar. - They are not part of the document's character data; an XML processor MAY, but need not, - make it possible for an application to retrieve the text of comments. For compatibility, - the string "--" (double-hyphen) MUST NOT occur within comments.] Parameter entity - references MUST NOT be recognized within comments. - - An example of a comment: - - - */ - - value = ""; - // Keep all the white space. - while ( p && *p && !StringEqual( p, endTag, false, encoding ) ) - { - value.append( p, 1 ); - ++p; - } - if ( p && *p ) - p += strlen( endTag ); - - return p; -} - - -const char* TiXmlAttribute::Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding ) -{ - p = SkipWhiteSpace( p, encoding ); - if ( !p || !*p ) return 0; - - if ( data ) - { - data->Stamp( p, encoding ); - location = data->Cursor(); - } - // Read the name, the '=' and the value. - const char* pErr = p; - p = ReadName( p, &name, encoding ); - if ( !p || !*p ) - { - if ( document ) document->SetError( TIXML_ERROR_READING_ATTRIBUTES, pErr, data, encoding ); - return 0; - } - p = SkipWhiteSpace( p, encoding ); - if ( !p || !*p || *p != '=' ) - { - if ( document ) document->SetError( TIXML_ERROR_READING_ATTRIBUTES, p, data, encoding ); - return 0; - } - - ++p; // skip '=' - p = SkipWhiteSpace( p, encoding ); - if ( !p || !*p ) - { - if ( document ) document->SetError( TIXML_ERROR_READING_ATTRIBUTES, p, data, encoding ); - return 0; - } - - const char* end; - const char SINGLE_QUOTE = '\''; - const char DOUBLE_QUOTE = '\"'; - - if ( *p == SINGLE_QUOTE ) - { - ++p; - end = "\'"; // single quote in string - p = ReadText( p, &value, false, end, false, encoding ); - } - else if ( *p == DOUBLE_QUOTE ) - { - ++p; - end = "\""; // double quote in string - p = ReadText( p, &value, false, end, false, encoding ); - } - else - { - // All attribute values should be in single or double quotes. - // But this is such a common error that the parser will try - // its best, even without them. - value = ""; - while ( p && *p // existence - && !IsWhiteSpace( *p ) // whitespace - && *p != '/' && *p != '>' ) // tag end - { - if ( *p == SINGLE_QUOTE || *p == DOUBLE_QUOTE ) { - // [ 1451649 ] Attribute values with trailing quotes not handled correctly - // We did not have an opening quote but seem to have a - // closing one. Give up and throw an error. - if ( document ) document->SetError( TIXML_ERROR_READING_ATTRIBUTES, p, data, encoding ); - return 0; - } - value += *p; - ++p; - } - } - return p; -} - -#ifdef TIXML_USE_STL -void TiXmlText::StreamIn( std::istream * in, TIXML_STRING * tag ) -{ - while ( in->good() ) - { - int c = in->peek(); - if ( !cdata && (c == '<' ) ) - { - return; - } - if ( c <= 0 ) - { - TiXmlDocument* document = GetDocument(); - if ( document ) - document->SetError( TIXML_ERROR_EMBEDDED_NULL, 0, 0, TIXML_ENCODING_UNKNOWN ); - return; - } - - (*tag) += (char) c; - in->get(); // "commits" the peek made above - - if ( cdata && c == '>' && tag->size() >= 3 ) { - size_t len = tag->size(); - if ( (*tag)[len-2] == ']' && (*tag)[len-3] == ']' ) { - // terminator of cdata. - return; - } - } - } -} -#endif - -const char* TiXmlText::Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding encoding ) -{ - value = ""; - TiXmlDocument* document = GetDocument(); - - if ( data ) - { - data->Stamp( p, encoding ); - location = data->Cursor(); - } - - const char* const startTag = ""; - - if ( cdata || StringEqual( p, startTag, false, encoding ) ) - { - cdata = true; - - if ( !StringEqual( p, startTag, false, encoding ) ) - { - if ( document ) - document->SetError( TIXML_ERROR_PARSING_CDATA, p, data, encoding ); - return 0; - } - p += strlen( startTag ); - - // Keep all the white space, ignore the encoding, etc. - while ( p && *p - && !StringEqual( p, endTag, false, encoding ) - ) - { - value += *p; - ++p; - } - - TIXML_STRING dummy; - p = ReadText( p, &dummy, false, endTag, false, encoding ); - return p; - } - else - { - bool ignoreWhite = true; - - const char* end = "<"; - p = ReadText( p, &value, ignoreWhite, end, false, encoding ); - if ( p && *p ) - return p-1; // don't truncate the '<' - return 0; - } -} - -#ifdef TIXML_USE_STL -void TiXmlDeclaration::StreamIn( std::istream * in, TIXML_STRING * tag ) -{ - while ( in->good() ) - { - int c = in->get(); - if ( c <= 0 ) - { - TiXmlDocument* document = GetDocument(); - if ( document ) - document->SetError( TIXML_ERROR_EMBEDDED_NULL, 0, 0, TIXML_ENCODING_UNKNOWN ); - return; - } - (*tag) += (char) c; - - if ( c == '>' ) - { - // All is well. - return; - } - } -} -#endif - -const char* TiXmlDeclaration::Parse( const char* p, TiXmlParsingData* data, TiXmlEncoding _encoding ) -{ - p = SkipWhiteSpace( p, _encoding ); - // Find the beginning, find the end, and look for - // the stuff in-between. - TiXmlDocument* document = GetDocument(); - if ( !p || !*p || !StringEqual( p, "SetError( TIXML_ERROR_PARSING_DECLARATION, 0, 0, _encoding ); - return 0; - } - if ( data ) - { - data->Stamp( p, _encoding ); - location = data->Cursor(); - } - p += 5; - - version = ""; - encoding = ""; - standalone = ""; - - while ( p && *p ) - { - if ( *p == '>' ) - { - ++p; - return p; - } - - p = SkipWhiteSpace( p, _encoding ); - if ( StringEqual( p, "version", true, _encoding ) ) - { - TiXmlAttribute attrib; - p = attrib.Parse( p, data, _encoding ); - version = attrib.Value(); - } - else if ( StringEqual( p, "encoding", true, _encoding ) ) - { - TiXmlAttribute attrib; - p = attrib.Parse( p, data, _encoding ); - encoding = attrib.Value(); - } - else if ( StringEqual( p, "standalone", true, _encoding ) ) - { - TiXmlAttribute attrib; - p = attrib.Parse( p, data, _encoding ); - standalone = attrib.Value(); - } - else - { - // Read over whatever it is. - while( p && *p && *p != '>' && !IsWhiteSpace( *p ) ) - ++p; - } - } - return 0; -} - -bool TiXmlText::Blank() const -{ - for ( unsigned i=0; i iDynTreeEigenVector; + typedef Eigen::Map iDynTreeEigenConstVector; typedef Eigen::Matrix iDynTreeEigenMatrix; typedef const Eigen::Matrix iDynTreeEigenConstMatrix; typedef Eigen::Map iDynTreeEigenMatrixMap; @@ -61,6 +63,16 @@ inline Eigen::Map toEigen(const VectorDynSize & vec) return Eigen::Map(vec.data(),vec.size()); } +inline Eigen::Map toEigen(Span vec) +{ + return Eigen::Map(vec.data(),vec.size()); +} + +inline Eigen::Map toEigen(iDynTree::Span vec) +{ + return Eigen::Map(vec.data(),vec.size()); +} + inline Eigen::Map > toEigen(const MatrixDynSize & mat) { return Eigen::Map >(mat.data(),mat.rows(),mat.cols()); diff --git a/src/core/include/iDynTree/Core/SpatialInertia.h b/src/core/include/iDynTree/Core/SpatialInertia.h index 91c949a2202..01802e22641 100644 --- a/src/core/include/iDynTree/Core/SpatialInertia.h +++ b/src/core/include/iDynTree/Core/SpatialInertia.h @@ -21,11 +21,9 @@ namespace iDynTree { /** - * Class representing a spatial inertia + * @brief Class representing a six dimensional inertia. * * - * Currently this class does not support semantics. - * * \ingroup iDynTreeCore */ class SpatialInertia: public SpatialInertiaRaw @@ -47,7 +45,24 @@ namespace iDynTree static SpatialInertia combine(const SpatialInertia & op1, const SpatialInertia & op2); - // Get the SpatialInertia as a 6x6 matrix + /** + * @brief Get the SpatialInertia as a 6x6 matrix + * + * If \f$ m \in \mathbb{R} \f$ is the mass, + * \f$ c \in \mathbb{R}^3 \f$ is the center of mass, + * \f$ I \in \mathbb{R}^{3 \times 3} \f$ is the 3d inertia, and + * \f$ 1_3 \in \mathbb{R}^{3 \times 3} \f$ is the 3d identity matrix this + * method returns the \f$ \mathbb{M} \in \mathbb{R}^{6 \times 6} \f$ matrix such that: + * \f[ + * \mathbb{M} = + * \begin{bmatrix} + * m 1_3 & -m c \times \\ + * m c \times & I + * \end{bmatrix} + * \f]. + * + * @note As all quantities in iDynTree, this inertia assumes the linear-angular serialization. + */ Matrix6x6 asMatrix() const; Twist applyInverse(const SpatialMomentum& mom) const; @@ -62,16 +77,16 @@ namespace iDynTree // Efficient operations /** - * Return the bias wrench V.cross(M*V). + * Return the bias wrench v.cross(M*v). * - * Defining \f$ M \f$ as this inertia, return - * the bias wrench V.cross(M*V), defined in math as: + * Defining \f$ \mathbb{M} \f$ as this inertia, return + * the bias wrench v.cross(M*v), defined in math as: * \f[ - * V \bar\times^* M V = \\ + * \mathrm{v} \bar\times^* \mathbb{M} \mathrm{v} = \\ * \begin{bmatrix} \omega \times & 0 \\ * v \times & \omega \times * \end{bmatrix} - * \begin{bmatrix} m & -mc\times \\ + * \begin{bmatrix} m 1_3 & -mc\times \\ * mc\times & I * \end{bmatrix} * \begin{bmatrix} v \\ \omega \end{bmatrix} = \\ @@ -84,14 +99,15 @@ namespace iDynTree Wrench biasWrench(const Twist & V) const; /** - * Return the derivative of the bias wrench with respect to the link twist. + * @brief Return the derivative of the bias wrench with respect to the link 6D velocity. * - * Defining \f$ M \f$ as this inertia, return the derivative - * with respect to V of the bias wrench V.cross(M*V). + * Defining \f$ \mathbb{M} \in \mathbb{R}^{6 \times 6} \f$ as this inertia, return the derivative + * with respect to \f$ \mathrm{v} = \begin{bmatrix} v \\ \omega \end{bmatrix} \in \mathbb{R}^6 \f$ + * of the bias wrench \f$ \mathrm{v} \bar\times^* \mathbb{M} \mathrm{v} \f$ (i.e. v.cross(M*v)). * * The bias wrench is: * \f[ - * V \bar\times^* M V = \\ + * \mathrm{v} \bar\times^* \mathbb{M} \mathrm{v} = \\ * \begin{bmatrix} * m \omega \times v - \omega \times ( m c \times \omega) \\ * m c \times ( \omega \times v ) + \omega \times I \omega @@ -100,7 +116,7 @@ namespace iDynTree * * So the derivative with respect to the twist V is : * \f[ - * \partial_V ( V \bar\times^* M V ) = \\ + * \partial_\mathrm{v} ( \mathrm{v} \bar\times^* \mathbb{M} \mathrm{v} ) = \\ * \begin{bmatrix} * m \omega \times & - m v \times + ( m c \times \omega) \times - (\omega \times) (mc \times) \\ * (m c \times) ( \omega \times) & - (m c \times )(v \times) + \omega \times I - (I \omega) \times @@ -120,13 +136,13 @@ namespace iDynTree * | Elements | Symbol | Description | * |:--------:|:-------:|:--------:| * | 0 | \f$ m \f$ | The mass of the rigid body | - * | 2-4 | \f$ m c \f$ | The first moment of mass of the rigid body | - * | 5-9 | \f$ \operatorname{vech}(I_o) \f$ | The 6 indipendent elements of the 3d inertia matrix (\f$ I_{xx} I_{xy} I_{xz} I_{yy} I_{yz} I_{zz} \f$). | + * | 1-3 | \f$ m c \f$ | The first moment of mass of the rigid body | + * | 4-9 | \f$ \mathop{vech}(I) \f$ | The 6 independent elements of the 3d inertia matrix, i.e. \f$ \begin{bmatrix} I_{xx} \\ I_{xy} \\ I_{xz} \\ I_{yy} \\ I_{yz} \\ I_{zz} \end{bmatrix} \f$ . | * * The first moment of mass is the center of mass (\f$ c \in \mathbb{R}^3 \f$ ) w.r.t. to the frame where this * rigid body inertia is expressed multiplied by the rigid body mass \f$ m \f$. * - * The 3d rigid body inertia \f$ I_o \in \mathbb{R}^{3 \times 3} \f$ is expressed with the orientation of the frame + * The 3d rigid body inertia \f$ I \in \mathbb{R}^{3 \times 3} \f$ is expressed with the orientation of the frame * in which this rigid body inertia is expressed, and with respect to the frame origin. * */ @@ -158,14 +174,15 @@ namespace iDynTree * * Get the matrix * \f[ - * Y(v) \in \mathbb{R}^{6 \times 10} + * Y(\mathrm{v}) \in \mathbb{R}^{6 \times 10} * \f] * such that: * \f[ - * I v = Y(v)\alpha + * \mathbb{M} \mathrm{v} = Y(\mathrm{v}) \alpha * \f] * - * If \f$ \alpha \in \mathbb{R}^10 \f$ is the inertial parameters representation of \f$ I \f$ . + * If \f$ \alpha \in \mathbb{R}^{10} \f$ is the inertial parameters representation of \f$ \mathbb{M} \f$, + * as returned by the asVector method. */ static Matrix6x10 momentumRegressor(const iDynTree::Twist & v); @@ -174,14 +191,15 @@ namespace iDynTree * * Get the matrix * \f[ - * Y(v,a) \in \mathbb{R}^{6 \times 10} + * Y(\mathrm{v},a) \in \mathbb{R}^{6 \times 10} * \f] * such that: * \f[ - * I a + v \overline{\times}^{*} I v = Y(v,a)\alpha + * \mathbb{M} a + \mathrm{v} \overline{\times}^{*} \mathbb{M} \mathrm{v} = Y(\mathrm{v}, a)\alpha * \f] * - * If \f$ \alpha \in \mathbb{R}^10 \f$ is the inertial parameters representation of \f$ I \f$ + * If \f$ \alpha \in \mathbb{R}^{10} \f$ is the inertial parameters representation of \f$ \mathbb{M} \f$, + * as returned by the asVector method. * * This is also the regressor of the net wrench acting on a rigid body. * As such, it is the building block of all other algorithms to compute dynamics @@ -195,17 +213,18 @@ namespace iDynTree * * Get the matrix * \f[ - * Y(v,v_r,a_r) \in \mathbb{R}^{6\times6} + * Y(\mathrm{v},\mathrm{v}_r,a_r) \in \mathbb{R}^{6\times10} * \f] * such that: * \f[ - * I a_r + (v \overline{\times}^{*} I - I v \times) v_r = Y(v,v_r,a_r)\alpha + * \mathbb{M} a_r + (\mathrm{v} \overline{\times}^{*} \mathbb{M} - \mathbb{M} \mathrm{v} \times) \mathrm{v}_r = Y(\mathrm{v},\mathrm{v}_r,a_r)\alpha * \f] * - * If \f$ \alpha \in \mathbb{R}^10 \f$ is the inertial parameters representation of \f$ I \f$ + * If \f$ \alpha \in \mathbb{R}^{10} \f$ is the inertial parameters representation of \f$ \mathbb{M} \f$, as returned by the + * asVector method. * - * Notice that if \f$ v = v_r \f$, this regressor reduces to the one computed by momentumDerivativeRegressor. - * The main difference is that (assuming constant \f$ I \f$) this regressor respect the passivity condition and + * Notice that if \f$ \mathrm{v} = \mathrm{v}_r \f$, this regressor reduces to the one computed by momentumDerivativeRegressor. + * The main difference is that (assuming constant \f$ \mathbb{M} \f$) this regressor respect the passivity condition and * thus is the basic building block for building Slotine Li style regressors. * * For more on this, please check: diff --git a/src/core/include/iDynTree/Core/SpatialInertiaRaw.h b/src/core/include/iDynTree/Core/SpatialInertiaRaw.h index 80c75642350..2f1192f170a 100644 --- a/src/core/include/iDynTree/Core/SpatialInertiaRaw.h +++ b/src/core/include/iDynTree/Core/SpatialInertiaRaw.h @@ -31,9 +31,9 @@ namespace iDynTree class SpatialInertiaRaw { protected: - double m_mass; /** mass */ - double m_mcom[3]; /** first moment of mass (i.e. mass * center of mass */ - RotationalInertiaRaw m_rotInertia; /** rotational inertia */ + double m_mass; ///< Mass. + double m_mcom[3]; ///< First moment of mass (i.e. mass * center of mass). + RotationalInertiaRaw m_rotInertia; ///< Three dimensional rotational inertia. public: /** @@ -102,4 +102,5 @@ namespace iDynTree }; } -#endif /* IDYNTREE_SPATIAL_FORCE_RAW_H */ +#endif + diff --git a/src/core/include/iDynTree/Core/Utils.h b/src/core/include/iDynTree/Core/Utils.h index 028b39f1b30..a5405d0d030 100644 --- a/src/core/include/iDynTree/Core/Utils.h +++ b/src/core/include/iDynTree/Core/Utils.h @@ -86,6 +86,18 @@ namespace iDynTree */ void reportWarning(const char * className, const char* methodName, const char * errorMessage); + /** + * Helper function for reporting information messages in iDynTree + * + */ + void reportInfo(const char* className, const char* methodName, const char* message); + + /** + * Helper function for reporting debug messages in iDynTree + * + */ + void reportDebug(const char* className, const char* methodName, const char* message); + /** * Convert a double from degrees to radians. */ diff --git a/src/core/include/iDynTree/Core/VectorDynSize.h b/src/core/include/iDynTree/Core/VectorDynSize.h index d3219b99069..09d71166c51 100644 --- a/src/core/include/iDynTree/Core/VectorDynSize.h +++ b/src/core/include/iDynTree/Core/VectorDynSize.h @@ -14,6 +14,7 @@ #include +#include namespace iDynTree { @@ -96,6 +97,17 @@ namespace iDynTree */ VectorDynSize & operator=(const VectorDynSize& vec); + /** + * Copy assignment operator. + * + * The vector will be resize to match the + * size of the argument, and the data will + * then be copied. + * + * \warning performs dynamic memory allocation operations + */ + VectorDynSize & operator=(const Span& vec); + /** * @name Vector interface methods. * Methods exposing a vector-like interface to PositionRaw. @@ -175,6 +187,17 @@ namespace iDynTree */ void fillBuffer(double * buf) const; + /** Typedefs to enable make_span. + */ + ///@{ + typedef double value_type; + + typedef std::allocator allocator_type; + + typedef typename std::allocator_traits>::pointer pointer; + + typedef typename std::allocator_traits>::const_pointer const_pointer; + ///@} /** @name Output helpers. * Output helpers. diff --git a/src/core/include/iDynTree/Core/VectorFixSize.h b/src/core/include/iDynTree/Core/VectorFixSize.h index 9b9b0de9fca..9357df979aa 100644 --- a/src/core/include/iDynTree/Core/VectorFixSize.h +++ b/src/core/include/iDynTree/Core/VectorFixSize.h @@ -12,6 +12,7 @@ #define IDYNTREE_VECTOR_FIX_SIZE_H #include +#include #include #include #include @@ -68,6 +69,14 @@ namespace iDynTree ///@} + /** + * Copy assignment operator for spans. + * + * Checks that dimensions are matching through an assert. + * + */ + VectorFixSize & operator=(const Span& vec); + /** * Raw data accessor * @@ -111,6 +120,18 @@ namespace iDynTree std::string reservedToString() const; ///@} + /** Typedefs to enable make_span. + */ + ///@{ + typedef double value_type; + + typedef std::allocator allocator_type; + + typedef typename std::allocator_traits>::pointer pointer; + + typedef typename std::allocator_traits>::const_pointer const_pointer; + ///@} + }; //Implementation @@ -164,6 +185,13 @@ namespace iDynTree return VecSize; } + template + VectorFixSize & VectorFixSize::operator=(const Span& vec) { + assert(VecSize == vec.size()); + std::memcpy(this->m_data, vec.data(), VecSize*sizeof(double)); + return *this; + } + template double VectorFixSize::operator()(const unsigned int index) const { diff --git a/src/core/src/Utils.cpp b/src/core/src/Utils.cpp index d83a2ceed80..cc3dcb3fd62 100644 --- a/src/core/src/Utils.cpp +++ b/src/core/src/Utils.cpp @@ -62,6 +62,16 @@ namespace iDynTree { std::cerr << "[WARNING] " << className << " :: " << methodName << " : " << errorMessage << "\n"; } + + void reportInfo(const char* className, const char* methodName, const char* message) + { + std::cerr << "[INFO] " << className << " :: " << methodName << " : " << message << "\n"; + } + + void reportDebug(const char* className, const char* methodName, const char* message) + { + std::cerr << "[DEBUG] " << className << " :: " << methodName << " : " << message << "\n"; + } double deg2rad(const double valueInDeg) { diff --git a/src/core/src/VectorDynSize.cpp b/src/core/src/VectorDynSize.cpp index 0277fe45bd6..225ed074e50 100644 --- a/src/core/src/VectorDynSize.cpp +++ b/src/core/src/VectorDynSize.cpp @@ -95,6 +95,26 @@ VectorDynSize& VectorDynSize::operator=(const VectorDynSize& vec) return *this; } +VectorDynSize &VectorDynSize::operator=(const Span &vec) +{ + // if the size don't match, reallocate the data + if( this->m_size != vec.size() ) + { + resize(static_cast(vec.size())); + } + + // After reallocation, the size should match + assert(this->m_size == vec.size()); + + // Copy data if the size is not 0 + if( this->m_size > 0 ) + { + std::memcpy(this->m_data, vec.data(), this->m_size*sizeof(double)); + } + + return *this; +} + void VectorDynSize::zero() { diff --git a/src/core/tests/EigenHelpersUnitTest.cpp b/src/core/tests/EigenHelpersUnitTest.cpp index 2b61f258bea..70377c9c7c3 100644 --- a/src/core/tests/EigenHelpersUnitTest.cpp +++ b/src/core/tests/EigenHelpersUnitTest.cpp @@ -33,6 +33,17 @@ void testSpatialVectors() } } +void testSpanToEigen(const Vector3& input) { + //Checks if compiles + Vector3 randVec, check; + getRandomVector(randVec); + Span spanCheck = make_span(check); + toEigen(spanCheck) = toEigen(randVec); + toEigen(make_span(check)) = toEigen(randVec); + toEigen(randVec) = toEigen(make_span(check)); + toEigen(check) = toEigen(make_span(input)); +} + int main() { Vector3 vec; @@ -45,6 +56,8 @@ int main() testSpatialVectors(); + testSpanToEigen(vec); + return EXIT_SUCCESS; } diff --git a/src/core/tests/VectorDynSizeUnitTest.cpp b/src/core/tests/VectorDynSizeUnitTest.cpp index 63cce0cf6e5..9f41ad16bae 100644 --- a/src/core/tests/VectorDynSizeUnitTest.cpp +++ b/src/core/tests/VectorDynSizeUnitTest.cpp @@ -9,6 +9,7 @@ */ #include +#include #include @@ -45,4 +46,19 @@ int main() ASSERT_EQUAL_DOUBLE(vec.size(),15); ASSERT_EQUAL_DOUBLE(vec.capacity(),15); + + + VectorDynSize test1, testToSpan; + testToSpan.resize(15); + iDynTree::getRandomVector(testToSpan); + + test1 = iDynTree::make_span(testToSpan); + ASSERT_EQUAL_VECTOR(test1, testToSpan); + + iDynTree::Vector16 test2, check; + iDynTree::getRandomVector(test2); + check = iDynTree::make_span(test2); + ASSERT_EQUAL_VECTOR(test2, check); + + return EXIT_SUCCESS; } diff --git a/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h b/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h index a5929a79102..61c1413f2be 100644 --- a/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h +++ b/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h @@ -107,26 +107,28 @@ class ExtWrenchesAndJointTorquesEstimator /** * Load model and sensors from file. * + * @deprecated Use iDynTree::ModelLoader::loadModelFromFile and call setModelAndSensors + * on the parsed Model and SensorsList + * * @param[in] filename path to the file to load. * @param[in] filetype (optional) explicit definiton of the filetype to load. * Only "urdf" is supported at the moment. * @return true if all went well (files were correctly loaded and consistent), false otherwise. - * */ + IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadModelFromFile and call setModelAndSensors on the parsed Model and SensorsList") bool loadModelAndSensorsFromFile(const std::string filename, const std::string filetype=""); /** * Load model and sensors from file, specifieng the dof considered for the estimation. * + * @note this will create e a reduced model only with the joint specified in consideredDOFs and the + * fixed joints in which FT sensor are mounted. + * * @param[in] filename path to the file to load. * @param[in] consideredDOFs list of dof to consider in the model. * @param[in] filetype (optional) explicit definiton of the filetype to load. * Only "urdf" is supported at the moment. * @return true if all went well (files were correctly loaded and consistent), false otherwise. - * - * - * \note this will create e a reduced model only with the joint specified in consideredDOFs and the - * fixed joints in which FT sensor are mounted. */ bool loadModelAndSensorsFromFileWithSpecifiedDOFs(const std::string filename, const std::vector & consideredDOFs, diff --git a/src/estimation/include/iDynTree/Estimation/SimpleLeggedOdometry.h b/src/estimation/include/iDynTree/Estimation/SimpleLeggedOdometry.h index c92c21b5cd2..67f2fb0116f 100644 --- a/src/estimation/include/iDynTree/Estimation/SimpleLeggedOdometry.h +++ b/src/estimation/include/iDynTree/Estimation/SimpleLeggedOdometry.h @@ -121,26 +121,31 @@ class SimpleLeggedOdometry /** * Load model from file. * + * @deprecated Use iDynTree::ModelLoader::loadModelFromFile and call setModel on the parsed Model + * * @param[in] filename path to the file to load. * @param[in] filetype (optional) explicit definiton of the filetype to load. * Only "urdf" is supported at the moment. * @return true if all went well (files were correctly loaded and consistent), false otherwise. * */ + IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadModelFromFile and call setModel on the parsed Model") bool loadModelFromFile(const std::string filename, const std::string filetype=""); /** * Load model from file, specifieng the dof considered for the estimation. * + * @deprecated Use iDynTree::ModelLoader::loadReducedModelFromFile and call setModel on the parsed Model + * + * @note this will create e a reduced model only with the joint specified in consideredDOFs + * * @param[in] filename path to the file to load. * @param[in] consideredDOFs list of dof to consider in the model. * @param[in] filetype (optional) explicit definiton of the filetype to load. * Only "urdf" is supported at the moment. * @return true if all went well (files were correctly loaded and consistent), false otherwise. - * - * - * \note this will create e a reduced model only with the joint specified in consideredDOFs */ + IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadReducedModelFromFile and call setModel on the parsed Model") bool loadModelFromFileWithSpecifiedDOFs(const std::string filename, const std::vector & consideredDOFs, const std::string filetype=""); diff --git a/src/estimation/src/ExtWrenchesAndJointTorquesEstimator.cpp b/src/estimation/src/ExtWrenchesAndJointTorquesEstimator.cpp index 4073fce326a..bc02b250aba 100644 --- a/src/estimation/src/ExtWrenchesAndJointTorquesEstimator.cpp +++ b/src/estimation/src/ExtWrenchesAndJointTorquesEstimator.cpp @@ -27,11 +27,10 @@ #include #include -#include +#include #include -#include -#include +#include #include @@ -119,56 +118,28 @@ bool ExtWrenchesAndJointTorquesEstimator::setModelAndSensors(const Model& _model } bool ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFile(const std::string filename, - const std::string /*filetype*/) + const std::string filetype) { - Model _model; - SensorsList _sensors; - - bool parsingCorrect = false; - - parsingCorrect = modelFromURDF(filename,_model); - - if( !parsingCorrect ) - { - reportError("ExtWrenchesAndJointTorquesEstimator","loadModelAndSensorsFromFile","Error in parsing model from URDF."); - return false; - } - - parsingCorrect = sensorsFromURDF(filename,_model,_sensors); - - if( !parsingCorrect ) - { - reportError("ExtWrenchesAndJointTorquesEstimator","loadModelAndSensorsFromFile","Error in parsing sensors from URDF."); + ModelLoader loader; + if (!loader.loadModelFromFile(filename, filetype)) { + reportError("ExtWrenchesAndJointTorquesEstimator", "loadModelAndSensorsFromFile", "Error in parsing from URDF."); return false; } - - return setModelAndSensors(_model,_sensors); + return setModelAndSensors(loader.model(), loader.sensors()); } bool ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFileWithSpecifiedDOFs(const std::string filename, const std::vector< std::string >& consideredDOFs, - const std::string /*filetype*/) + const std::string filetype) { - Model _modelFull; - SensorsList _sensorsFull; - - bool parsingCorrect = false; - - parsingCorrect = modelFromURDF(filename,_modelFull); - - if( !parsingCorrect ) - { - reportError("ExtWrenchesAndJointTorquesEstimator","loadModelAndSensorsFromFileWithSpecifiedDOFs","Error in parsing model from URDF."); + ModelLoader loader; + if (!loader.loadModelFromFile(filename, filetype)) { + reportError("ExtWrenchesAndJointTorquesEstimator", "loadModelAndSensorsFromFileWithSpecifiedDOFs", "Error in parsing from URDF."); return false; } - parsingCorrect = sensorsFromURDF(filename,_modelFull,_sensorsFull); - - if( !parsingCorrect ) - { - reportError("ExtWrenchesAndJointTorquesEstimator","loadModelAndSensorsFromFileWithSpecifiedDOFs","Error in parsing sensors from URDF."); - return false; - } + Model _modelFull = loader.model(); + SensorsList _sensorsFull = loader.sensors(); // We need to create a reduced model, inclusing only the consideredDOFs and the joints used by the FT sensors std::vector< std::string > consideredJoints = consideredDOFs; @@ -177,22 +148,22 @@ bool ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFileWithSpecifi std::vector< std::string > ftJointNames; getFTJointNames(_sensorsFull,ftJointNames); - for(size_t i=0; i < ftJointNames.size(); i++) + for (size_t i = 0; i < ftJointNames.size(); i++) { // Only add an F/T sensor joint if it is not already in consideredDOFs - if( std::find(consideredJoints.begin(),consideredJoints.end(),ftJointNames[i]) == consideredJoints.end() ) - { - consideredJoints.push_back(ftJointNames[i]); - } + if (std::find(consideredJoints.begin(), consideredJoints.end(), ftJointNames[i]) == consideredJoints.end()) + { + consideredJoints.push_back(ftJointNames[i]); + } } Model _modelReduced; SensorsList _sensorsReduced; - parsingCorrect = createReducedModelAndSensors(_modelFull,_sensorsFull,consideredJoints,_modelReduced,_sensorsReduced); + bool parsingCorrect = createReducedModelAndSensors(_modelFull,_sensorsFull,consideredJoints,_modelReduced,_sensorsReduced); - if( !parsingCorrect ) + if (!parsingCorrect) { reportError("ExtWrenchesAndJointTorquesEstimator","loadModelAndSensorsFromFileWithSpecifiedDOFs","Error in creating reduced model and sensors."); return false; diff --git a/src/estimation/src/ExternalWrenchesEstimation.cpp b/src/estimation/src/ExternalWrenchesEstimation.cpp index 88f75d8ac74..5c09761f062 100644 --- a/src/estimation/src/ExternalWrenchesEstimation.cpp +++ b/src/estimation/src/ExternalWrenchesEstimation.cpp @@ -22,7 +22,7 @@ #include #include -#include +#include namespace iDynTree { diff --git a/src/estimation/src/SimpleLeggedOdometry.cpp b/src/estimation/src/SimpleLeggedOdometry.cpp index 42123a7a6a3..fafcfcbe6b8 100644 --- a/src/estimation/src/SimpleLeggedOdometry.cpp +++ b/src/estimation/src/SimpleLeggedOdometry.cpp @@ -17,8 +17,7 @@ #include #include -#include -#include +#include #include @@ -185,50 +184,30 @@ bool SimpleLeggedOdometry::setModel(const Model& _model) bool SimpleLeggedOdometry::loadModelFromFile(const std::string filename, - const std::string /*filetype*/) + const std::string filetype) { - Model _model; - - bool parsingCorrect = false; - - parsingCorrect = modelFromURDF(filename,_model); - - if( !parsingCorrect ) - { + ModelLoader loader; + if (!loader.loadModelFromFile(filename, filetype)) { reportError("SimpleLeggedOdometry", "loadModelFromFile", "Error in parsing model from URDF."); return false; } - - return setModel(_model); + return setModel(loader.model()); } bool SimpleLeggedOdometry::loadModelFromFileWithSpecifiedDOFs(const std::string filename, - const std::vector< std::string >& consideredDOFs, - const std::string /*filetype*/) + const std::vector& consideredDOFs, + const std::string filetype) { - Model _modelFull; - - bool parsingCorrect = false; - - parsingCorrect = modelFromURDF(filename,_modelFull); - - if( !parsingCorrect ) - { + ModelLoader loader; + if (!loader.loadReducedModelFromFile(filename, consideredDOFs, filetype)) { reportError("SimpleLeggedOdometry", "loadModelFromFileWithSpecifiedDOFs", "Error in parsing model from URDF."); return false; } - - - Model _modelReduced; - - // Create a reduced model: this will lump all not considered joints - iDynTree::createReducedModel(_modelFull,consideredDOFs,_modelReduced); - - return setModel(_modelReduced); + return setModel(loader.model()); } diff --git a/src/estimation/tests/ExternalWrenchesEstimationUnitTest.cpp b/src/estimation/tests/ExternalWrenchesEstimationUnitTest.cpp index 0649ee6dbfe..227e5a099d2 100644 --- a/src/estimation/tests/ExternalWrenchesEstimationUnitTest.cpp +++ b/src/estimation/tests/ExternalWrenchesEstimationUnitTest.cpp @@ -11,7 +11,7 @@ #include #include -#include +#include #include #include diff --git a/src/high-level/include/iDynTree/KinDynComputations.h b/src/high-level/include/iDynTree/KinDynComputations.h index 82daa9f0d8c..1b4bd231be9 100644 --- a/src/high-level/include/iDynTree/KinDynComputations.h +++ b/src/high-level/include/iDynTree/KinDynComputations.h @@ -15,6 +15,8 @@ #include #include +#include + #include #include @@ -124,6 +126,7 @@ class KinDynComputations { * @param filetype type of the file to load, currently supporting only urdf type. * */ + IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadRobotModelFromFile and pass the Model to loadRobotModel") bool loadRobotModelFromFile(const std::string & filename, const std::string & filetype="urdf"); /** @@ -133,6 +136,7 @@ class KinDynComputations { * @param filetype type of the file to load, currently supporting only urdf type. * */ + IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadRobotModelFromString and pass the Model to loadRobotModel") bool loadRobotModelFromString(const std::string & modelString, const std::string & filetype="urdf"); /** @@ -251,6 +255,48 @@ class KinDynComputations { //@} + /** + * @name Methods to obtain the sparity patterns of Jacobians and Hessians + * @note Sparsity patterns does not depend on the particular joint configuration. + * The only requirement is that the model has been loaded before + */ + //@{ + + /** + * Returns the sparsity pattern of the relative Jacobian for the specified frames + * + * The resulting matrix has the same size of the free floating Jacobian (6 x #DoFs) + * It is filled with only 0 and 1 with the following meaning: + * - 0: the element will always have 0 (for every robot configuration) + * - 1: it exists a robot configuration such that the element have a value different from zero. + * @param refFrameIndex refence frame for the Jacobian + * @param frameIndex Jacobian frame + * @param outJacobianPattern the Jacobian sparsity pattern + * @return true on success. False otherwise + */ + bool getRelativeJacobianSparsityPattern(const iDynTree::FrameIndex refFrameIndex, + const iDynTree::FrameIndex frameIndex, + iDynTree::MatrixDynSize & outJacobianPattern) const; + + + /** + * Returns the sparsity pattern of the free floating Jacobian for the specified frame + * + * The resulting matrix has the same size of the free floating Jacobian (6 x 6 + #DoFs) + * It is filled with only 0 and 1 with the following meaning: + * - 0: the element will always have 0 (for every robot configuration) + * - 1: it exists a robot configuration such that the element have a value different from zero. + * @param frameIndex Jacobian frame + * @param outJacobianPattern the Jacobian sparsity pattern + * @return true on success. False otherwise + */ + bool getFrameFreeFloatingJacobianSparsityPattern(const FrameIndex frameIndex, + iDynTree::MatrixDynSize & outJacobianPattern) const; + + + //@} + + /** * @name Methods to submit the input data for dynamics computations. */ diff --git a/src/high-level/src/KinDynComputations.cpp b/src/high-level/src/KinDynComputations.cpp index a2604ec0433..a15d7ed6f34 100644 --- a/src/high-level/src/KinDynComputations.cpp +++ b/src/high-level/src/KinDynComputations.cpp @@ -32,7 +32,7 @@ #include #include -#include +#include #include #include @@ -333,49 +333,23 @@ void KinDynComputations::computeBiasAccFwdKinematics() bool KinDynComputations::loadRobotModelFromFile(const std::string& filename, const std::string& filetype) { - if( filetype != "urdf" ) - { - std::cerr << "[ERROR] unknown format " << filetype << - " . Currently only the urdf format is supported." << std::endl; + ModelLoader loader; + if (!loader.loadModelFromFile(filename, filetype)) { + reportError("KinDynComputations", "loadRobotModelFromFile", "Error in loading robot model"); return false; } - - std::ifstream ifs(filename.c_str()); - - if( !ifs ) - { - std::cerr << "[ERROR] impossible to open file " << filename << std::endl; - return false; - } - - std::string model_string( (std::istreambuf_iterator(ifs) ), - (std::istreambuf_iterator() ) ); - - return this->loadRobotModelFromString(model_string); + return this->loadRobotModel(loader.model()); } bool KinDynComputations::loadRobotModelFromString(const std::string& modelString, const std::string& filetype) { - if( filetype != "urdf" ) - { - std::cerr << "[ERROR] unknown format " << filetype << - " . Currently only the urdf format is supported." << std::endl; + ModelLoader loader; + if (!loader.loadModelFromString(modelString, filetype)) { + reportError("KinDynComputations", "loadRobotModelFromString", "Error in loading robot model"); return false; } - - Model model; - bool ok = modelFromURDFString(modelString,model); - - if( !ok ) - { - std::cerr << "[ERROR] error in loading robot model" << std::endl; - return false; - } - else - { - return this->loadRobotModel(model); - } + return this->loadRobotModel(loader.model()); } bool KinDynComputations::loadRobotModel(const Model& model) @@ -439,6 +413,139 @@ const Model& KinDynComputations::model() const return pimpl->m_robot_model; } +bool KinDynComputations::getRelativeJacobianSparsityPattern(const iDynTree::FrameIndex refFrameIndex, + const iDynTree::FrameIndex frameIndex, + iDynTree::MatrixDynSize & outJacobian) const + { + if (!pimpl->m_robot_model.isValidFrameIndex(frameIndex)) + { + reportError("KinDynComputations","getRelativeJacobian","Frame index out of bounds"); + return false; + } + if (!pimpl->m_robot_model.isValidFrameIndex(refFrameIndex)) + { + reportError("KinDynComputations","getRelativeJacobian","Reference frame index out of bounds"); + return false; + } + + // This method computes the sparsity pattern of the relative Jacobian. + // For details on how to compute the relative Jacobian, see Traversaro's PhD thesis, 3.37 + // or getRelativeJacobianExplicit method. + // Here we simply implement the same code, but trying to obtain only 1 and zeros. + + // Get the links to which the frames are attached + LinkIndex jacobianLinkIndex = pimpl->m_robot_model.getFrameLink(frameIndex); + LinkIndex refJacobianLink = pimpl->m_robot_model.getFrameLink(refFrameIndex); + + //I have the two links. Create the jacobian + outJacobian.resize(6, pimpl->m_robot_model.getNrOfDOFs()); + outJacobian.zero(); + + iDynTree::Traversal& relativeTraversal = pimpl->m_traversalCache.getTraversalWithLinkAsBase(pimpl->m_robot_model, refJacobianLink); + + // Compute joint part + // We iterate from the link up in the traveral until we reach the base + LinkIndex visitedLinkIdx = jacobianLinkIndex; + + // Generic adjoint transform matrix (6x6). + // Rotations are filled with 1. + Matrix6x6 genericAdjointTransform; + genericAdjointTransform.zero(); + // Set 1 to rotation matrix (top left) + iDynTree::toEigen(genericAdjointTransform).topLeftCorner(3, 3).setOnes(); + // Set 1 to p \times R (top right) + iDynTree::toEigen(genericAdjointTransform).topRightCorner(3, 3).setOnes(); + // Set 1 to rotation matrix (top left) + iDynTree::toEigen(genericAdjointTransform).bottomRightCorner(3, 3).setOnes(); + + + while (visitedLinkIdx != relativeTraversal.getBaseLink()->getIndex()) + { + //get the pair of links in the traversal + LinkIndex parentLinkIdx = relativeTraversal.getParentLinkFromLinkIndex(visitedLinkIdx)->getIndex(); + IJointConstPtr joint = relativeTraversal.getParentJointFromLinkIndex(visitedLinkIdx); + + //Now for each Dof get the motion subspace + //{}^F s_{E,F}, i.e. the velocity of F wrt E written in F. + size_t dofOffset = joint->getDOFsOffset(); + for (int i = 0; i < joint->getNrOfDOFs(); ++i) + { + // This is actually where we specify the pattern + SpatialMotionVector column = joint->getMotionSubspaceVector(i, visitedLinkIdx, parentLinkIdx); + for (size_t c = 0; c < column.size(); ++c) { + column(c) = std::abs(column(c)) < iDynTree::DEFAULT_TOL ? 0.0 : 1.0; + } + toEigen(outJacobian).col(dofOffset + i) = toEigen(genericAdjointTransform) * toEigen(column); + //have only 0 and 1 => divide component wise the column by itself + for (size_t r = 0; r < toEigen(outJacobian).col(dofOffset + i).size(); ++r) { + toEigen(outJacobian).col(dofOffset + i).coeffRef(r) = std::abs(toEigen(outJacobian).col(dofOffset + i).coeffRef(r)) < iDynTree::DEFAULT_TOL ? 0.0 : 1.0; + } + + } + + visitedLinkIdx = parentLinkIdx; + } + return true; + } + + bool KinDynComputations::getFrameFreeFloatingJacobianSparsityPattern(const FrameIndex frameIndex, + iDynTree::MatrixDynSize & outJacobianPattern) const + { + if (!pimpl->m_robot_model.isValidFrameIndex(frameIndex)) + { + reportError("KinDynComputations","getFrameJacobian","Frame index out of bounds"); + return false; + } + + // Get the link to which the frame is attached + LinkIndex jacobLink = pimpl->m_robot_model.getFrameLink(frameIndex); + + Matrix6x6 genericAdjointTransform; + genericAdjointTransform.zero(); + // Set 1 to rotation matrix (top left) + iDynTree::toEigen(genericAdjointTransform).topLeftCorner(3, 3).setOnes(); + // Set 1 to p \times R (top right) + iDynTree::toEigen(genericAdjointTransform).topRightCorner(3, 3).setOnes(); + // Set 1 to rotation matrix (top left) + iDynTree::toEigen(genericAdjointTransform).bottomRightCorner(3, 3).setOnes(); + + // We zero the jacobian + outJacobianPattern.resize(6, 6 + getNrOfDegreesOfFreedom()); + outJacobianPattern.zero(); + + // Compute base part + toEigen(outJacobianPattern).leftCols<6>() = toEigen(genericAdjointTransform); + + // Compute joint part + // We iterate from the link up in the traveral until we reach the base + LinkIndex visitedLinkIdx = jacobLink; + + while (visitedLinkIdx != pimpl->m_traversal.getBaseLink()->getIndex()) + { + LinkIndex parentLinkIdx = pimpl->m_traversal.getParentLinkFromLinkIndex(visitedLinkIdx)->getIndex(); + IJointConstPtr joint = pimpl->m_traversal.getParentJointFromLinkIndex(visitedLinkIdx); + + size_t dofOffset = joint->getDOFsOffset(); + for (unsigned i = 0; i < joint->getNrOfDOFs(); ++i) + { + SpatialMotionVector jointMotionSubspace = joint->getMotionSubspaceVector(i, visitedLinkIdx, parentLinkIdx); + // 1 or 0 in vector + for (size_t c = 0; c < jointMotionSubspace.size(); ++c) { + jointMotionSubspace(c) = std::abs(jointMotionSubspace(c)) < iDynTree::DEFAULT_TOL ? 0.0 : 1.0; + } + toEigen(outJacobianPattern).col(6 + dofOffset + i) = toEigen(genericAdjointTransform) * toEigen(jointMotionSubspace); + //have only 0 and 1 => divide component wise the column by itself + for (size_t r = 0; r < toEigen(outJacobianPattern).col(6 + dofOffset + i).size(); ++r) { + toEigen(outJacobianPattern).col(6 + dofOffset + i).coeffRef(r) = std::abs(toEigen(outJacobianPattern).col(6 + dofOffset + i).coeffRef(r)) < iDynTree::DEFAULT_TOL ? 0.0 : 1.0; + } + } + + visitedLinkIdx = parentLinkIdx; + } + + return true; + } + ////////////////////////////////////////////////////////////////////////////// //// Degrees of freedom related methods ////////////////////////////////////////////////////////////////////////////// diff --git a/src/high-level/tests/KinDynComputationsUnitTest.cpp b/src/high-level/tests/KinDynComputationsUnitTest.cpp index 196ac5b9a48..b9ae465a7de 100644 --- a/src/high-level/tests/KinDynComputationsUnitTest.cpp +++ b/src/high-level/tests/KinDynComputationsUnitTest.cpp @@ -189,11 +189,11 @@ void testInverseDynamics(KinDynComputations & dynComp) shapeAccs.zero(); if( i < 6 ) { - baseAcc(i) = 0.0; + baseAcc(i) = 1.0; } else { - shapeAccs(i-6) = 0.0; + shapeAccs(i-6) = 1.0; } FreeFloatingGeneralizedTorques invDynForces(dynComp.model()); @@ -236,7 +236,6 @@ void testRelativeJacobians(KinDynComputations & dynComp) } else { //Pick two frames at random frame = real_random_int(0, dynComp.getNrOfFrames()); - refFrame = -1; //be sure to pick two different frames do { refFrame = real_random_int(0, dynComp.getNrOfFrames()); @@ -345,6 +344,109 @@ void testModelConsistencyAllRepresentations(std::string modelName) testModelConsistency(urdfFileName,iDynTree::INERTIAL_FIXED_REPRESENTATION); } +void testRelativeJacobianSparsity(KinDynComputations & dynComp) +{ + // take two frames + if (dynComp.getNrOfLinks() < 2) return; + FrameIndex frame = -1; + FrameIndex refFrame = -1; + + if (dynComp.getNrOfLinks() == 2) { + frame = 0; + refFrame = 1; + } else { + //Pick two frames at random + frame = real_random_int(0, dynComp.getNrOfFrames()); + //be sure to pick two different frames + do { + refFrame = real_random_int(0, dynComp.getNrOfFrames()); + } while (refFrame == frame && frame >= 0); + } + + // get sparsity pattern + MatrixDynSize jacobianPattern(6, dynComp.getNrOfDegreesOfFreedom()); + bool ok = dynComp.getRelativeJacobianSparsityPattern(refFrame, frame, jacobianPattern); + ASSERT_IS_TRUE(ok); + + // Now computes the actual jacobian + MatrixDynSize jacobian(6, dynComp.getNrOfDegreesOfFreedom()); + ok = dynComp.getRelativeJacobian(refFrame, frame, jacobian); + ASSERT_IS_TRUE(ok); + + ASSERT_IS_TRUE(jacobian.rows() == jacobianPattern.rows() && jacobian.cols() == jacobian.cols()); + + for (size_t row = 0; row < jacobian.rows(); ++row) { + for (size_t col = 0; col < jacobian.cols(); ++col) { + // if jacobian has value != 0, pattern should have 1 + if (std::abs(jacobian(row, col)) > iDynTree::DEFAULT_TOL) { + ASSERT_EQUAL_DOUBLE(jacobianPattern(row, col), 1.0); + } + } + } +} + +void testAbsoluteJacobianSparsity(KinDynComputations & dynComp) +{ + // take one frames + if (dynComp.getNrOfLinks() < 1) return; + FrameIndex frame = -1; + + if (dynComp.getNrOfLinks() == 1) { + frame = 0; + } else { + //Pick one frames at random + frame = real_random_int(0, dynComp.getNrOfFrames()); + } + + // get sparsity pattern + MatrixDynSize jacobianPattern(6, 6 + dynComp.getNrOfDegreesOfFreedom()); + bool ok = dynComp.getFrameFreeFloatingJacobianSparsityPattern(frame, jacobianPattern); + ASSERT_IS_TRUE(ok); + + // Now computes the actual jacobian + MatrixDynSize jacobian(6, 6 + dynComp.getNrOfDegreesOfFreedom()); + ok = dynComp.getFrameFreeFloatingJacobian(frame, jacobian); + ASSERT_IS_TRUE(ok); + + ASSERT_IS_TRUE(jacobian.rows() == jacobianPattern.rows() && jacobian.cols() == jacobian.cols()); + + for (size_t row = 0; row < jacobian.rows(); ++row) { + for (size_t col = 0; col < jacobian.cols(); ++col) { + // if jacobian has value != 0, pattern should have 1 + if (std::abs(jacobian(row, col)) > iDynTree::DEFAULT_TOL) { + ASSERT_EQUAL_DOUBLE(jacobianPattern(row, col), 1.0); + } + } + } +} + +void testSparsityPattern(std::string modelFilePath, const FrameVelocityRepresentation frameVelRepr) +{ + iDynTree::KinDynComputations dynComp; + + bool ok = dynComp.loadRobotModelFromFile(modelFilePath); + ASSERT_IS_TRUE(ok); + + ok = dynComp.setFrameVelocityRepresentation(frameVelRepr); + ASSERT_IS_TRUE(ok); + + for(int i=0; i < 10; i++) + { + setRandomState(dynComp); + testRelativeJacobianSparsity(dynComp); + testAbsoluteJacobianSparsity(dynComp); + } +} + +void testSparsityPatternAllRepresentations(std::string modelName) +{ + std::string urdfFileName = getAbsModelPath(modelName); + std::cout << "Testing file " << urdfFileName << std::endl; + testSparsityPattern(urdfFileName,iDynTree::MIXED_REPRESENTATION); + testSparsityPattern(urdfFileName,iDynTree::BODY_FIXED_REPRESENTATION); + testSparsityPattern(urdfFileName,iDynTree::INERTIAL_FIXED_REPRESENTATION); +} + int main() { // Just run the tests on a handful of models to avoid @@ -354,6 +456,16 @@ int main() testModelConsistencyAllRepresentations("threeLinks.urdf"); testModelConsistencyAllRepresentations("bigman.urdf"); testModelConsistencyAllRepresentations("icub_skin_frames.urdf"); + testModelConsistencyAllRepresentations("iCubGenova02.urdf"); + testModelConsistencyAllRepresentations("icalibrate.urdf"); + + testSparsityPatternAllRepresentations("oneLink.urdf"); + testSparsityPatternAllRepresentations("twoLinks.urdf"); + testSparsityPatternAllRepresentations("threeLinks.urdf"); + testSparsityPatternAllRepresentations("bigman.urdf"); + testSparsityPatternAllRepresentations("icub_skin_frames.urdf"); + + return EXIT_SUCCESS; } diff --git a/src/inverse-kinematics/include/private/InverseKinematicsNLP.h b/src/inverse-kinematics/include/private/InverseKinematicsNLP.h index 825dfe3d8bf..7d22a9874d8 100644 --- a/src/inverse-kinematics/include/private/InverseKinematicsNLP.h +++ b/src/inverse-kinematics/include/private/InverseKinematicsNLP.h @@ -28,9 +28,162 @@ namespace internal { namespace kinematics { class InverseKinematicsNLP; class InverseKinematicsData; + class TransformConstraint; + + class SparsityHelper; } } +/*! @brief Helper class to manage sparsity + */ +class internal::kinematics::SparsityHelper +{ + std::vector m_numberOfNonZeros; /*!< number of non zeros for each rows */ + std::vector> m_nonZeroIndices; /*!< nonzero columns for each row */ + + static const std::vector s_nullVector; /*!< invalid vector */ + + + /** + * Adds a constraint sparsity pattern from the specified matrix + * and constraint range + * + * @note this is the templated function that accepts fix and dynamic size matrices + * @param newConstraint the matrix containing the pattern (1 for nonzero, 0 otherwise) + * @param constraintRange contiguous subset of the newConstraint matrix to be considered + * @return true on success. False otherwise + */ + template + bool addConstraintSparsityPatternTemplated(const MatrixType& newConstraint, const iDynTree::IndexRange& constraintRange); + +public: + + + /** + * The invalid null indices vector + * + * @return The invalid null indices vector + */ + static const std::vector& NullIndicesVector(); + + /** Default constructor */ + SparsityHelper(); + + SparsityHelper(const SparsityHelper&) = delete; + SparsityHelper& operator=(const SparsityHelper&) = delete; + + SparsityHelper(SparsityHelper&&) = default; + SparsityHelper& operator=(SparsityHelper&&) = default; + + + /** + * Remove all constraint sparsity patterns + */ + void clear(); + + /** + * Adds a constraint sparsity pattern from the specified matrix + * + * @param newConstraint the matrix containing the pattern (1 for nonzero, 0 otherwise) + * @return true on success. False otherwise + */ + bool addConstraintSparsityPattern(const iDynTree::MatrixDynSize& newConstraint); + + /** + * Adds a constraint sparsity pattern from the specified matrix + * + * @param newConstraint the matrix containing the pattern (1 for nonzero, 0 otherwise) + * @return true on success. False otherwise + */ + template + bool addConstraintSparsityPattern(const iDynTree::MatrixFixSize& newConstraint); + + /** + * Adds a constraint sparsity pattern from the specified matrix + * and constraint range + * + * @param newConstraint the matrix containing the pattern (1 for nonzero, 0 otherwise) + * @param constraintRange contiguous subset of the newConstraint matrix to be considered + * @return true on success. False otherwise + */ + bool addConstraintSparsityPattern(const iDynTree::MatrixDynSize& newConstraint, + const iDynTree::IndexRange& constraintRange); + + /** + * Adds a constraint sparsity pattern from the specified matrix + * and constraint range + * + * @param newConstraint the matrix containing the pattern (1 for nonzero, 0 otherwise) + * @param constraintRange contiguous subset of the newConstraint matrix to be considered + * @return true on success. False otherwise + */ + template + bool addConstraintSparsityPattern(const iDynTree::MatrixFixSize& newConstraint, + const iDynTree::IndexRange& constraintRange); + + + /** + * Returns the number of nonzeros in the specified row + * + * @param rowIndex index of the row + * @return number of nonzeros + */ + size_t numberOfNonZerosForRow(size_t rowIndex) const; + + + /** + * Returns the total number of nonzeros in the sparsity pattern + * + * @return the total number of nonzeros in the sparsity pattern + */ + size_t numberOfNonZeros() const; + + + /** + * Returns the cumulative number of nonzeros in all the rows before the specified one + * + * @param rowIndex the row (excluded) to compute the cumulative number of nonzeros + * @return the cumulative number of nonzeros in all the rows before the specified one + */ + size_t totalNumberOfNonZerosBeforeRow(size_t rowIndex) const; + + + /** + * Returns a vector with the indices of the non zero columns for the specified contraint (row) + * + * @param rowIndex the specified constraint + * @return a vector with the indices of the non zero columns + */ + const std::vector& nonZeroIndicesForRow(size_t rowIndex) const; + + + /** + * Helper function to assign values to a contiguous buffer given the current sparsity pattern + * + * @param constraintRange range of the constraint that should be sparsified + * @param fullMatrix matrix specifying the non sparse constraint + * @param fullMatrixStartingRowIndex starting row index of the non sparse matrix to be considered. The + * size is automatically inferred by the constraint size + * @param outputBuffer the buffer on which the sparsified values should be written + */ + void assignActualMatrixValues(const iDynTree::IndexRange& constraintRange, + const iDynTree::MatrixDynSize& fullMatrix, + size_t fullMatrixStartingRowIndex, + Ipopt::Number *outputBuffer); + + + /** + * @brief Returns a textual description of the sparsity pattern + * + * Useful for debug + * @note this method perform dynamic memory allocation + * @return a textual description of the sparsity pattern + */ + std::string toString() const; + +}; + + /*! * @brief Implementation of the inverse kinematics with IPOPT * @@ -67,6 +220,8 @@ namespace kinematics { */ class internal::kinematics::InverseKinematicsNLP : public Ipopt::TNLP { + SparsityHelper m_jacobianSparsityHelper; + /*! @brief information about a Frame during optimization * All the values are computed given the current robot configuration * i.e. the one specified in the IPOPT callbacks (x) @@ -168,6 +323,34 @@ class internal::kinematics::InverseKinematicsNLP : public Ipopt::TNLP { void omegaToRPYParameters(const iDynTree::Vector3& rpyAngles, iDynTree::Matrix3x3& map); + + /** + * Helper method to create sparity information for a specific constraint + * + * @param constraintID id of the constraint + * @param constraint constraint object + */ + void addSparsityInformationForConstraint(int constraintID, const internal::kinematics::TransformConstraint& constraint); + + /** + * Initialize the sparsity information + * @note this method should be called after all constraints have been specified. + * It also uses the buffers created for the constraints, so it should not be called at runtime + */ + void initializeSparsityInformation(); + +#ifndef NDEBUG + // IpOpt should not call the same callback twice for the same set of input parameters + // To be sure of this, we add some assert in the code + // In the case, in the future, IpOpt changes behaviour, this asserts will + // notify us of this change, and we can (easily, at the cost of adding more functions) + // circunvent this with our code. + static bool eval_f_called; + static bool eval_grad_f_called; + static bool eval_g_called; + static bool eval_jac_g_called; +#endif + public: /*! Constructor * @param data reference to the InverseKinematicsData object diff --git a/src/inverse-kinematics/src/InverseKinematicsNLP.cpp b/src/inverse-kinematics/src/InverseKinematicsNLP.cpp index 907ad455941..6399753943b 100644 --- a/src/inverse-kinematics/src/InverseKinematicsNLP.cpp +++ b/src/inverse-kinematics/src/InverseKinematicsNLP.cpp @@ -24,10 +24,155 @@ #include - namespace internal { namespace kinematics { + // Check of MatrixFixSize + template + struct is_matrixfixsize : std::false_type {}; + + template + struct is_matrixfixsize> : std::true_type {}; + + //MARK: - SparsityHelper implementation + + const std::vector SparsityHelper::s_nullVector = std::vector(); + const std::vector& SparsityHelper::NullIndicesVector() { return s_nullVector; } + + SparsityHelper::SparsityHelper() + { + m_numberOfNonZeros.resize(1, 0); + } + + void SparsityHelper::clear() + { + m_nonZeroIndices.clear(); + m_numberOfNonZeros.clear(); + m_numberOfNonZeros.resize(1, 0); + } + + template + bool SparsityHelper::addConstraintSparsityPatternTemplated(const MatrixType& newConstraint, const iDynTree::IndexRange& constraintRange) + { + static_assert(std::is_base_of::value + || is_matrixfixsize::value, + "addConstraintSparsityPatternTemplated can be called only with iDynTree::MatrixFixSize and iDynTree::MatrixDynSize"); + + size_t constraintSize = constraintRange.size; + if (constraintSize == 0) return false; + size_t previousConstraintSize = m_nonZeroIndices.size(); + + // append this constraint to the current pattern + // Update the number of nonzeros + m_numberOfNonZeros.resize(1 + previousConstraintSize + constraintSize, m_numberOfNonZeros[previousConstraintSize]); + m_nonZeroIndices.resize(previousConstraintSize + constraintSize); + for (size_t row = 0; row < constraintSize; ++row) { + size_t numberOfNonZeros = static_cast(iDynTree::toEigen(newConstraint).row(constraintRange.offset + row).sum()); + m_numberOfNonZeros[1 + previousConstraintSize + row] = totalNumberOfNonZerosBeforeRow(previousConstraintSize + row) + numberOfNonZeros; + assert(numberOfNonZeros == numberOfNonZerosForRow(previousConstraintSize + row)); + + // Update indices + m_nonZeroIndices[previousConstraintSize + row].reserve(numberOfNonZeros); + for (size_t col = 0; col < newConstraint.cols(); ++col) { + if (std::abs(newConstraint(constraintRange.offset + row, col) - 1) < iDynTree::DEFAULT_TOL) { + m_nonZeroIndices[previousConstraintSize + row].push_back(col); + } + } + } + + return true; + } + + + bool SparsityHelper::addConstraintSparsityPattern(const iDynTree::MatrixDynSize& newConstraint) + { + return addConstraintSparsityPattern(newConstraint, {0, newConstraint.rows()}); + } + + template + bool SparsityHelper::addConstraintSparsityPattern(const iDynTree::MatrixFixSize& newConstraint) + { + return addConstraintSparsityPattern(newConstraint, {0, newConstraint.rows()}); + } + + bool SparsityHelper::addConstraintSparsityPattern(const iDynTree::MatrixDynSize& newConstraint, + const iDynTree::IndexRange& constraintRange) + { + return addConstraintSparsityPatternTemplated(newConstraint, constraintRange); + } + + template + bool SparsityHelper::addConstraintSparsityPattern(const iDynTree::MatrixFixSize& newConstraint, + const iDynTree::IndexRange& constraintRange) + { + return addConstraintSparsityPatternTemplated(newConstraint, constraintRange); + } + + + + size_t SparsityHelper::numberOfNonZerosForRow(size_t rowIndex) const + { + if (rowIndex >= m_numberOfNonZeros.size() - 1) return 0; + return m_numberOfNonZeros[rowIndex + 1] - m_numberOfNonZeros[rowIndex]; + } + size_t SparsityHelper::numberOfNonZeros() const { return m_numberOfNonZeros[m_numberOfNonZeros.size() - 1]; } + size_t SparsityHelper::totalNumberOfNonZerosBeforeRow(size_t rowIndex) const + { + if (rowIndex >= m_numberOfNonZeros.size() - 1) return 0; + return m_numberOfNonZeros[rowIndex]; + } + + const std::vector& SparsityHelper::nonZeroIndicesForRow(size_t rowIndex) const + { + if (rowIndex > m_nonZeroIndices.size()) return s_nullVector; + return m_nonZeroIndices[rowIndex]; + } + + void SparsityHelper::assignActualMatrixValues(const iDynTree::IndexRange& constraintRange, + const iDynTree::MatrixDynSize& fullMatrix, + size_t fullMatrixStartingRowIndex, + Ipopt::Number *outputBuffer) + { + for (size_t row = 0; row < constraintRange.size; ++row) { + // get the current row in the sparsity pattern matrix + const std::vector& currentSparsityRow = nonZeroIndicesForRow(constraintRange.offset + row); + Ipopt::Number *startingValue = &outputBuffer[totalNumberOfNonZerosBeforeRow(constraintRange.offset + row)]; + + for (size_t colIndex = 0; colIndex < currentSparsityRow.size(); ++colIndex) { + startingValue[colIndex] = fullMatrix(fullMatrixStartingRowIndex + row, currentSparsityRow[colIndex]); + } + } + } + + std::string SparsityHelper::toString() const + { + size_t maxCol = 0; + for (const auto& row : m_nonZeroIndices) { + if (row.empty()) continue; + maxCol = std::max(maxCol, 1 + *(--row.end())); + } + + iDynTree::MatrixDynSize matrix(m_nonZeroIndices.size(), maxCol); + matrix.zero(); + if (maxCol > 0) { + for (size_t row = 0; row < m_nonZeroIndices.size(); ++row) { + for (const auto& col : m_nonZeroIndices[row]) { + matrix(row, col) = 1; + } + } + } + return matrix.toString(); + } + + //MARK: - InverseKinematicsNLP implementation + +#ifndef NDEBUG + bool InverseKinematicsNLP::eval_f_called = false; + bool InverseKinematicsNLP::eval_grad_f_called = false; + bool InverseKinematicsNLP::eval_g_called = false; + bool InverseKinematicsNLP::eval_jac_g_called = false; +#endif + //To understand IPOpt log: //http://www.coin-or.org/Ipopt/documentation/node36.html#sec:output @@ -76,6 +221,151 @@ namespace kinematics { comInfo.comJacobian.resize(3, m_data.m_dofs + 6); comInfo.comJacobianAnalytical.resize(3, m_data.m_dofs + 3 + sizeOfRotationParametrization(m_data.m_rotationParametrization)); comInfo.projectedComJacobian.resize(m_data.m_comHullConstraint.getNrOfConstraints(), m_data.m_dofs + 3 + sizeOfRotationParametrization(m_data.m_rotationParametrization)); + + initializeSparsityInformation(); + } + +void InverseKinematicsNLP::addSparsityInformationForConstraint(int constraintID, + const internal::kinematics::TransformConstraint& constraint) + { + //For each constraint compute its jacobian pattern + FrameInfo &constraintInfo = constraintsInfo[constraintID]; + // iDynTree pattern + m_data.dynamics().getFrameFreeFloatingJacobianSparsityPattern(constraintID, constraintInfo.jacobian); + // Now we have to modify it depending on the orientation parametrization + + + if (m_data.m_rotationParametrization == iDynTree::InverseKinematicsRotationParametrizationQuaternion) { + + // Create sparsity of quaternion inverse and direct maps + // Does not have any sparsity. + iDynTree::MatrixFixSize<3, 4> quaternionDerivativeInverseMap; + iDynTree::toEigen(quaternionDerivativeInverseMap).setOnes(); + iDynTree::MatrixFixSize<4, 3> quaternionDerivativeMap; + iDynTree::toEigen(quaternionDerivativeMap).setOnes(); + + finalJacobianBuffer.zero(); + computeConstraintJacobian(constraintInfo.jacobian, // this has the sparsity + quaternionDerivativeMap, // this is a all 1s matrix + quaternionDerivativeInverseMap, // this is a all 1s matrix + ComputeContraintJacobianOptionLinearPart|ComputeContraintJacobianOptionAngularPart, + finalJacobianBuffer); + + + } else if (m_data.m_rotationParametrization == iDynTree::InverseKinematicsRotationParametrizationRollPitchYaw) { + //RPY sparsity parametrization for the base + /* - - + * | x x 0 | + * | x x 0 | + * | x 0 x | + * - - + */ + iDynTree::Matrix3x3 RPYToOmega; + iDynTree::toEigen(RPYToOmega).setIdentity(); + iDynTree::toEigen(RPYToOmega).topLeftCorner<2, 2>().setOnes(); + RPYToOmega(2, 0) = 1.0; + + // RPY sparsity parametrization for the constraint + /* - - + * | x x 0 | + * | x x 0 | + * | x x x | + * - - + */ + iDynTree::Matrix3x3 omegaToRPYMap_target; + iDynTree::toEigen(omegaToRPYMap_target).setZero(); + iDynTree::toEigen(omegaToRPYMap_target).topLeftCorner<2, 2>().setOnes(); + iDynTree::toEigen(omegaToRPYMap_target).bottomRows<1>().setOnes(); + + + computeConstraintJacobianRPY(constraintInfo.jacobian, + omegaToRPYMap_target, + RPYToOmega, + ComputeContraintJacobianOptionLinearPart|ComputeContraintJacobianOptionAngularPart, + finalJacobianBuffer); + } + + // Now "normalize" (i.e. only 0.0 and 1.0) the result + for (unsigned row = 0; row < finalJacobianBuffer.rows(); ++row) { + for (unsigned col = 0; col < finalJacobianBuffer.cols(); ++col) { + finalJacobianBuffer(row, col) = std::abs(finalJacobianBuffer(row, col)) < iDynTree::DEFAULT_TOL ? 0.0 : 1.0; + } + } + + //Now that we computed the actual Jacobian needed by IPOPT + //We have to assign it to the correct variable + if (constraint.hasPositionConstraint()) { + //Position part + m_jacobianSparsityHelper.addConstraintSparsityPattern(finalJacobianBuffer, {0, 3}); + } + if (constraint.hasRotationConstraint()) { + //Orientation part + m_jacobianSparsityHelper.addConstraintSparsityPattern(finalJacobianBuffer, {3, sizeOfRotationParametrization(m_data.m_rotationParametrization)}); + } + } + + void InverseKinematicsNLP::initializeSparsityInformation() + { + m_jacobianSparsityHelper.clear(); + + for (TransformMap::const_iterator constraint = m_data.m_constraints.begin(); + constraint != m_data.m_constraints.end(); ++constraint) { + if (constraint->second.isActive()) { + addSparsityInformationForConstraint(constraint->first, constraint->second); + } + } + + //For COM constraint + //RPY parametrization for the base + if (m_data.m_comHullConstraint.isActive() || (m_data.isCoMTargetActive() && m_data.isCoMaConstraint())) { + //TODO: implement quaternion part + assert(m_data.m_rotationParametrization == iDynTree::InverseKinematicsRotationParametrizationRollPitchYaw); + + // CoM Jacobian is always full by definition + iDynTree::toEigen(comInfo.comJacobianAnalytical).setOnes(); + + if (m_data.m_comHullConstraint.isActive()) { + iDynTree::toEigen(comInfo.projectedComJacobian).setOnes(); + m_jacobianSparsityHelper.addConstraintSparsityPattern(comInfo.projectedComJacobian); + } + + if (m_data.isCoMTargetActive()) { + m_jacobianSparsityHelper.addConstraintSparsityPattern(comInfo.comJacobianAnalytical); + } + } + + + //For all targets enforced as constraints + for (TransformMap::const_iterator target = m_data.m_targets.begin(); + target != m_data.m_targets.end(); ++target) { + + if (target->second.isActive()) { + //Depending if we need position and/or orientation + //we have to adapt different parts of the jacobian + int computationOption = 0; + if (target->second.targetResolutionMode() & iDynTree::InverseKinematicsTreatTargetAsConstraintPositionOnly) + computationOption |= ComputeContraintJacobianOptionLinearPart; + if (target->second.targetResolutionMode() & iDynTree::InverseKinematicsTreatTargetAsConstraintRotationOnly) + computationOption |= ComputeContraintJacobianOptionAngularPart; + + if (computationOption == 0) continue; // no need for further computations + + addSparsityInformationForConstraint(target->first, target->second); + } + + } + + + //Finally, the norm of the base orientation quaternion parametrization + if (m_data.m_rotationParametrization == iDynTree::InverseKinematicsRotationParametrizationQuaternion) { + iDynTree::MatrixFixSize<1, 7> baseQuaternionConstraint; + baseQuaternionConstraint.zero(); + iDynTree::toEigen(baseQuaternionConstraint).rightCols<4>().setOnes(); + m_jacobianSparsityHelper.addConstraintSparsityPattern(baseQuaternionConstraint); + } + + + } bool InverseKinematicsNLP::updateState(const Ipopt::Number * x) @@ -257,13 +547,7 @@ namespace kinematics { n = m_data.m_numberOfOptimisationVariables; m = m_data.m_numberOfOptimisationConstraints; - nnz_jac_g = m * n; - - if (m_data.m_rotationParametrization == iDynTree::InverseKinematicsRotationParametrizationQuaternion) { - // constraints already considers the quaternion constraints. - // so the Jacobian should be changed - nnz_jac_g = (m - 1) * n + 4; - } + nnz_jac_g = m_jacobianSparsityHelper.numberOfNonZeros(); nnz_h_lag = n * n; //this is currently ignored @@ -482,11 +766,21 @@ namespace kinematics { { UNUSED_VARIABLE(n); if (new_x) { +#ifndef NDEBUG + eval_f_called = false; + eval_grad_f_called = false; + eval_g_called = false; + eval_jac_g_called = false; +#endif //First time we get called with this new value for the solution //Update the state and variables if (!updateState(x)) return false; } +#ifndef NDEBUG + assert(!eval_f_called); + eval_f_called = true; +#endif //Cost function //J = Sum_i^#targets Error on rotation + ||q - q_des ||^2 (as regularization term) @@ -564,11 +858,21 @@ namespace kinematics { Ipopt::Number* grad_f) { if (new_x) { +#ifndef NDEBUG + eval_f_called = false; + eval_grad_f_called = false; + eval_g_called = false; + eval_jac_g_called = false; +#endif //First time we get called with this new value for the solution //Update the state and variables if (!updateState(x)) return false; } +#ifndef NDEBUG + assert(!eval_grad_f_called); + eval_grad_f_called = true; +#endif Eigen::Map gradient(grad_f, n); gradient.setZero(); @@ -697,11 +1001,21 @@ namespace kinematics { { UNUSED_VARIABLE(n); if (new_x) { +#ifndef NDEBUG + eval_f_called = false; + eval_grad_f_called = false; + eval_g_called = false; + eval_jac_g_called = false; +#endif //First time we get called with this new value for the solution //Update the state and variables if (!updateState(x)) return false; } +#ifndef NDEBUG + assert(!eval_g_called); + eval_g_called = true; +#endif Ipopt::Index index = 0; Eigen::Map constraints(g, m); @@ -801,53 +1115,36 @@ namespace kinematics { //Define the sparsity pattern of the jacobian Ipopt::Index index = 0; - //As we do not have sparse jacobians for now - //the jacobian has the same number of rows as the constraints - Ipopt::Index jacobianRows = m; - //The only exception is the base expressed in quaternion which is sparse - //So we remove one line as we add it back after the dense part - if (m_data.m_rotationParametrization == iDynTree::InverseKinematicsRotationParametrizationQuaternion) { - jacobianRows--; - } - //Fill sparsity structure of the jacobian - //For now the jacobian is dense, so I don't care of the pattern - for (Ipopt::Index row = 0; row < jacobianRows; row++) { - for (Ipopt::Index col = 0; col < n; col++) { - //row-based indexing - iRow[row * n + col] = row; - jCol[row * n + col] = col; - index++; + for (Ipopt::Index row = 0; row < m; row++) { + auto columnIndices = m_jacobianSparsityHelper.nonZeroIndicesForRow(row); + size_t numberOfPreviousNonzeros = m_jacobianSparsityHelper.totalNumberOfNonZerosBeforeRow(row); + for (size_t col = 0; col < columnIndices.size(); ++col) { + iRow[numberOfPreviousNonzeros + col] = row; + jCol[numberOfPreviousNonzeros + col] = columnIndices[col]; + ++index; } } - - //If the base orientation is parametrized in quaternion - //add the sparsity of the jacobian for that constraint - if (m_data.m_rotationParametrization == iDynTree::InverseKinematicsRotationParametrizationQuaternion) { - iRow[index] = m - 1; - jCol[index] = 3; - index++; - iRow[index] = m - 1; - jCol[index] = 4; - index++; - iRow[index] = m - 1; - jCol[index] = 5; - index++; - iRow[index] = m - 1; - jCol[index] = 6; - index++; - } - assert(nele_jac == index); } else { + //This is called every time if (new_x) { +#ifndef NDEBUG + eval_f_called = false; + eval_grad_f_called = false; + eval_g_called = false; + eval_jac_g_called = false; +#endif //First time we get called with this new value for the solution //Update the state and variables if (!updateState(x)) return false; } - +#ifndef NDEBUG + assert(!eval_jac_g_called); + eval_jac_g_called = true; +#endif Ipopt::Index constraintIndex = 0; for (TransformMap::const_iterator constraint = m_data.m_constraints.begin(); @@ -894,22 +1191,22 @@ namespace kinematics { finalJacobianBuffer); } + //Now that we computed the actual Jacobian needed by IPOPT //We have to assign it to the correct variable if (constraint->second.hasPositionConstraint()) { //Position part - Eigen::Map > currentConstraint( - &values[constraintIndex * finalJacobianBuffer.cols()], 3, n); - currentConstraint = toEigen(finalJacobianBuffer).topRows<3>(); + m_jacobianSparsityHelper.assignActualMatrixValues({constraintIndex, 3}, + finalJacobianBuffer, 0, + values); constraintIndex += 3; } if (constraint->second.hasRotationConstraint()) { //Orientation part - Eigen::Map > currentConstraint( - &values[constraintIndex * finalJacobianBuffer.cols()], - sizeOfRotationParametrization(m_data.m_rotationParametrization), n); - currentConstraint = toEigen(finalJacobianBuffer).bottomRows( - sizeOfRotationParametrization(m_data.m_rotationParametrization)); + m_jacobianSparsityHelper.assignActualMatrixValues({constraintIndex, + sizeOfRotationParametrization(m_data.m_rotationParametrization)}, + finalJacobianBuffer, 3, + values); constraintIndex += sizeOfRotationParametrization(m_data.m_rotationParametrization); } } @@ -929,14 +1226,17 @@ namespace kinematics { iDynTree::toEigen(comInfo.projectedComJacobian) = iDynTree::toEigen(m_data.m_comHullConstraint.A) * iDynTree::toEigen(m_data.m_comHullConstraint.Pdirection) * iDynTree::toEigen(comInfo.comJacobianAnalytical); - Eigen::Map > currentConstraint(&values[constraintIndex*n], comInfo.projectedComJacobian.rows(), n); - currentConstraint = iDynTree::toEigen(comInfo.projectedComJacobian); + m_jacobianSparsityHelper.assignActualMatrixValues({constraintIndex, comInfo.projectedComJacobian.rows()}, + comInfo.projectedComJacobian, 0, + values); + constraintIndex += comInfo.projectedComJacobian.rows(); } if (m_data.isCoMTargetActive()) { - Eigen::Map > currentConstraint(&values[constraintIndex*n], comInfo.comJacobianAnalytical.rows(), n); - currentConstraint = iDynTree::toEigen(comInfo.comJacobianAnalytical); + m_jacobianSparsityHelper.assignActualMatrixValues({constraintIndex, comInfo.comJacobianAnalytical.rows()}, + comInfo.comJacobianAnalytical, 0, + values); constraintIndex += 3; } } @@ -992,17 +1292,19 @@ namespace kinematics { && target->second.hasPositionConstraint()) { //Copy position part - Eigen::Map > currentConstraint(&values[constraintIndex * finalJacobianBuffer.cols()], 3, n); - currentConstraint = toEigen(finalJacobianBuffer).topRows<3>(); + m_jacobianSparsityHelper.assignActualMatrixValues({constraintIndex, 3}, + finalJacobianBuffer, 0, + values); constraintIndex += 3; } if (target->second.targetResolutionMode() & iDynTree::InverseKinematicsTreatTargetAsConstraintRotationOnly && target->second.hasRotationConstraint()) { //Orientation part - - Eigen::Map > currentConstraint(&values[constraintIndex * finalJacobianBuffer.cols()], sizeOfRotationParametrization(m_data.m_rotationParametrization), n); - currentConstraint = toEigen(finalJacobianBuffer).bottomRows(sizeOfRotationParametrization(m_data.m_rotationParametrization)); + m_jacobianSparsityHelper.assignActualMatrixValues({constraintIndex, + sizeOfRotationParametrization(m_data.m_rotationParametrization)}, + finalJacobianBuffer, 3, + values); constraintIndex += sizeOfRotationParametrization(m_data.m_rotationParametrization); } } diff --git a/src/inverse-kinematics/tests/InverseKinematicsUnitTest.cpp b/src/inverse-kinematics/tests/InverseKinematicsUnitTest.cpp index afa3e1a110b..b0534f60a80 100644 --- a/src/inverse-kinematics/tests/InverseKinematicsUnitTest.cpp +++ b/src/inverse-kinematics/tests/InverseKinematicsUnitTest.cpp @@ -105,6 +105,7 @@ void simpleChainIK(int minNrOfJoints, int maxNrOfJoints, const iDynTree::Inverse // Create IK iDynTree::InverseKinematics ik; + ik.setVerbosity(0); bool ok = ik.setModel(chain); ASSERT_IS_TRUE(ok); // Always express the target as cost diff --git a/src/legacy/icub-kdl/include/iCub/iDynTree/iDyn2KDL.h b/src/legacy/icub-kdl/include/iCub/iDynTree/iDyn2KDL.h index d665bced1ef..5876cad39b0 100644 --- a/src/legacy/icub-kdl/include/iCub/iDynTree/iDyn2KDL.h +++ b/src/legacy/icub-kdl/include/iCub/iDynTree/iDyn2KDL.h @@ -14,6 +14,7 @@ #include #include #include +#include namespace iCub { namespace iDyn { @@ -33,7 +34,6 @@ namespace KDL { namespace yarp { namespace sig { - class Vector; class Matrix; } } diff --git a/src/legacy/icub-kdl/src/TorqueEstimationTree.cpp b/src/legacy/icub-kdl/src/TorqueEstimationTree.cpp index 0d12b35a9dc..2f8cb1f2276 100644 --- a/src/legacy/icub-kdl/src/TorqueEstimationTree.cpp +++ b/src/legacy/icub-kdl/src/TorqueEstimationTree.cpp @@ -17,7 +17,7 @@ #include #include "iDynTree/Sensors/Sensors.h" -#include "iDynTree/Sensors/SixAxisFTSensor.h" +#include "iDynTree/Sensors/SixAxisForceTorqueSensor.h" #include #include diff --git a/src/legacy/icub-kdl/tests/iCubLeftArmRegressorTest.cpp b/src/legacy/icub-kdl/tests/iCubLeftArmRegressorTest.cpp index 74f5d85179c..9ba0e57074d 100644 --- a/src/legacy/icub-kdl/tests/iCubLeftArmRegressorTest.cpp +++ b/src/legacy/icub-kdl/tests/iCubLeftArmRegressorTest.cpp @@ -14,7 +14,7 @@ #include #include #include -#include +#include #include diff --git a/src/legacy/yarp-kdl/src/DynTree.cpp b/src/legacy/yarp-kdl/src/DynTree.cpp index 10a1aa96759..84c85abd9ad 100644 --- a/src/legacy/yarp-kdl/src/DynTree.cpp +++ b/src/legacy/yarp-kdl/src/DynTree.cpp @@ -23,7 +23,7 @@ #include #include -#include "iDynTree/Sensors/SixAxisFTSensor.h" +#include "iDynTree/Sensors/SixAxisForceTorqueSensor.h" #include "kdl_codyco/KDLConversions.h" #include "iDynTree/Core/Transform.h" #include "iDynTree/Core/Wrench.h" diff --git a/src/model/include/iDynTree/Model/Model.h b/src/model/include/iDynTree/Model/Model.h index 14e9c8c7048..f14fa6c20b8 100644 --- a/src/model/include/iDynTree/Model/Model.h +++ b/src/model/include/iDynTree/Model/Model.h @@ -38,18 +38,17 @@ namespace iDynTree * by joints. Each joint can have from 0 to 6 degrees of freedom. * * Each link has a "link frame" rigidly attached to it. - * For each link more rigidly attached frames can be defined, - * in addition to "link frame". + * Additionally, other rigidly attachable frames can be defined for each link. * - * The model contains also a serialization for the different elements - * in a model, i.e. a function between: + * The model contains also a serialization for the different elements, + * i.e. a function between: * * joint names and the integers 0..getNrOfJoints()-1 * * dof names and the integers 0..getNrOfDOFs()-1 * * link names and the integers 0..getNrOfLinks()-1 * * frame names and the integers 0..getNrOfFrames()-1 * - * For simplicity, this mappings are build when building the model. - * In particular the joint and link indices are assigned when the links + * For simplicity, these mappings are build when building the model. + * In particular the link and joint indices are assigned when the links * and joint are added to the model using the `addLink` and `addJoint` * methods. * @@ -57,15 +56,15 @@ namespace iDynTree * with the addJoint method. For example if a model is composed only of * 0 or 1 DOF joints and the 1 DOFs joints are added before the 0 DOFs then * the joint index and dof index for 1 DOF joints will be coincident (this is - * how the URDF parser is actually implemented). For this reason as the moment - * there is no concept of DOF explicit identifier, i.e. no getDOFName(DOFIndex dofIndex) - * method. + * how the URDF parser is actually implemented). For this reason the current + * implementation does not have a concept of DOF explicit identifier, + * i.e. a getDOFName(DOFIndex dofIndex) method does not exist. * * The frame indices between 0 and getNrOfLinks()-1 are always assigned to the * "main" link frame of the link with the same index. The frame indices * between getNrOfLinks() and getNrOfFrames()-1 are assigned when the additional * frame is added to the model with the addAdditionalFrameToLink call. All the additional - * frame indices are increased of 1 whenever a new link is added, to ensure that + * frame indices are incremented by 1 whenever a new link is added, to ensure that * its "link frame" has a frame index in the 0...getNrOfLinks()-1 range. * * @@ -213,7 +212,7 @@ namespace iDynTree size_t getNrOfJoints() const; /** - * Get the name of a link given its index, or + * Get the name of a joint given its index, or * an JOINT_INVALID_NAME if linkIndex < 0 or >= getNrOfLinks() */ std::string getJointName(const JointIndex index) const; @@ -400,7 +399,7 @@ namespace iDynTree * with refFrame : the link main frame and frame : the * frame with index frameIndex . * - * @param[in] frameIndex the index of the frame for which + * @param[in] frameIndex the index of the frame for which transform is requested. * @return the link_H_frame transform, or an identity tranform * if frameIndex < 0 or frameIndex >= getNrOfFrames . */ @@ -435,6 +434,8 @@ namespace iDynTree * If no link are present in model, returns LINK_INVALID_INDEX. * If setDefaultBaseLink was never called but at least a link has been added * to the model, returns 0 (i.e. the index of the first link added to the model. + * + * @return index of the default base link, if valid */ LinkIndex getDefaultBaseLink() const; @@ -443,11 +444,13 @@ namespace iDynTree * at the default base. * * \warning The traversal computed with this function contains pointers to the joints - * and links present in this model. Whener this pointer are invalidated, + * and links present in this model. Whenever these pointers are invalidated, * for example because a link or a joint is added or the model is copied, * the traversal need to be recomputed. * * \warning this function works only on Models without cycles. + * @param[out] traversal traversal of all links in the model + * @return true if all went well, false otherwise. */ bool computeFullTreeTraversal(Traversal & traversal) const; @@ -456,11 +459,14 @@ namespace iDynTree * at the given traversalBase. * * \warning The traversal computed with this function contains pointers to the joints - * and links present in this model. Whener this pointer are invalidated, + * and links present in this model. Whenever these pointers are invalidated, * for example because a link or a joint is added or the model is copied, * the traversal need to be recomputed. - * + *. * \warning this function works only on Models without cycles. + * @param[out] traversal traversal of all links in the model + * @param[in] traversalBase base (root) link in the traversal + * @return true if all went well, false otherwise */ bool computeFullTreeTraversal(Traversal & traversal, const LinkIndex traversalBase) const; @@ -478,6 +484,7 @@ namespace iDynTree * The mapping between the SpatialInertia class and the Vector10 elements is the one * defined in SpatialInertia::asVector() method. * + * @param[out] modelInertialParams vector of inertial parameters * @return true if all went well, false otherwise. * */ @@ -500,6 +507,7 @@ namespace iDynTree * @note For efficency reason, inertial parameters are not checked for full physical * consistency before being update. * + * @param[in] modelInertialParams vector of inertial parameters * @return true if all went well, false otherwise. * */ diff --git a/src/model_io/CMakeLists.txt b/src/model_io/CMakeLists.txt index a9ea99f2969..3a79e44ed07 100644 --- a/src/model_io/CMakeLists.txt +++ b/src/model_io/CMakeLists.txt @@ -6,10 +6,20 @@ # https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html # at your option. +# Specify a base directory where tests file can be located by the unit tests +set(IDYNTREE_MODELIO_TESTFILES_DIR ${CMAKE_CURRENT_SOURCE_DIR}/tests/format_examples) + +add_subdirectory(xml) add_subdirectory(urdf) -if(IDYNTREE_USES_KDL) - add_subdirectory(urdf-kdl) +find_package(TinyXML QUIET) +if (${TinyXML_FOUND}) + if(IDYNTREE_USES_KDL) + add_subdirectory(urdf-kdl) + if(IDYNTREE_COMPILE_TESTS) + add_subdirectory(tests) + endif() + endif() endif() option(IDYNTREE_ENABLE_SYMORO_PAR "Enable support for SyMoRo par format" TRUE) @@ -21,6 +31,6 @@ if(IDYNTREE_USES_ICUB_MAIN AND IDYNTREE_USES_KDL) add_subdirectory(iKin-kdl) endif() -if(IDYNTREE_COMPILE_TESTS AND IDYNTREE_USES_KDL) - add_subdirectory(tests) -endif() +# if(IDYNTREE_COMPILE_TESTS AND IDYNTREE_USES_KDL) +# add_subdirectory(tests) +# endif() diff --git a/src/model_io/tests/format_examples/xml/double_root.xml b/src/model_io/tests/format_examples/xml/double_root.xml new file mode 100644 index 00000000000..14c8c8fecc3 --- /dev/null +++ b/src/model_io/tests/format_examples/xml/double_root.xml @@ -0,0 +1,45 @@ + + + John Smith + + Ola Nordmann +
Langgt 23
+ 4000 Stavanger + Norway + + + Empire Burlesque + Special Edition + 1 + 10.90 + + + Hide your heart + 1 + 9.90 + + + + John Lock + + Rudolph Heinz +
Langgt 23
+ Berlin + Germany + + + Empire Burlesque + Special Edition + 1 + 10.90 + + + Hide your heart + 1 + 9.90 + + \ No newline at end of file diff --git a/src/model_io/tests/format_examples/xml/invalid_schema.xml b/src/model_io/tests/format_examples/xml/invalid_schema.xml new file mode 100644 index 00000000000..aa335636e15 --- /dev/null +++ b/src/model_io/tests/format_examples/xml/invalid_schema.xml @@ -0,0 +1,24 @@ + + + + John Smith + + Ola Nordmann +
Langgt 23
+ 4000 Stavanger + Norway + + + Empire Burlesque + Special Edition + 1 + Five Euros + + + Hide your heart + -1 + 9.90 + + \ No newline at end of file diff --git a/src/model_io/tests/format_examples/xml/invalid_xml.xml b/src/model_io/tests/format_examples/xml/invalid_xml.xml new file mode 100644 index 00000000000..e8653f76a1c --- /dev/null +++ b/src/model_io/tests/format_examples/xml/invalid_xml.xml @@ -0,0 +1,23 @@ + + + + John Smith + + Ola Nordmann +
Langgt 23
+ 4000 Stavanger + Norway + + + Empire Burlesque + Special Edition + 1 + 10.90 + + + Hide your heart + 1 + 9.90 + diff --git a/src/model_io/tests/format_examples/xml/schema.xsd b/src/model_io/tests/format_examples/xml/schema.xsd new file mode 100644 index 00000000000..b4e21b12613 --- /dev/null +++ b/src/model_io/tests/format_examples/xml/schema.xsd @@ -0,0 +1,33 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + \ No newline at end of file diff --git a/src/model_io/tests/format_examples/xml/valid.xml b/src/model_io/tests/format_examples/xml/valid.xml new file mode 100644 index 00000000000..d8369d85bb6 --- /dev/null +++ b/src/model_io/tests/format_examples/xml/valid.xml @@ -0,0 +1,24 @@ + + + + John Smith + + Ola Nordmann +
Langgt 23
+ 4000 Stavanger + Norway + + + Empire Burlesque + Special Edition + 1 + 10.90 + + + Hide your heart + 1 + 9.90 + + \ No newline at end of file diff --git a/src/model_io/urdf-kdl/src/urdf_sensor_import.cpp b/src/model_io/urdf-kdl/src/urdf_sensor_import.cpp index 4742b84fb71..a0c045ab300 100644 --- a/src/model_io/urdf-kdl/src/urdf_sensor_import.cpp +++ b/src/model_io/urdf-kdl/src/urdf_sensor_import.cpp @@ -17,7 +17,7 @@ #include #include -#include +#include #include diff --git a/src/model_io/urdf/CMakeLists.txt b/src/model_io/urdf/CMakeLists.txt index ff3b87330fc..afef6efccc5 100644 --- a/src/model_io/urdf/CMakeLists.txt +++ b/src/model_io/urdf/CMakeLists.txt @@ -8,40 +8,72 @@ project(iDynTree_ModelIO_URDF CXX) -set(IDYNTREE_MODELIO_URDF_HEADERS include/iDynTree/ModelIO/URDFModelImport.h - include/iDynTree/ModelIO/URDFDofsImport.h - include/iDynTree/ModelIO/URDFGenericSensorsImport.h - include/iDynTree/ModelIO/ModelLoader.h) - -set(IDYNTREE_MODELIO_URDF_SOURCES src/URDFParsingUtils.h - src/URDFModelImport.cpp - src/URDFDofsImport.cpp - src/URDFGenericSensorsImport.cpp - src/URDFSolidShapesImport.cpp - src/ModelLoader.cpp) +find_package(LibXml2 REQUIRED) + +set(IDYNTREE_MODELIO_URDF_HEADERS include/iDynTree/ModelIO/URDFDofsImport.h + include/iDynTree/ModelIO/ModelLoader.h + include/deprecated/iDynTree/ModelIO/URDFModelImport.h) + +set(IDYNTREE_MODELIO_URDF_PRIVATE_HEADERS include/private/URDFDocument.h + include/private/InertialElement.h + include/private/JointElement.h + include/private/LinkElement.h + include/private/RobotElement.h + include/private/OriginElement.h + include/private/SensorElement.h + include/private/ForceTorqueSensorElement.h + include/private/MaterialElement.h + include/private/VisualElement.h + include/private/GeometryElement.h + include/private/URDFParsingUtils.h) + +set(IDYNTREE_MODELIO_URDF_XMLELEMENTS_SOURCES src/URDFDocument.cpp + src/InertialElement.cpp + src/JointElement.cpp + src/LinkElement.cpp + src/RobotElement.cpp + src/OriginElement.cpp + src/SensorElement.cpp + src/ForceTorqueSensorElement.cpp + src/MaterialElement.cpp + src/VisualElement.cpp + src/GeometryElement.cpp + ) + +set(IDYNTREE_MODELIO_URDF_SOURCES src/URDFDofsImport.cpp + src/ModelLoader.cpp + src/deprecated/URDFModelImport.cpp + src/deprecated/URDFGenericSensorsImport.cpp + src/deprecated/URDFSolidShapesImport.cpp) SOURCE_GROUP("Source Files" FILES ${IDYNTREE_MODELIO_URDF_SOURCES}) +SOURCE_GROUP("Source Files\\XML Elements" FILES ${IDYNTREE_MODELIO_URDF_XMLELEMENTS_SOURCES}) SOURCE_GROUP("Header Files" FILES ${IDYNTREE_MODELIO_URDF_HEADERS}) +SOURCE_GROUP("Private Header Files" FILES ${IDYNTREE_MODELIO_URDF_PRIVATE_HEADERS}) + +list(APPEND IDYNTREE_MODELIO_URDF_SOURCES ${IDYNTREE_MODELIO_URDF_XMLELEMENTS_SOURCES}) # share headers with all iDynTree targets set(libraryname idyntree-modelio-urdf) -add_library(${libraryname} ${IDYNTREE_MODELIO_URDF_SOURCES} ${IDYNTREE_MODELIO_URDF_HEADERS}) +add_library(${libraryname} ${IDYNTREE_MODELIO_URDF_SOURCES} ${IDYNTREE_MODELIO_URDF_HEADERS} ${IDYNTREE_MODELIO_URDF_PRIVATE_HEADERS}) + +target_compile_features(${libraryname} PRIVATE cxx_auto_type cxx_delegating_constructors cxx_final cxx_lambdas cxx_lambda_init_captures) target_include_directories(${libraryname} PUBLIC "$" + "$" + "$" "$" ${IDYNTREE_TREE_INCLUDE_DIRS} PRIVATE ${EIGEN3_INCLUDE_DIR} - ${TinyXML_INCLUDE_DIRS}) + ${LIBXML2_INCLUDE_DIR}) -target_link_libraries(${libraryname} LINK_PUBLIC idyntree-model idyntree-sensors +target_link_libraries(${libraryname} LINK_PUBLIC idyntree-core idyntree-model idyntree-sensors idyntree-modelio-xml LINK_PRIVATE ${TinyXML_LIBRARIES}) - -target_compile_options(${libraryname} PRIVATE ${IDYNTREE_WARNING_FLAGS}) +target_compile_options(${libraryname} PRIVATE ${IDYNTREE_WARNING_FLAGS} ${LIBXML2_DEFINITIONS}) -target_include_directories(${libraryname} PRIVATE ${EIGEN3_INCLUDE_DIR} - ${TinyXML_INCLUDE_DIRS}) +target_include_directories(${libraryname} PRIVATE ${EIGEN3_INCLUDE_DIR}) # Ensure that build include directories are always included before system ones get_property(IDYNTREE_TREE_INCLUDE_DIRS GLOBAL PROPERTY IDYNTREE_TREE_INCLUDE_DIRS) diff --git a/src/model_io/urdf/include/iDynTree/ModelIO/URDFGenericSensorsImport.h b/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFGenericSensorsImport.h similarity index 63% rename from src/model_io/urdf/include/iDynTree/ModelIO/URDFGenericSensorsImport.h rename to src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFGenericSensorsImport.h index 5e90bc3a829..84b9d581551 100644 --- a/src/model_io/urdf/include/iDynTree/ModelIO/URDFGenericSensorsImport.h +++ b/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFGenericSensorsImport.h @@ -13,6 +13,12 @@ #include +#include + +#ifdef __DEPRECATED + #warning is deprecated. Please use and the classes contained in it. To disable this warning use -Wno-deprecated. +#endif + namespace iDynTree { @@ -28,7 +34,9 @@ class Model; * * * @return true if all went ok, false otherwise. + * @deprecated Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::SensorsList from a URDF file. */ +IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::SensorsList from a URDF file.") bool sensorsFromURDF(const std::string & urdf_filename, iDynTree::SensorsList & output); @@ -41,7 +49,9 @@ bool sensorsFromURDF(const std::string & urdf_filename, * * * @return true if all went ok, false otherwise. + * @deprecated Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::SensorsList from a URDF file. */ +IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::SensorsList from a URDF file.") bool sensorsFromURDF(const std::string & urdf_filename, const Model & model, iDynTree::SensorsList & output); @@ -53,7 +63,9 @@ bool sensorsFromURDF(const std::string & urdf_filename, * https://github.com/robotology/idyntree/blob/master/doc/model_loading.md . * * @return true if all went ok, false otherwise. + * @deprecated Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::SensorsList from a URDF string. */ +IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::SensorsList from a URDF string.") bool sensorsFromURDFString(const std::string & urdf_string, iDynTree::SensorsList & output); @@ -65,7 +77,9 @@ bool sensorsFromURDFString(const std::string & urdf_string, * https://github.com/robotology/idyntree/blob/master/doc/model_loading.md . * * @return true if all went ok, false otherwise. + * @deprecated Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::SensorsList from a URDF string. */ +IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::SensorsList from a URDF string.") bool sensorsFromURDFString(const std::string & urdf_string, const Model & model, iDynTree::SensorsList & output); diff --git a/src/model_io/urdf/include/iDynTree/ModelIO/URDFModelImport.h b/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFModelImport.h similarity index 77% rename from src/model_io/urdf/include/iDynTree/ModelIO/URDFModelImport.h rename to src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFModelImport.h index f897aebd762..8dd5e9f2927 100644 --- a/src/model_io/urdf/include/iDynTree/ModelIO/URDFModelImport.h +++ b/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFModelImport.h @@ -11,8 +11,14 @@ #ifndef IDYNTREE_URDF_MODEL_IMPORT_H #define IDYNTREE_URDF_MODEL_IMPORT_H +#ifdef __DEPRECATED + #warning is deprecated. Please use and the classes contained in it. To disable this warning use -Wno-deprecated. +#endif + #include +#include + namespace iDynTree { @@ -24,7 +30,8 @@ class Model; * * Options for the iDynTree URDF parser. */ -struct URDFParserOptions + +struct IDYNTREE_DEPRECATED URDFParserOptions { /** * If true, add to the model the sensor frames @@ -66,7 +73,10 @@ struct URDFParserOptions * * @param[in] options the URDFParserOptions struct of options passed to the parser * @return true if all went ok, false otherwise. + * + * @deprecated Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::Model from a URDF file. */ +IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::Model from a URDF file.") bool modelFromURDF(const std::string & urdf_filename, iDynTree::Model & output, const URDFParserOptions options=URDFParserOptions()); @@ -82,7 +92,10 @@ bool modelFromURDF(const std::string & urdf_filename, * * @param[in] options the URDFParserOptions struct of options passed to the parser * @return true if all went ok, false otherwise. + * + * @deprecated Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::Model from a URDF string. */ +IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::Model from a URDF string.") bool modelFromURDFString(const std::string & urdf_string, iDynTree::Model & output, const URDFParserOptions options=URDFParserOptions()); diff --git a/src/model_io/urdf/include/iDynTree/ModelIO/URDFSolidShapesImport.h b/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFSolidShapesImport.h similarity index 60% rename from src/model_io/urdf/include/iDynTree/ModelIO/URDFSolidShapesImport.h rename to src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFSolidShapesImport.h index 569c03429fc..9ab40735b35 100644 --- a/src/model_io/urdf/include/iDynTree/ModelIO/URDFSolidShapesImport.h +++ b/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFSolidShapesImport.h @@ -13,6 +13,8 @@ #include +#include + namespace iDynTree { @@ -27,7 +29,10 @@ class ModelSolidShapes; * * @param[in] urdfGeometryType can be "visual", "collision". * @return true if all went well, false otherwise. + * + * @deprecated Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::ModelSolidShapes from a URDF file. */ +IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromFile to load a iDynTree::ModelSolidShapes from a URDF file.") bool solidShapesFromURDF(const std::string & urdf_filename, const Model & model, const std::string urdfGeometryType, @@ -42,12 +47,14 @@ bool solidShapesFromURDF(const std::string & urdf_filename, * @param[in] urdf_filename if the urdf was loaded from a * @param[in] urdfGeometryType can be "visual" or "collision". * @return true if all went well, false otherwise. + * @deprecated Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::ModelSolidShapes from a URDF string. */ +IDYNTREE_DEPRECATED_WITH_MSG("Please use iDynTree::ModelLoader::loadModelFromString to load a iDynTree::ModelSolidShapes from a URDF string.") bool solidShapesFromURDFString(const std::string & urdf_string, - const std::string & urdf_filename, - const Model & model, - const std::string urdfGeometryType, - iDynTree::ModelSolidShapes & output); + const std::string & urdf_filename, + const Model & model, + const std::string urdfGeometryType, + iDynTree::ModelSolidShapes & output); } diff --git a/src/model_io/urdf/include/iDynTree/ModelIO/ModelLoader.h b/src/model_io/urdf/include/iDynTree/ModelIO/ModelLoader.h index 4ba222faa3e..fd8909662ba 100644 --- a/src/model_io/urdf/include/iDynTree/ModelIO/ModelLoader.h +++ b/src/model_io/urdf/include/iDynTree/ModelIO/ModelLoader.h @@ -14,12 +14,52 @@ #include #include +#include #include #include namespace iDynTree { +/** + * \ingroup iDynTreeModelIO + * + * Options for the iDynTree parser. + */ +struct ModelParserOptions +{ + // TODO: migrate to set/get + // ???: what about adding a search dir instead of a filename? +public: + + /** + * If true, add to the model the sensor frames + * as additional frames with the same name of the sensor. + * If there is already a link or additional frame with the same + * name of the sensor, a warning is printed and no frame is added. + */ + bool addSensorFramesAsAdditionalFrames; + + /** + * Original filename of the URDF sensor parsed. + * + * This attribute is the original filename of the URDF sensor parsed. + * It is useful when loading a model from a string, if that URDF string + * has tags that point to external meshes. To find the location + * of this external meshes, we need also the original filename of the URDF file. + */ + std::string originalFilename; + + /** Default options + * + * - addSensorFramesAsAdditionalFrames = True + * - originalFilename = empty string + */ + ModelParserOptions(); + +}; + + /** * \ingroup iDynTreeModelIO * @@ -29,11 +69,9 @@ namespace iDynTree class ModelLoader { private: - Model m_model; - SensorsList m_sensors; - bool m_isModelValid; - bool setModelAndSensors(const Model& _model, const SensorsList& _sensors); + class ModelLoaderPimpl; + std::unique_ptr m_pimpl; public: @@ -48,6 +86,8 @@ class ModelLoader */ ModelLoader(); + ~ModelLoader(); + //@} /** @@ -55,6 +95,10 @@ class ModelLoader * This methods are used to load the structure of your model. */ //@{ + const ModelParserOptions& parsingOptions() const; + + void setParsingOptions(const ModelParserOptions& options); + /** * Load the model of the robot from a string. * diff --git a/src/model_io/urdf/include/private/ForceTorqueSensorElement.h b/src/model_io/urdf/include/private/ForceTorqueSensorElement.h new file mode 100644 index 00000000000..a104690a45f --- /dev/null +++ b/src/model_io/urdf/include/private/ForceTorqueSensorElement.h @@ -0,0 +1,47 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#ifndef IDYNTREE_MODELIO_URDF_FORCETORQUESENSORELEMENT_H +#define IDYNTREE_MODELIO_URDF_FORCETORQUESENSORELEMENT_H + +#include +#include "SensorElement.h" + +namespace iDynTree { + class ForceTorqueSensorElement; + class ForceTorqueSensorHelper; + + class XMLAttribute; +} + +class iDynTree::ForceTorqueSensorElement: public iDynTree::XMLElement { +private: + std::shared_ptr m_helper; +public: + ForceTorqueSensorElement(std::shared_ptr sensorInfo); + + std::shared_ptr childElementForName(const std::string& name) override; + + const std::shared_ptr helper() const; +}; + +class iDynTree::ForceTorqueSensorHelper final: public iDynTree::SensorHelper { + friend class ForceTorqueSensorElement; + + std::string m_measuredFrame; + std::string m_measureDirection; +public: + ForceTorqueSensorHelper(std::shared_ptr sensorInfo); + Sensor* generateSensor(const Model& model) const override; +}; + +#endif /* end of include guard: IDYNTREE_MODELIO_URDF_FORCETORQUESENSORELEMENT_H */ diff --git a/src/model_io/urdf/include/private/GeometryElement.h b/src/model_io/urdf/include/private/GeometryElement.h new file mode 100644 index 00000000000..3a97f905b7a --- /dev/null +++ b/src/model_io/urdf/include/private/GeometryElement.h @@ -0,0 +1,35 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#ifndef IDYNTREE_MODELIO_URDF_GEOMETRYELEMENT_H +#define IDYNTREE_MODELIO_URDF_GEOMETRYELEMENT_H + +#include + +namespace iDynTree { + class GeometryElement; + + class SolidShape; +} + +class iDynTree::GeometryElement: public iDynTree::XMLElement { +private: + std::shared_ptr& m_shape; + +public: + GeometryElement(std::shared_ptr& shape); + + std::shared_ptr childElementForName(const std::string& name) override; +}; + +#endif /* end of include guard: IDYNTREE_MODELIO_URDF_GEOMETRYELEMENT_H */ + diff --git a/src/model_io/urdf/include/private/InertialElement.h b/src/model_io/urdf/include/private/InertialElement.h new file mode 100644 index 00000000000..529e67d6cdb --- /dev/null +++ b/src/model_io/urdf/include/private/InertialElement.h @@ -0,0 +1,40 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#ifndef IDYNTREE_MODELIO_URDF_INERTIAELEMENT_H +#define IDYNTREE_MODELIO_URDF_INERTIAELEMENT_H + +#include + +#include +#include + +namespace iDynTree { + class InertialElement; +} + +class iDynTree::InertialElement: public iDynTree::XMLElement { + Transform m_centerOfMass; + double m_mass; + RotationalInertiaRaw m_rotationalInertiaWRTCoM; + iDynTree::Link &m_link; + +public: + InertialElement(iDynTree::Link &link); + + std::shared_ptr childElementForName(const std::string& name) override; + + virtual void exitElementScope() override; + +}; + +#endif /* end of include guard: IDYNTREE_MODELIO_URDF_INERTIAELEMENT_H */ diff --git a/src/model_io/urdf/include/private/JointElement.h b/src/model_io/urdf/include/private/JointElement.h new file mode 100644 index 00000000000..d30f840acd2 --- /dev/null +++ b/src/model_io/urdf/include/private/JointElement.h @@ -0,0 +1,76 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#ifndef IDYNTREE_MODELIO_URDF_JOINTELEMENT_H +#define IDYNTREE_MODELIO_URDF_JOINTELEMENT_H + +#include + +#include +#include + +#include +#include +#include + +namespace iDynTree { + class JointElement; + class XMLAttribute; + + class IJoint; +} + + +class iDynTree::JointElement : public iDynTree::XMLElement { + +public: + // ???: Not sure where this struct should be located + struct JointInfo { + std::shared_ptr joint; + iDynTree::Axis axis; + std::string parentLinkName; + std::string childLinkName; + }; + +private: + std::unordered_map& m_joints; + std::unordered_map& m_fixedJoints; + + std::string m_jointName; + std::string m_jointType; + iDynTree::Transform m_jointFrame; + iDynTree::Axis m_axis; + std::string m_parentLink; + std::string m_childLink; + + struct Limits { + double positionLower; + double positionUpper; + double effort; + double velocity; + }; + + std::shared_ptr m_limits; + +public: + JointElement(std::unordered_map& joints, + std::unordered_map& fixedJoints); + + bool setAttributes(const std::unordered_map>& attributes) override; + + std::shared_ptr childElementForName(const std::string& name) override; + + virtual void exitElementScope() override; + +}; + +#endif /* end of include guard: IDYNTREE_MODELIO_URDF_JOINTELEMENT_H */ diff --git a/src/model_io/urdf/include/private/LinkElement.h b/src/model_io/urdf/include/private/LinkElement.h new file mode 100644 index 00000000000..eef1bc54ce8 --- /dev/null +++ b/src/model_io/urdf/include/private/LinkElement.h @@ -0,0 +1,55 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#ifndef IDYNTREE_MODELIO_URDF_LINKELEMENT_H +#define IDYNTREE_MODELIO_URDF_LINKELEMENT_H + +#include + +#include "VisualElement.h" + +#include + +namespace iDynTree { + class LinkElement; + class XMLAttribute; + + class Model; +} + +class iDynTree::LinkElement : public iDynTree::XMLElement { + iDynTree::Model& m_model; + + iDynTree::Link m_link; + std::string m_linkName; + std::vector m_visuals; + std::vector m_collisions; + +public: + LinkElement(iDynTree::Model &model); + + // Exposing useful properties + const std::string& linkName() const; + const std::vector& visuals() const; + const std::vector& collisions() const; + + void exitElementScope() override; + + bool setAttributes(const std::unordered_map>& attributes) override; + + void childHasBeenParsed(std::shared_ptr child) override; + + std::shared_ptr childElementForName(const std::string& name) override; + +}; + +#endif /* end of include guard: IDYNTREE_MODELIO_URDF_LINKELEMENT_H */ diff --git a/src/model_io/urdf/include/private/MaterialElement.h b/src/model_io/urdf/include/private/MaterialElement.h new file mode 100644 index 00000000000..4445fc02b5f --- /dev/null +++ b/src/model_io/urdf/include/private/MaterialElement.h @@ -0,0 +1,52 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#ifndef IDYNTREE_MODELIO_URDF_MATERIALELEMENT_H +#define IDYNTREE_MODELIO_URDF_MATERIALELEMENT_H + +#include + +#include + +#include +#include + + +namespace iDynTree { + class MaterialElement; + + class XMLAttribute; +} + +class iDynTree::MaterialElement: public iDynTree::XMLElement +{ +public: + struct MaterialInfo { + std::string m_name; + std::string m_textureFilename; + std::shared_ptr m_rgba; // This is optional, use a pointer + }; + +private: + std::shared_ptr m_info; + +public: + + MaterialElement(std::shared_ptr materialInfo); + const std::shared_ptr materialInfo() const; + + bool setAttributes(const std::unordered_map>& attributes) override; + std::shared_ptr childElementForName(const std::string& name) override; +}; + +#endif /* end of include guard: IDYNTREE_MODELIO_URDF_MATERIALELEMENT_H */ + diff --git a/src/model_io/urdf/include/private/OriginElement.h b/src/model_io/urdf/include/private/OriginElement.h new file mode 100644 index 00000000000..536c66e957f --- /dev/null +++ b/src/model_io/urdf/include/private/OriginElement.h @@ -0,0 +1,38 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#ifndef IDYNTREE_MODELIO_URDF_ORIGINELEMENT_H +#define IDYNTREE_MODELIO_URDF_ORIGINELEMENT_H + +#include + +#include + +namespace iDynTree { + class OriginElement; + + class XMLAttribute; + class Transform; +} + +class iDynTree::OriginElement: public iDynTree::XMLElement { +private: + iDynTree::Transform& m_jointOrigin; + +public: + OriginElement(iDynTree::Transform& jointOrigin); + + bool setAttributes(const std::unordered_map>& attributes) override; + +}; + +#endif /* end of include guard: IDYNTREE_MODELIO_URDF_ORIGINELEMENT_H */ diff --git a/src/model_io/urdf/include/private/RobotElement.h b/src/model_io/urdf/include/private/RobotElement.h new file mode 100644 index 00000000000..ba1e56b9249 --- /dev/null +++ b/src/model_io/urdf/include/private/RobotElement.h @@ -0,0 +1,62 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#ifndef IDYNTREE_MODELIO_URDF_ROBOTELEMENT_H +#define IDYNTREE_MODELIO_URDF_ROBOTELEMENT_H + +#include + +#include "JointElement.h" +#include "MaterialElement.h" +#include "VisualElement.h" + +#include +#include + +//TODO: should we add a nested urdf namespace? +namespace iDynTree { + class RobotElement; + + class SensorHelper; + + class Model; +} + + +class iDynTree::RobotElement : public iDynTree::XMLElement { +private: + // Variables coming from Document, containing the intermediate state of the parsing + iDynTree::Model& m_model; + std::vector>& m_sensorHelpers; + std::unordered_map& m_joints; + std::unordered_map& m_fixedJoints; + std::unordered_map& m_materials; + std::unordered_map> &m_visuals; + std::unordered_map> &m_collisions; + +public: + RobotElement(iDynTree::Model& model, + std::vector>& sensorHelpers, + std::unordered_map& joints, + std::unordered_map& fixedJoints, + std::unordered_map& materials, + std::unordered_map> &visuals, + std::unordered_map> &collisions); + + virtual ~RobotElement(); + std::shared_ptr childElementForName(const std::string& name) override; + + void childHasBeenParsed(std::shared_ptr) override; + +}; + +#endif /* end of include guard: IDYNTREE_MODELIO_URDF_ROBOTELEMENT_H */ diff --git a/src/model_io/urdf/include/private/SensorElement.h b/src/model_io/urdf/include/private/SensorElement.h new file mode 100644 index 00000000000..1adae8e7f16 --- /dev/null +++ b/src/model_io/urdf/include/private/SensorElement.h @@ -0,0 +1,93 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#ifndef IDYNTREE_MODELIO_URDF_SENSORELEMENT_H +#define IDYNTREE_MODELIO_URDF_SENSORELEMENT_H + +#include + +#include +#include + +#include +#include +#include +#include + +namespace iDynTree { + class SensorElement; + class SensorHelper; + class AccelerometerSensorHelper; + class GyroscopeSensorHelper; + + class XMLAttribute; + class Sensor; + class Model; +} + + +class iDynTree::SensorElement: public iDynTree::XMLElement { +public: + // Class to keep the data needed to generate the actual Sensor implementation. + // The only purpose is to keep it separate from the XML Element class + struct SensorInfo { + public: + std::string m_name; + // Explicitly keeping separate link and joint for error checking + std::string m_attachedLink; + std::string m_attachedJoint; + iDynTree::SensorType m_sensorType; + + iDynTree::Transform m_origin; + }; + +private: + std::shared_ptr m_info; + std::vector>& m_sensors; +public: + + // I didn't find another clean way to return the generated Helper, instead of manually adding to + // the vector + SensorElement(std::vector>& sensors); + + std::shared_ptr childElementForName(const std::string& name) override; + bool setAttributes(const std::unordered_map>& attributes) override; +}; + + +class iDynTree::SensorHelper { +protected: + std::shared_ptr m_sensorInfo; +public: + SensorHelper(std::shared_ptr m_sensorInfo); + + virtual ~SensorHelper(); + // Plain old pointer as this should be used in the other iDynTree codebase + // the called is the owner of the returned pointer, i.e. you have to manage the memory + virtual Sensor* generateSensor(const Model&) const = 0; +}; + +// Helpers for sensors that do not have a tag associated + +class iDynTree::AccelerometerSensorHelper final: public iDynTree::SensorHelper { +public: + AccelerometerSensorHelper(std::shared_ptr sensorInfo); + Sensor* generateSensor(const Model& model) const override; +}; + +class iDynTree::GyroscopeSensorHelper final: public iDynTree::SensorHelper { +public: + GyroscopeSensorHelper(std::shared_ptr sensorInfo); + Sensor* generateSensor(const Model& model) const override; +}; + +#endif /* end of include guard: IDYNTREE_MODELIO_URDF_SENSORELEMENT_H */ diff --git a/src/model_io/urdf/include/private/URDFDocument.h b/src/model_io/urdf/include/private/URDFDocument.h new file mode 100644 index 00000000000..09f1a9facb8 --- /dev/null +++ b/src/model_io/urdf/include/private/URDFDocument.h @@ -0,0 +1,68 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#ifndef IDYNTREE_MODELIO_URDF_URDFDOCUMENT_H +#define IDYNTREE_MODELIO_URDF_URDFDOCUMENT_H + +#include + +#include "JointElement.h" +#include "MaterialElement.h" +#include "SensorElement.h" +#include "VisualElement.h" +#include "iDynTree/ModelIO/ModelLoader.h" + +#include +#include + +#include +#include +#include + +namespace iDynTree { + class URDFDocument; +} + + +class iDynTree::URDFDocument: public iDynTree::XMLDocument { + // This is the final output of the parsing + processing + iDynTree::Model m_model; + iDynTree::SensorsList m_sensors; + + iDynTree::ModelParserOptions m_options; + + struct { + // Intermediate variable needed for saving the parsing result before the processing + std::vector> sensorHelpers; + std::unordered_map joints; + std::unordered_map fixedJoints; + std::unordered_map materials; + std::unordered_map> visuals; + std::unordered_map> collisions; + + } m_buffers; + +public: + URDFDocument(); + virtual ~URDFDocument(); + + iDynTree::ModelParserOptions& options(); + + const iDynTree::Model& model() const; + const iDynTree::SensorsList& sensors() const; + + std::shared_ptr rootElementForName(const std::string& name) override; + bool documentHasBeenParsed() override; +}; + + +#endif /* end of include guard: IDYNTREE_MODELIO_URDF_URDFDOCUMENT_H */ diff --git a/src/model_io/urdf/src/URDFParsingUtils.h b/src/model_io/urdf/include/private/URDFParsingUtils.h similarity index 80% rename from src/model_io/urdf/src/URDFParsingUtils.h rename to src/model_io/urdf/include/private/URDFParsingUtils.h index 303e36cd362..67d4f9282f4 100644 --- a/src/model_io/urdf/src/URDFParsingUtils.h +++ b/src/model_io/urdf/include/private/URDFParsingUtils.h @@ -19,8 +19,6 @@ #include #include -#include - namespace iDynTree { @@ -119,45 +117,6 @@ bool inline vector3FromString(const std::string & vector_str, Vector3 & out) } -bool inline transformFromURDFXML(TiXmlElement* xml, - Transform & transform) -{ - // Default transform is identify - transform = Transform::Identity(); - - if (xml) - { - const char* xyz_str = xml->Attribute("xyz"); - if (xyz_str != NULL) - { - Position xyz; - if( vector3FromString(xyz_str,xyz) ) - { - transform.setPosition(xyz); - } - else - { - return false; - } - } - - const char* rpy_str = xml->Attribute("rpy"); - if (rpy_str != NULL) - { - Vector3 rpy; - if( vector3FromString(rpy_str,rpy) ) - { - transform.setRotation(Rotation::RPY(rpy(0),rpy(1),rpy(2))); - } - else - { - return false; - } - } - } - return true; -} - bool inline vector4FromString(const std::string & vector_str, Vector4 & out) { std::vector pieces; diff --git a/src/model_io/urdf/include/private/VisualElement.h b/src/model_io/urdf/include/private/VisualElement.h new file mode 100644 index 00000000000..18585a9aa91 --- /dev/null +++ b/src/model_io/urdf/include/private/VisualElement.h @@ -0,0 +1,57 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#ifndef IDYNTREE_MODELIO_URDF_VISUALELEMENT_H +#define IDYNTREE_MODELIO_URDF_VISUALELEMENT_H + +#include + +#include "MaterialElement.h" + +#include +#include + +#include +#include +#include +#include + +namespace iDynTree { + class VisualElement; + + class XMLAttribute; +} + +class iDynTree::VisualElement: public iDynTree::XMLElement +{ +public: + struct VisualInfo { + std::string m_name; + iDynTree::Transform m_origin; + std::shared_ptr m_solidShape; + std::shared_ptr m_material; + }; + +private: + VisualInfo m_info; + +public: + VisualElement(); + + const VisualInfo& visualInfo() const; + + bool setAttributes(const std::unordered_map>& attributes) override; + std::shared_ptr childElementForName(const std::string& name) override; +}; + +#endif /* end of include guard: IDYNTREE_MODELIO_URDF_VISUALELEMENT_H */ + diff --git a/src/model_io/urdf/src/ForceTorqueSensorElement.cpp b/src/model_io/urdf/src/ForceTorqueSensorElement.cpp new file mode 100644 index 00000000000..7976b579005 --- /dev/null +++ b/src/model_io/urdf/src/ForceTorqueSensorElement.cpp @@ -0,0 +1,139 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "ForceTorqueSensorElement.h" + +#include +#include + +namespace iDynTree { + + ForceTorqueSensorHelper::ForceTorqueSensorHelper(std::shared_ptr sensorInfo) + : SensorHelper(sensorInfo) {} + + Sensor* ForceTorqueSensorHelper::generateSensor(const Model& model) const + { + // Assume the model is fully formed except for the sensors + std::string attachedJointName = m_sensorInfo->m_attachedJoint; + if (attachedJointName.empty()) { + std::string message = std::string("Joint name not specified for the FT sensor ") + m_sensorInfo->m_name; + reportError("ForceTorqueSensorElement::ForceTorqueSensorInfo", "generateSensor", message.c_str()); + return nullptr; + } + iDynTree::JointIndex jointIndex = model.getJointIndex(attachedJointName); + if (jointIndex == JOINT_INVALID_INDEX) { + // TODO: error + return nullptr; + } + + iDynTree::Traversal traversal; + model.computeFullTreeTraversal(traversal); + + iDynTree::LinkIndex parentLinkIndex = traversal.getParentLinkIndexFromJointIndex(model, jointIndex); + iDynTree::LinkIndex childLinkIndex = traversal.getChildLinkIndexFromJointIndex(model, jointIndex); + + if (parentLinkIndex == LINK_INVALID_INDEX || + childLinkIndex == LINK_INVALID_INDEX) { + // TODO: error + return nullptr; + } + SixAxisForceTorqueSensor *sensor = new SixAxisForceTorqueSensor(); + + sensor->setName(m_sensorInfo->m_name); + sensor->setParentJoint(attachedJointName); + sensor->setParentJointIndex(jointIndex); + + if (m_measureDirection == "parent_to_child") + { + sensor->setAppliedWrenchLink(childLinkIndex); + } + else if(m_measureDirection == "child_to_parent") + { + sensor->setAppliedWrenchLink(parentLinkIndex); + } + else + { + delete sensor; + // TODO: error +// std::cerr<< "[ERROR] sensor " << sensorName +// << " of type force_torque has unexpected measure_direction content " << measure_direction +// << ", parsing failed." << std::endl; +// parsingSuccessful = false; + return nullptr; + } + + // The transform tag is parsed using the Gazebo convention + // For now we assume that the six axis ft sensor is attached to a + // fixed junction. Hence the first/second link to sensor transforms + // are fixed are given by the frame option + iDynTree::Transform parent_link_H_child_link = model.getJoint(jointIndex)->getRestTransform(parentLinkIndex, childLinkIndex); + iDynTree::Transform child_link_H_sensor = m_sensorInfo->m_origin; + + if (m_measuredFrame == "child") { + sensor->setFirstLinkSensorTransform(parentLinkIndex,parent_link_H_child_link); + sensor->setSecondLinkSensorTransform(childLinkIndex,iDynTree::Transform::Identity()); + + } else if (m_measuredFrame == "parent") { + sensor->setFirstLinkSensorTransform(parentLinkIndex,iDynTree::Transform::Identity()); + sensor->setSecondLinkSensorTransform(childLinkIndex,parent_link_H_child_link.inverse()); + + } else if (m_measuredFrame == "sensor") { + sensor->setFirstLinkSensorTransform(parentLinkIndex,parent_link_H_child_link*child_link_H_sensor); + sensor->setSecondLinkSensorTransform(childLinkIndex,child_link_H_sensor); + } else { + // Error check should have been done in the parsing. Just return NULL + reportError("ForceTorqueSensorElement::ForceTorqueSensorInfo", "generateSensor", "Unexpected sensor frame."); + delete sensor; + return nullptr; + } + + sensor->setFirstLinkName(model.getLinkName(parentLinkIndex)); + sensor->setSecondLinkName(model.getLinkName(childLinkIndex)); + + return sensor; + } + + ForceTorqueSensorElement::ForceTorqueSensorElement(std::shared_ptr sensorInfo) + : iDynTree::XMLElement("force_torque") + , m_helper(std::make_shared(sensorInfo)) {} + + const std::shared_ptr ForceTorqueSensorElement::helper() const + { + return m_helper; + } + + std::shared_ptr ForceTorqueSensorElement::childElementForName(const std::string& name) + { + std::shared_ptr element = std::make_shared(name); + if (name == "frame") { + std::weak_ptr weakElement(element); + element->setExitScopeCallback([this, weakElement]{ + //Get the text content + std::shared_ptr currentElement = weakElement.lock(); + std::string value = currentElement->getParsedTextContent(); + + m_helper->m_measuredFrame = value; + }); + } + else if (name == "measure_direction") { + std::weak_ptr weakElement(element); + element->setExitScopeCallback([this, weakElement]{ + //Get the text content + std::shared_ptr currentElement = weakElement.lock(); + std::string value = currentElement->getParsedTextContent(); + m_helper->m_measureDirection = value; + }); + } + return element; + } + +} diff --git a/src/model_io/urdf/src/GeometryElement.cpp b/src/model_io/urdf/src/GeometryElement.cpp new file mode 100644 index 00000000000..380bc0cf066 --- /dev/null +++ b/src/model_io/urdf/src/GeometryElement.cpp @@ -0,0 +1,130 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "GeometryElement.h" + +#include "URDFParsingUtils.h" + +#include +#include +#include + +namespace iDynTree{ + + GeometryElement::GeometryElement(std::shared_ptr& shape) + : iDynTree::XMLElement("geometry") + , m_shape(shape) {} + + std::shared_ptr GeometryElement::childElementForName(const std::string& name) + { + std::shared_ptr element = std::make_shared(name); + if (name == "box") { + element->setAttributeCallback([this](const std::unordered_map> &attributes){ + + auto found = attributes.find("size"); + if (found == attributes.end()) { + reportError("GeometryElement", "childElementForName::box", "Missing 'size' attribute for box geometry."); + return false; + } + Vector3 boxDimensionn; + if (!vector3FromString(found->second->value(), boxDimensionn)) { + + return false; + } + Box *box = new Box(); + + box->x = boxDimensionn(0); + box->y = boxDimensionn(1); + box->z = boxDimensionn(2); + + m_shape = std::shared_ptr(box); + return true; + }); + } else if (name == "cylinder") { + element->setAttributeCallback([this](const std::unordered_map > &attributes){ + + double radius, length; + auto found = attributes.find("radius"); + if (found == attributes.end()) { + reportError("GeometryElement", "childElementForName::cylinder", "Missing 'radius' attribute for cylinder geometry."); + return false; + } + if (!stringToDoubleWithClassicLocale(found->second->value(), radius)) { + reportError("GeometryElement", "childElementForName::cylinder", "Failed to parse 'radius' attribute for cylinder geometry."); + return false; + } + + found = attributes.find("length"); + if (found == attributes.end()) { + reportError("GeometryElement", "childElementForName::cylinder", "Missing 'length' attribute for cylinder geometry."); + return false; + } + if (!stringToDoubleWithClassicLocale(found->second->value(), length)) { + reportError("GeometryElement", "childElementForName::cylinder", "Failed to parse 'length' attribute for cylinder geometry."); + return false; + } + Cylinder * cylinder = new Cylinder(); + cylinder->radius = radius; + cylinder->length = length; + + m_shape = std::shared_ptr(cylinder); + return true; + }); + } else if (name == "sphere") { + element->setAttributeCallback([this](const std::unordered_map > &attributes){ + + double radius; + auto found = attributes.find("radius"); + if (found == attributes.end()) { + reportError("GeometryElement", "childElementForName::sphere", "Missing 'radius' attribute for sphere geometry."); + return false; + } + if (!stringToDoubleWithClassicLocale(found->second->value(), radius)) { + reportError("GeometryElement", "childElementForName::sphere", "Failed to parse 'radius' attribute for sphere geometry."); + return false; + } + + Sphere * sphere = new Sphere(); + sphere->radius = radius; + + m_shape = std::shared_ptr(sphere); + return true; + }); + } else if (name == "mesh") { + element->setAttributeCallback([this](const std::unordered_map > &attributes){ + + auto found = attributes.find("filename"); + if (found == attributes.end()) { + reportWarning("GeometryElement", "childElementForName::mesh", "Missing 'filename' attribute for sphere mesh."); + } else { + //TODO: Do not fail (?) + // For now we just support urdf with local meshes, see as an example + // https://github.com/bulletphysics/bullet3/tree/master/data + ExternalMesh * externalMesh = new ExternalMesh(); + externalMesh->filename = found->second->value(); + // pExternalMesh->filename = getURDFMeshAbsolutePathFilename(urdf_filename,localName); + + externalMesh->scale(0) = externalMesh->scale(1) = externalMesh->scale(2) = 1.0; + + found = attributes.find("scale"); + if (found != attributes.end()) { + vector3FromString(found->second->value(), externalMesh->scale); + } + m_shape = std::shared_ptr(externalMesh); + } + return true; + }); + } + return element; + } + +} diff --git a/src/model_io/urdf/src/InertialElement.cpp b/src/model_io/urdf/src/InertialElement.cpp new file mode 100644 index 00000000000..af892d4d8b0 --- /dev/null +++ b/src/model_io/urdf/src/InertialElement.cpp @@ -0,0 +1,111 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "InertialElement.h" + +#include "OriginElement.h" + +#include + +#include "URDFParsingUtils.h" + +namespace iDynTree { + + InertialElement::InertialElement(iDynTree::Link &link) + : iDynTree::XMLElement("inertial") + , m_centerOfMass(iDynTree::Transform::Identity()) + , m_mass(0) + , m_link(link) {} + + std::shared_ptr InertialElement::childElementForName(const std::string& name) { + // As an alternative for simple elements, instead of creating other classes, + // I implement the simple functions of the generic element + if (name == "origin") { + return std::make_shared(m_centerOfMass); + } + if (name == "mass") { + std::shared_ptr element = std::make_shared(name); + element->setAttributeCallback([this](const std::unordered_map>& attributes) { + m_mass = 0; + auto mass = attributes.find("value"); + if (mass != attributes.end()) { + try { + m_mass = std::stod(mass->second->value()); + } catch(const std::invalid_argument& ia) { + std::string message = std::string("Failed to obtain floating point representation from ") + ia.what(); + reportWarning("InertialElement", "childElementForName::mass::f_attribute", message.c_str()); + } + } + return true; + }); + return element; + } + if (name == "inertia") { + std::shared_ptr element = std::make_shared(name); + element->setAttributeCallback([this](const std::unordered_map>& attributes) { + auto ixx = attributes.find("ixx"); + auto ixy = attributes.find("ixy"); + auto ixz = attributes.find("ixz"); + auto iyy = attributes.find("iyy"); + auto izz = attributes.find("izz"); + auto iyz = attributes.find("iyz"); + + if (ixx == attributes.end() + || ixy == attributes.end() + || ixz == attributes.end() + || iyy == attributes.end() + || izz == attributes.end() + || iyz == attributes.end()) { + reportError("InertialElement", "childElementForName::inertia::f_attribute", "Missing some inertia parameter. Expecting 6"); + return false; + } + double xx; + double xy; + double xz; + double yy; + double zz; + double yz; + if (!stringToDoubleWithClassicLocale(ixx->second->value(), xx) + || !stringToDoubleWithClassicLocale(ixy->second->value(), xy) + || !stringToDoubleWithClassicLocale(ixz->second->value(), xz) + || !stringToDoubleWithClassicLocale(iyy->second->value(), yy) + || !stringToDoubleWithClassicLocale(izz->second->value(), zz) + || !stringToDoubleWithClassicLocale(iyz->second->value(), yz)) { + reportWarning("InertiaElement", "childElementForName::inertia::f_attribute", "Failed to obtain floating point representation for the inertia element."); + return false; + } + double buffer[3 * 3] = { + xx, xy, xz, + xy, yy, yz, + xz, yz, zz + }; + m_rotationalInertiaWRTCoM = RotationalInertiaRaw(buffer, 3, 3); + + return true; + }); + return element; + } + return std::make_shared(name); + } + + void InertialElement::exitElementScope() { + Position com_wrt_link = m_centerOfMass.getPosition(); + Rotation link_R_com = m_centerOfMass.getRotation(); + SpatialInertia inertia; + inertia.fromRotationalInertiaWrtCenterOfMass(m_mass, + com_wrt_link, + link_R_com * m_rotationalInertiaWRTCoM); + + m_link.setInertia(inertia); + } + +} diff --git a/src/model_io/urdf/src/JointElement.cpp b/src/model_io/urdf/src/JointElement.cpp new file mode 100644 index 00000000000..ba553ef5097 --- /dev/null +++ b/src/model_io/urdf/src/JointElement.cpp @@ -0,0 +1,179 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "JointElement.h" + +#include "OriginElement.h" +#include "URDFParsingUtils.h" + +#include + +#include +#include +#include +#include + +#include + +namespace iDynTree { + + JointElement::JointElement(std::unordered_map& joints, + std::unordered_map& fixedJoints) + : iDynTree::XMLElement("joint") + , m_joints(joints) + , m_fixedJoints(fixedJoints) + , m_jointFrame(Transform::Identity()) + , m_axis(Axis(Direction(1.0, 0.0, 0.0), Position(0.0, 0.0, 0.0))) { } + + bool JointElement::setAttributes(const std::unordered_map>& attributes) { + // attributes: name + auto found = attributes.find("name"); + if (found != attributes.end()) { + m_jointName = found->second->value(); + } + found = attributes.find("type"); + if (found != attributes.end()) { + m_jointType = found->second->value(); + // Explicitly check the supported types + if (m_jointType != "fixed" + && m_jointType != "revolute" + && m_jointType != "continuous" + && m_jointType != "prismatic") + { + std::string errStr = "Joint " + m_jointName + " has type " + m_jointType + " that is not currently supported by iDynTree."; + reportError("JointElement", "setAttributes", errStr.c_str()); + return false; + } + } + return true; + } + + std::shared_ptr JointElement::childElementForName(const std::string& name) { + // As an alternative for simple elements, instead of creating other classes, + // I implement the simple functions of the generic element + if (name == "origin") { + return std::make_shared(m_jointFrame); + } else if (name == "parent" || name == "child") { + std::string& ref = (name == "parent") ? m_parentLink : m_childLink; + XMLElement* element = new XMLElement(name); + element->setAttributeCallback([&ref](const std::unordered_map>& attributes) { + auto linkName = attributes.find("link"); + if (linkName != attributes.end()) { + ref = linkName->second->value(); + } + return true; + }); + return std::shared_ptr(element); + } else if (name == "axis") { + XMLElement* element = new XMLElement(name); + element->setAttributeCallback([this](const std::unordered_map>& attributes) { + auto xyz = attributes.find("xyz"); + if (xyz != attributes.end()) { + Vector3 direction; + if (vector3FromString(xyz->second->value(), direction)) { + m_axis = Axis(Direction(direction(0), direction(1), direction(2)), + Position(0.0, 0.0, 0.0)); + } + } + return true; + }); + return std::shared_ptr(element); + } else if (name == "limit") { + m_limits = std::make_shared(); + m_limits->positionLower = .0; + m_limits->positionUpper = .0; + + // TODO: check how the defaults/required works + XMLElement* element = new XMLElement(name); + element->setAttributeCallback([this](const std::unordered_map>& attributes) { + + auto found = attributes.find("lower"); + if (found != attributes.end()) { + double value = 0; + if (stringToDoubleWithClassicLocale(found->second->value(), value)) { + m_limits->positionLower = value; + } + } + found = attributes.find("upper"); + if (found != attributes.end()) { + double value = 0; + if (stringToDoubleWithClassicLocale(found->second->value(), value)) { + m_limits->positionUpper = value; + } + } + found = attributes.find("effort"); + if (found != attributes.end()) { + double value = 0; + if (stringToDoubleWithClassicLocale(found->second->value(), value)) { + m_limits->effort = value; + } + } + found = attributes.find("velocity"); + if (found != attributes.end()) { + double value = 0; + if (stringToDoubleWithClassicLocale(found->second->value(), value)) { + m_limits->velocity = value; + } + } + // TODO: check if we need to impose restrictions on the joint type + + return true; + }); + return std::shared_ptr(element); + } + return std::make_shared(name); + } + + void JointElement::exitElementScope() + { + JointElement::JointInfo info; + info.joint = nullptr; + std::unordered_map* map = nullptr; + + if (m_jointType == "fixed") + { + info.joint = std::make_shared(m_jointFrame); + map = &m_fixedJoints; + } + else if (m_jointType == "revolute" || m_jointType == "continuous") + { + RevoluteJoint* rev_joint = new RevoluteJoint(); + rev_joint->setRestTransform(m_jointFrame); + info.joint = std::shared_ptr(rev_joint); + map = &m_joints; + } + else if (m_jointType == "prismatic") + { + PrismaticJoint* prism_joint = new PrismaticJoint(); + prism_joint->setRestTransform(m_jointFrame); + info.joint = std::shared_ptr(prism_joint); + map = &m_joints; + } + + if (info.joint && map) { + info.parentLinkName = m_parentLink; + info.childLinkName = m_childLink; + info.axis = m_axis; + + if (m_limits) { + // Limits found + info.joint->enablePosLimits(true); + info.joint->setPosLimits(0, m_limits->positionLower, m_limits->positionUpper); + } else if (m_jointType == "revolute" || m_jointType == "prismatic") { + std::string errStr = "Joint " + m_jointName + " misses the limit tag."; + reportWarning("JointElement", "", errStr.c_str()); + } + + map->insert(std::unordered_map::value_type(m_jointName, info)); + } + } +} diff --git a/src/model_io/urdf/src/LinkElement.cpp b/src/model_io/urdf/src/LinkElement.cpp new file mode 100644 index 00000000000..e9b47d2fc45 --- /dev/null +++ b/src/model_io/urdf/src/LinkElement.cpp @@ -0,0 +1,83 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "LinkElement.h" + +#include "InertialElement.h" +#include "VisualElement.h" + +#include + +#include + +#include +#include + + +namespace iDynTree { + + LinkElement::LinkElement(iDynTree::Model &model) + : iDynTree::XMLElement("link") + , m_model(model) + { + iDynTree::SpatialInertia zeroInertia = iDynTree::SpatialInertia::Zero(); + m_link.setInertia(zeroInertia); + } + + const std::string& LinkElement::linkName() const { return m_linkName; } + const std::vector& LinkElement::visuals() const { return m_visuals; } + const std::vector& LinkElement::collisions() const { return m_collisions; } + + void LinkElement::exitElementScope() { + m_model.addLink(m_linkName, m_link); + } + + bool LinkElement::setAttributes(const std::unordered_map>& attributes) { + auto found = attributes.find("name"); + if (found == attributes.end()) { + reportError("LinkElement", "setAttributes", "No name given for a link in the model."); + return false; + } + m_linkName = found->second->value(); + return true; + } + + std::shared_ptr LinkElement::childElementForName(const std::string& name) { + if (name == "inertial") { + return std::make_shared(m_link); + } else if (name == "visual") { + return std::make_shared(); + } else if (name == "collision") { + return std::make_shared(); + } + return std::make_shared(name); + } + + void LinkElement::childHasBeenParsed(std::shared_ptr child) + { + std::vector* visualContainer = nullptr; + if (child->name() == "visual") { + visualContainer = &m_visuals; + } else if (child->name() == "collision") { + visualContainer = &m_collisions; + } else { + return; + } + std::shared_ptr visualElement = std::dynamic_pointer_cast(child); + if (!visualElement) { + reportError("LinkElement", "childHasBeenParsed", "Expecting a VisualElement for visual/collision child. Got another element instead."); + return; + } + visualContainer->push_back(visualElement->visualInfo()); + } + +} diff --git a/src/model_io/urdf/src/MaterialElement.cpp b/src/model_io/urdf/src/MaterialElement.cpp new file mode 100644 index 00000000000..b00bdd593e9 --- /dev/null +++ b/src/model_io/urdf/src/MaterialElement.cpp @@ -0,0 +1,70 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "MaterialElement.h" + +#include "URDFParsingUtils.h" + +#include + +#include + +namespace iDynTree { + + MaterialElement::MaterialElement(std::shared_ptr materialInfo) + : iDynTree::XMLElement("material") + , m_info(materialInfo) + { + if (!m_info) { + m_info = std::make_shared(); + } + } + + const std::shared_ptr MaterialElement::materialInfo() const { return m_info; } + + std::shared_ptr MaterialElement::childElementForName(const std::string& name) + { + std::shared_ptr element = std::make_shared(name); + if (name == "color") { + element->setAttributeCallback([this](const std::unordered_map>& attributes){ + auto found = attributes.find("rgba"); + if (found != attributes.end()) { + m_info->m_rgba = std::make_shared(); + vector4FromString(found->second->value(), *m_info->m_rgba); + } + return true; + }); + } else if (name == "texture") { + element->setAttributeCallback([this](const std::unordered_map>& attributes){ + auto found = attributes.find("filename"); + if (found != attributes.end()) { + m_info->m_textureFilename = found->second->value(); + } + return true; + }); + std::string message = std::string("Texture tag not supported by iDynTree. Skipping material ") + m_info->m_name; + reportWarning("MaterialElement", "childElementForName::texture", message.c_str()); + } + return element; + } + + bool MaterialElement::setAttributes(const std::unordered_map>& attributes) + { + auto found = attributes.find("name"); + if (found == attributes.end()) { + reportError("MaterialElement", "setAttributes", "Impossible to parse URDF material. Missing 'name' attribute."); + return false; + } + m_info->m_name = found->second->value(); + return true; + } +} diff --git a/src/model_io/urdf/src/ModelLoader.cpp b/src/model_io/urdf/src/ModelLoader.cpp index 61cebd9807e..9cf5f065e4a 100644 --- a/src/model_io/urdf/src/ModelLoader.cpp +++ b/src/model_io/urdf/src/ModelLoader.cpp @@ -8,193 +8,181 @@ * at your option. */ -#include -#include +#include "iDynTree/ModelIO/ModelLoader.h" +#include "URDFDocument.h" + +#include #include -#include -#include -#include -namespace iDynTree -{ - -ModelLoader::ModelLoader(): m_isModelValid(false) -{ -} - -const Model& ModelLoader::model() -{ - return m_model; -} +#include +#include -const SensorsList& ModelLoader::sensors() +namespace iDynTree { - return m_sensors; -} -bool ModelLoader::isValid() -{ - return m_isModelValid; -} + ModelParserOptions::ModelParserOptions() + : addSensorFramesAsAdditionalFrames(true) + , originalFilename("") {} -bool ModelLoader::setModelAndSensors(const Model& _model, - const SensorsList& _sensors) -{ - m_model = _model; - m_sensors = _sensors; + class ModelLoader::ModelLoaderPimpl { + public: + Model m_model; + SensorsList m_sensors; + bool m_isModelValid; + ModelParserOptions m_options; - // TODO \todo add a self consistency check of model/sensors - m_isModelValid = true; + bool setModelAndSensors(const Model& _model, const SensorsList& _sensors); + }; - if( !m_isModelValid ) + bool ModelLoader::ModelLoaderPimpl::setModelAndSensors(const Model& _model, + const SensorsList& _sensors) { - reportError("ModelLoader","setModelAndSensors","Loading failed, resetting ModelLoader to be invalid"); - m_model = Model(); - m_sensors = SensorsList(); - } - return m_isModelValid; -} + m_model = _model; + m_sensors = _sensors; -bool ModelLoader::loadModelFromFile(const std::string& filename, - const std::string& /*filetype*/) -{ - Model _model; - SensorsList _sensors; - - bool parsingCorrect = false; + // TODO \todo add a self consistency check of model/sensors + m_isModelValid = true; - parsingCorrect = modelFromURDF(filename,_model); + if (!m_isModelValid) + { + reportError("ModelLoader","setModelAndSensors","Loading failed, resetting ModelLoader to be invalid"); + m_model = Model(); + m_sensors = SensorsList(); + } - if( !parsingCorrect ) - { - reportError("ModelLoader","loadModelFromFile","Error in parsing model from URDF."); - return false; + return m_isModelValid; } - parsingCorrect = sensorsFromURDF(filename,_model,_sensors); - - if( !parsingCorrect ) + ModelLoader::ModelLoader() + : m_pimpl(new ModelLoaderPimpl()) { - reportError("ModelLoader","loadModelFromFile","Error in parsing sensors from URDF."); - return false; + m_pimpl->m_isModelValid = false; } - return setModelAndSensors(_model,_sensors); -} + ModelLoader::~ModelLoader() {} -bool ModelLoader::loadModelFromString(const std::string& modelString, - const std::string& /*filetype*/) -{ - Model _model; - SensorsList _sensors; - - bool parsingCorrect = false; - - parsingCorrect = modelFromURDFString(modelString,_model); - - if( !parsingCorrect ) + const Model& ModelLoader::model() { - reportError("loadModelFromString","loadModelFromString","Error in parsing model from URDF."); - return false; + return m_pimpl->m_model; } - parsingCorrect = sensorsFromURDFString(modelString,_model,_sensors); - - if( !parsingCorrect ) + const SensorsList& ModelLoader::sensors() { - reportError("loadModelFromString","loadModelFromString","Error in parsing sensors from URDF."); - return false; + return m_pimpl->m_sensors; } - return setModelAndSensors(_model,_sensors); -} - -bool ModelLoader::loadReducedModelFromFullModel(const Model& fullModel, - const std::vector< std::string >& consideredJoints, - const std::string /*filetype*/) -{ - SensorsList _sensorsFull, _sensorsReduced; - Model _modelReduced; - bool ok = createReducedModelAndSensors(fullModel,_sensorsFull,consideredJoints,_modelReduced,_sensorsReduced); - - if( !ok ) + bool ModelLoader::isValid() { - return false; + return m_pimpl->m_isModelValid; } - return setModelAndSensors(_modelReduced,_sensorsReduced); -} - -bool ModelLoader::loadReducedModelFromString(const std::string modelString, - const std::vector< std::string >& consideredJoints, - const std::string /*filetype*/) -{ - SensorsList _sensorsFull, _sensorsReduced; - Model _modelFull, _modelReduced; - bool parsingCorrect = modelFromURDFString(modelString,_modelFull); + const ModelParserOptions& ModelLoader::parsingOptions() const { return m_pimpl->m_options; } - if( !parsingCorrect ) + void ModelLoader::setParsingOptions(const ModelParserOptions& options) { - reportError("ModelLoader","loadReducedModelFromString","Error in parsing model from URDF."); - return false; + m_pimpl->m_options = options; } - parsingCorrect = sensorsFromURDFString(modelString,_modelFull,_sensorsFull); - - if( !parsingCorrect ) + bool ModelLoader::loadModelFromFile(const std::string& filename, + const std::string& /*filetype*/) { - reportError("ModelLoader","loadReducedModelFromString","Error in parsing sensors from URDF."); - return false; + // Allocate parser + std::shared_ptr parser = std::make_shared(); + parser->setDocumentFactory([]{ return std::shared_ptr(new URDFDocument); }); + if (!parser->parseXMLFile(filename)) { + reportError("ModelLoader", "loadModelFromFile", "Error in parsing model from URDF."); + return false; + } + // Retrieving the parsed document, which is an instance of URDFDocument + std::shared_ptr document = parser->document(); + std::shared_ptr urdfDocument = std::dynamic_pointer_cast(document); + if (!urdfDocument) { + reportError("ModelLoader", "loadModelFromFile", "Fatal error in retrieving the parsed model."); + return false; + } + + return m_pimpl->setModelAndSensors(urdfDocument->model(),urdfDocument->sensors()); } - parsingCorrect = createReducedModelAndSensors(_modelFull,_sensorsFull,consideredJoints,_modelReduced,_sensorsReduced); - - if( !parsingCorrect ) + bool ModelLoader::loadModelFromString(const std::string& modelString, + const std::string& /*filetype*/) { - return false; + // Allocate parser + std::shared_ptr parser = std::make_shared(); + parser->setDocumentFactory([]{ return std::shared_ptr(new URDFDocument); }); + if (!parser->parseXMLString(modelString)) { + reportError("ModelLoader", "loadModelFromString", "Error in parsing model from URDF."); + return false; + } + // Retrieving the parsed document, which is an instance of URDFDocument + std::shared_ptr document = parser->document(); + std::shared_ptr urdfDocument = std::dynamic_pointer_cast(document); + if (!urdfDocument) { + reportError("ModelLoader", "loadModelFromString", "Fatal error in retrieving the parsed model."); + return false; + } + + return m_pimpl->setModelAndSensors(urdfDocument->model(),urdfDocument->sensors()); } - return setModelAndSensors(_modelReduced,_sensorsReduced); -} + bool ModelLoader::loadReducedModelFromFullModel(const Model& fullModel, + const std::vector< std::string >& consideredJoints, + const std::string /*filetype*/) + { + SensorsList _sensorsFull, _sensorsReduced; + Model _modelReduced; + bool ok = createReducedModelAndSensors(fullModel,_sensorsFull,consideredJoints,_modelReduced,_sensorsReduced); -bool ModelLoader::loadReducedModelFromFile(const std::string filename, - const std::vector< std::string >& consideredJoints, - const std::string /*filetype*/) -{ - SensorsList _sensorsFull, _sensorsReduced; - Model _modelFull, _modelReduced; + if( !ok ) + { + return false; + } - bool parsingCorrect = modelFromURDF(filename,_modelFull); + return m_pimpl->setModelAndSensors(_modelReduced,_sensorsReduced); + } - if( !parsingCorrect ) + bool ModelLoader::loadReducedModelFromString(const std::string modelString, + const std::vector< std::string >& consideredJoints, + const std::string /*filetype*/) { - reportError("ModelLoader","loadReducedModelFromFile","Error in parsing model from URDF."); - return false; - } + bool parsingCorrect = loadModelFromString(modelString); + if (!parsingCorrect) return false; + SensorsList _sensorsFull = m_pimpl->m_sensors, _sensorsReduced; + Model _modelFull = m_pimpl->m_model, _modelReduced; - parsingCorrect = sensorsFromURDF(filename,_modelFull,_sensorsFull); + parsingCorrect = createReducedModelAndSensors(_modelFull, _sensorsFull, + consideredJoints, + _modelReduced, _sensorsReduced); - if( !parsingCorrect ) - { - reportError("ModelLoader","loadReducedModelFromFile","Error in parsing sensors from URDF."); - return false; - } + if (!parsingCorrect) + { + return false; + } - parsingCorrect = createReducedModelAndSensors(_modelFull,_sensorsFull,consideredJoints,_modelReduced,_sensorsReduced); + return m_pimpl->setModelAndSensors(_modelReduced, _sensorsReduced); + } - if( !parsingCorrect ) + bool ModelLoader::loadReducedModelFromFile(const std::string filename, + const std::vector< std::string >& consideredJoints, + const std::string /*filetype*/) { - return false; - } + bool parsingCorrect = loadModelFromFile(filename); + if (!parsingCorrect) return false; + SensorsList _sensorsFull = m_pimpl->m_sensors, _sensorsReduced; + Model _modelFull = m_pimpl->m_model, _modelReduced; - return setModelAndSensors(_modelReduced,_sensorsReduced); -} + parsingCorrect = createReducedModelAndSensors(_modelFull,_sensorsFull,consideredJoints,_modelReduced,_sensorsReduced); + if (!parsingCorrect) + { + return false; + } + return m_pimpl->setModelAndSensors(_modelReduced,_sensorsReduced); + } } - diff --git a/src/model_io/urdf/src/OriginElement.cpp b/src/model_io/urdf/src/OriginElement.cpp new file mode 100644 index 00000000000..14551bc555c --- /dev/null +++ b/src/model_io/urdf/src/OriginElement.cpp @@ -0,0 +1,48 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "OriginElement.h" + +#include "URDFParsingUtils.h" + +#include + +#include + +namespace iDynTree { + OriginElement::OriginElement(iDynTree::Transform& jointOrigin) + : iDynTree::XMLElement("origin") + , m_jointOrigin(jointOrigin) {} + + bool OriginElement::setAttributes(const std::unordered_map>& attributes) + { + auto xyz = attributes.find("xyz"); + if (xyz != attributes.end()) { + Position origin; + if (vector3FromString(xyz->second->value(), origin)) { + m_jointOrigin.setPosition(origin); + } + } + auto rpy = attributes.find("rpy"); + if (rpy != attributes.end()) { + Rotation orientation; + Vector3 rpyVector; + if (vector3FromString(rpy->second->value(), rpyVector)) { + orientation = Rotation::RPY(rpyVector(0), + rpyVector(1), + rpyVector(2)); + m_jointOrigin.setRotation(orientation); + } + } + return true; + } +} diff --git a/src/model_io/urdf/src/RobotElement.cpp b/src/model_io/urdf/src/RobotElement.cpp new file mode 100644 index 00000000000..562e66dc071 --- /dev/null +++ b/src/model_io/urdf/src/RobotElement.cpp @@ -0,0 +1,98 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "RobotElement.h" + +#include "LinkElement.h" +#include "JointElement.h" +#include "SensorElement.h" +#include "MaterialElement.h" + +#include +#include + +#include + +namespace iDynTree { + + RobotElement::RobotElement(iDynTree::Model& model, + std::vector>& sensorHelpers, + std::unordered_map& joints, + std::unordered_map& fixedJoints, + std::unordered_map& materials, + std::unordered_map> &visuals, + std::unordered_map> &collisions) + : iDynTree::XMLElement("robot") + , m_model(model) + , m_sensorHelpers(sensorHelpers) + , m_joints(joints) + , m_fixedJoints(fixedJoints) + , m_materials(materials) + , m_visuals(visuals) + , m_collisions(collisions) {} + + RobotElement::~RobotElement() {} + + std::shared_ptr RobotElement::childElementForName(const std::string& name) + { + if (name == "link") { + return std::make_shared(m_model); + } else if (name == "joint") { + return std::make_shared(m_joints, m_fixedJoints); + } else if (name == "sensor") { + return std::make_shared(m_sensorHelpers); + } else if (name == "material") { + // These materials constitute a model-level database of materials + // TODO: the result of the parsing should be added to the database + return std::make_shared(nullptr); + } + //TODO: What to do with an unexpected tag? + // we would like to support two modes: strict (raise an error for an unexpected tag) + // non-strict: just ignore the tag (current mode). + + // Then the questions are: + // - How can I specify the strict/non-strict mode? This function is a callback. + // (We might propagate an option from the URDFDocument class) + // - Should I handle the error here or in the XML Parser class (returning a nullptr here)? + return std::shared_ptr(new iDynTree::XMLElement(name)); + } + + void RobotElement::childHasBeenParsed(std::shared_ptr child) + { + if (child->name() == "link") { + std::shared_ptr link = std::dynamic_pointer_cast(child); + if (!link) { + reportError("RobotElement", "childHasBeenParsed", "Expecting a LinkElement for link child. Got another element instead."); + return; + } + if (!link->visuals().empty()) { + m_visuals.insert(std::make_pair(link->linkName(), link->visuals())); + } + if (!link->collisions().empty()) { + m_collisions.insert(std::make_pair(link->linkName(), link->collisions())); + } + } else if (child->name() == "material") { + std::shared_ptr material = std::dynamic_pointer_cast(child); + if (!material) { + reportError("RobotElement", "childHasBeenParsed", "Expecting a MaterialElement for link child. Got another element instead."); + return; + } + std::shared_ptr info = material->materialInfo(); + if (info) { + // ???: Converting to object to have a consistent interface + m_materials.insert(std::make_pair(info->m_name, *info)); + } + } + } + +} + diff --git a/src/model_io/urdf/src/SensorElement.cpp b/src/model_io/urdf/src/SensorElement.cpp new file mode 100644 index 00000000000..9b796a07d65 --- /dev/null +++ b/src/model_io/urdf/src/SensorElement.cpp @@ -0,0 +1,145 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "SensorElement.h" + +#include "OriginElement.h" +#include "ForceTorqueSensorElement.h" + +#include +#include +#include +#include +#include + + +namespace iDynTree { + + SensorHelper::SensorHelper(std::shared_ptr sensorInfo) + : m_sensorInfo(sensorInfo) {} + SensorHelper::~SensorHelper() {} + + + SensorElement::SensorElement(std::vector>& sensors) + : iDynTree::XMLElement("sensor") + , m_info(std::make_shared()) + , m_sensors(sensors) + { + // Defaulting the origin + m_info->m_origin = Transform::Identity(); + } + + std::shared_ptr SensorElement::childElementForName(const std::string& name) + { + if (name == "origin") { + return std::make_shared(m_info->m_origin); + } else if (name == "parent") { + std::shared_ptr element = std::make_shared(name); + element->setAttributeCallback([this](const std::unordered_map>& attributes) { + auto found = attributes.find("link"); + if (found != attributes.end()) { + m_info->m_attachedLink = found->second->value(); + } + found = attributes.find("joint"); + if (found != attributes.end()) { + m_info->m_attachedJoint = found->second->value(); + } + return true; + }); + return element; + } else if (name == "force_torque") { + if (m_info->m_sensorType != SIX_AXIS_FORCE_TORQUE) { + // Error + } + + std::shared_ptr element = std::make_shared(m_info); + // We have to save the helper which is responsible of generating the iDynTree::Sensor class + // after the XML parsing. + m_sensors.push_back(element->helper()); + return element; + } + return std::make_shared(name); + } + + bool SensorElement::setAttributes(const std::unordered_map>& attributes) + { + auto found = attributes.find("name"); + if (found == attributes.end()) { + reportError("SensorElement", "setAttributes", "name is required for the element."); + return false; + } + m_info->m_name = found->second->value(); + + found = attributes.find("type"); + if (found == attributes.end()) { + reportError("SensorElement", "setAttributes", "type is required for the element."); + return false; + } + std::string type = found->second->value(); + + // For the sensors that do not have a tag associated, we create an helper directly + if (type == "accelerometer") { + m_info->m_sensorType = ACCELEROMETER; + m_sensors.push_back(std::make_shared(m_info)); + } else if (type == "gyroscope") { + m_info->m_sensorType = GYROSCOPE; + m_sensors.push_back(std::make_shared(m_info)); + } else if (type == "force_torque") { + m_info->m_sensorType = SIX_AXIS_FORCE_TORQUE; + } else { + std::string message = "iDynTree does not support sensor of type " + type; + reportWarning("SensorElement", "setAttributes", message.c_str()); + } + + return true; + } + + + AccelerometerSensorHelper::AccelerometerSensorHelper(std::shared_ptr sensorInfo) + : iDynTree::SensorHelper(sensorInfo) {} + + Sensor* AccelerometerSensorHelper::generateSensor(const Model& model) const + { + if (m_sensorInfo->m_attachedLink.empty()) { + //TODO: error + return nullptr; + } + iDynTree::LinkIndex linkIndex = model.getLinkIndex(m_sensorInfo->m_attachedLink); + + AccelerometerSensor * sensor = new AccelerometerSensor(); + sensor->setLinkSensorTransform(m_sensorInfo->m_origin); + sensor->setName(m_sensorInfo->m_name); + sensor->setParentLink(m_sensorInfo->m_attachedLink); + sensor->setParentLinkIndex(linkIndex); + return sensor; + } + + GyroscopeSensorHelper::GyroscopeSensorHelper(std::shared_ptr sensorInfo) + : iDynTree::SensorHelper(sensorInfo) {} + + Sensor* GyroscopeSensorHelper::generateSensor(const Model& model) const + { + if (m_sensorInfo->m_attachedLink.empty()) { + //TODO: error + return nullptr; + } + iDynTree::LinkIndex linkIndex = model.getLinkIndex(m_sensorInfo->m_attachedLink); + + GyroscopeSensor * sensor = new GyroscopeSensor(); + sensor->setLinkSensorTransform(m_sensorInfo->m_origin); + sensor->setName(m_sensorInfo->m_name); + sensor->setParentLink(m_sensorInfo->m_attachedLink); + sensor->setParentLinkIndex(linkIndex); + return sensor; + } + +} diff --git a/src/model_io/urdf/src/URDFDocument.cpp b/src/model_io/urdf/src/URDFDocument.cpp new file mode 100644 index 00000000000..1dfee7c19d0 --- /dev/null +++ b/src/model_io/urdf/src/URDFDocument.cpp @@ -0,0 +1,495 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "URDFDocument.h" +#include "RobotElement.h" + +#include +#include +#include + +#include +#include + +namespace iDynTree { + + // Functions local to the current compilation unit + static std::unordered_set processJoints(iDynTree::Model& model, + std::unordered_map& joints, + std::unordered_map& fixed_joints); + static bool isFakeLink(const iDynTree::Model& modelWithFakeLinks, const iDynTree::LinkIndex linkToCheck); + static bool removeFakeLinks(const iDynTree::Model &originalModel, iDynTree::Model& cleanModel); + static bool processSensors(const Model& model, + const std::vector>& helpers, + iDynTree::SensorsList& sensors); + static bool addSensorFramesAsAdditionalFramesToModel(Model& model, + const SensorsList& sensors); + static bool addVisualPropertiesToModel(const Model& model, + const std::unordered_map>& visuals, + const std::unordered_map& materialDatabase, + ModelSolidShapes &modelGeometries); + + URDFDocument::URDFDocument() + { + } + + iDynTree::ModelParserOptions& URDFDocument::options() { return m_options; } + + const iDynTree::Model& URDFDocument::model() const + { + return m_model; + } + + const iDynTree::SensorsList& URDFDocument::sensors() const + { + return m_sensors; + } + + URDFDocument::~URDFDocument() {} + std::shared_ptr URDFDocument::rootElementForName(const std::string& name) + { + // allowed tag is + if (name == "robot") { + m_model = iDynTree::Model(); + m_buffers.sensorHelpers.clear(); + m_buffers.joints.clear(); + m_buffers.fixedJoints.clear(); + m_buffers.materials.clear(); + + return std::make_shared(m_model, + m_buffers.sensorHelpers, + m_buffers.joints, + m_buffers.fixedJoints, + m_buffers.materials, + m_buffers.visuals, + m_buffers.collisions); + } + // TODO: raise an error here + return std::shared_ptr(new XMLElement()); + } + + bool URDFDocument::documentHasBeenParsed() + { + // Maybe it is not the cleanest solution to process the model here, + // but the after the scope is exited, the Model should be fully formed. + // Add the joints to the model + std::unordered_set childLinks = processJoints(m_model, + m_buffers.joints, + m_buffers.fixedJoints); + // Get root + std::vector rootCandidates; + for(unsigned link = 0; link < m_model.getNrOfLinks(); ++link) + { + std::string linkName = m_model.getLinkName(link); + if (childLinks.find(linkName) == childLinks.end() ) + { + rootCandidates.push_back(linkName); + } + } + + if (rootCandidates.empty()) { + reportError("RobotElement", "exitElementScope", "No root link found in URDF string"); + m_model = Model(); + return false; + } + + if (rootCandidates.size() >= 2) { + std::stringstream ss; + ss << "Multiple (" << rootCandidates.size() << ") root links: ("; + ss << rootCandidates[0]; + for (size_t root = 1; root < rootCandidates.size(); ++root) + { + ss << ", " << rootCandidates[root]; + } + ss << ") found in URDF string"; + + reportError("RobotElement", "exitElementScope", ss.str().c_str()); + m_model = Model(); + return false; + } + + // set the default root in the model + m_model.setDefaultBaseLink(m_model.getLinkIndex(rootCandidates[0])); + iDynTree::Model newModel; + + if (!removeFakeLinks(m_model, newModel)) { + reportError("URDFDocument", "documentHasBeenParsed", "Failed to remove fake links from the model"); + return false; + } + m_model = newModel; + + if (!processSensors(m_model, m_buffers.sensorHelpers, m_sensors)) + { + //TODO: error + return false; + } + + if (m_options.addSensorFramesAsAdditionalFrames) + { + if (!addSensorFramesAsAdditionalFramesToModel(m_model, m_sensors)) { + //TODO: error + return false; + } + } + + // Assign visual properties to objects + + if (!addVisualPropertiesToModel(m_model, + m_buffers.visuals, + m_buffers.materials, + m_model.visualSolidShapes())) { + reportError("URDFDocument", "documentHasBeenParsed", "Failed to add visual elements to model"); + } + if (!addVisualPropertiesToModel(m_model, + m_buffers.visuals, + m_buffers.materials, + m_model.collisionSolidShapes())) { + reportError("URDFDocument", "documentHasBeenParsed", "Failed to add collision elements to model"); + } + + return true; + } + + + //MARK: - Static function definitions + + std::unordered_set processJoints(iDynTree::Model& model, + std::unordered_map& joints, + std::unordered_map& fixed_joints) { + std::unordered_set childLinks; + for (auto &pair : joints) { + std::string jointName = pair.first; + std::shared_ptr joint = pair.second.joint; + std::string &parentLinkName = pair.second.parentLinkName; + std::string &childLinkName = pair.second.childLinkName; + LinkIndex parentLinkIndex = model.getLinkIndex(parentLinkName); + LinkIndex childLinkIndex = model.getLinkIndex(childLinkName); + + joint->setAttachedLinks(parentLinkIndex, childLinkIndex); + + // Set the axis + // I need to check the type of Joint. Unfortunately Joint does not possesses a generic setAxis method + if (std::shared_ptr revolute = std::dynamic_pointer_cast(joint)) { + revolute->setAxis(pair.second.axis, childLinkIndex, parentLinkIndex); + } else if (std::shared_ptr prismatic = std::dynamic_pointer_cast(joint)) { + prismatic->setAxis(pair.second.axis, childLinkIndex, parentLinkIndex); + } else { + reportError("URDFDocument", "processJoints", "Unrecognized joint type"); + } + + //TODO: check error + // It will get clone internally + model.addJoint(jointName, joint.get()); + // save the child link name + childLinks.insert(childLinkName); + } + + // Adding all the fixed joint in the end + for (auto &pair : fixed_joints) { + std::string jointName = pair.first; + std::shared_ptr joint = pair.second.joint; + std::string &parentLinkName = pair.second.parentLinkName; + std::string &childLinkName = pair.second.childLinkName; + LinkIndex parentLinkIndex = model.getLinkIndex(parentLinkName); + LinkIndex childLinkIndex = model.getLinkIndex(childLinkName); + //TODO: check error + joint->setAttachedLinks(parentLinkIndex, childLinkIndex); + // It will get clone internally + model.addJoint(jointName, joint.get()); + // save the child link name + childLinks.insert(childLinkName); + } + return childLinks; + } + + + bool isFakeLink(const Model& modelWithFakeLinks, const LinkIndex linkToCheck) + { + // First condition: base link is massless + double mass = modelWithFakeLinks.getLink(linkToCheck)->getInertia().getMass(); + if (mass > 0.0) + { + return false; + } + + // Second condition: the base link has only one child + if (modelWithFakeLinks.getNrOfNeighbors(linkToCheck) != 1) + { + return false; + } + + // Third condition: the base link is attached to its child with a fixed joint + Neighbor neigh = modelWithFakeLinks.getNeighbor(linkToCheck, 0); + if (modelWithFakeLinks.getJoint(neigh.neighborJoint)->getNrOfDOFs() > 0) + { + return false; + } + + return true; + } + + bool removeFakeLinks(const iDynTree::Model &originalModel, iDynTree::Model& cleanModel) + { + // Clear the output model + cleanModel = iDynTree::Model(); + + std::unordered_set linksToRemove; + std::unordered_set jointsToRemove; + + std::string newDefaultBaseLink = originalModel.getLinkName(originalModel.getDefaultBaseLink()); + + // We iterate on all the links in the model + // and check which one are "fake links", according + // to our definition + for (LinkIndex linkIndex = 0; linkIndex < (LinkIndex)originalModel.getNrOfLinks(); ++linkIndex) + { + if (isFakeLink(originalModel, linkIndex)) + { + linksToRemove.insert(originalModel.getLinkName(linkIndex)); + JointIndex jointIndex = originalModel.getNeighbor(linkIndex, 0).neighborJoint; + jointsToRemove.insert(originalModel.getJointName(jointIndex)); + + // if the fake link is the default base, we also need to update the + // default base in the new model + if (linkIndex == originalModel.getDefaultBaseLink()) + { + LinkIndex newBaseIndex = originalModel.getNeighbor(linkIndex, 0).neighborLink; + newDefaultBaseLink = originalModel.getLinkName(newBaseIndex); + } + } + } + + // Add all links, except for the one that we need to remove + for (unsigned link = 0; link < originalModel.getNrOfLinks(); ++link) + { + std::string linkToAdd = originalModel.getLinkName(link); + if (linksToRemove.find(linkToAdd) == linksToRemove.end()) + { + cleanModel.addLink(linkToAdd, *originalModel.getLink(link)); + } + } + + // Add all joints, preserving the serialization + for (unsigned joint = 0; joint < originalModel.getNrOfJoints(); ++joint) + { + std::string jointToAdd = originalModel.getJointName(joint); + if (jointsToRemove.find(jointToAdd) == jointsToRemove.end()) + { + // we need to change the link index in the new joints + // to match the new link serialization + IJointPtr newJoint = originalModel.getJoint(joint)->clone(); + std::string firstLinkName = originalModel.getLinkName(newJoint->getFirstAttachedLink()); + std::string secondLinkName = originalModel.getLinkName(newJoint->getSecondAttachedLink()); + JointIndex firstLinkNewIndex = cleanModel.getLinkIndex(firstLinkName); + JointIndex secondLinkNewIndex = cleanModel.getLinkIndex(secondLinkName); + newJoint->setAttachedLinks(firstLinkNewIndex, secondLinkNewIndex); + + cleanModel.addJoint(jointToAdd, newJoint); + delete newJoint; + } + } + + // Then we add all frames (i.e. fake links that we removed from the model) + for (unsigned link = 0; link < originalModel.getNrOfLinks(); ++link) + { + std::string fakeLinkName = originalModel.getLinkName(link); + if (linksToRemove.find(fakeLinkName) != linksToRemove.end()) + { + LinkIndex fakeLinkOldIndex = originalModel.getLinkIndex(fakeLinkName); + + // One of the condition for a base to be fake is to + // be connected to the real link with a fixed joint, so + // their transform can be obtained without specifying the joint positions + assert(originalModel.getNrOfNeighbors(fakeLinkOldIndex) == 1); + + JointIndex fakeLink_realLink_joint = originalModel.getNeighbor(fakeLinkOldIndex, 0).neighborJoint; + LinkIndex realLinkOldIndex = originalModel.getNeighbor(fakeLinkOldIndex, 0).neighborLink; + std::string realLinkName = originalModel.getLinkName(realLinkOldIndex); + + // Get the transform + iDynTree::Transform realLink_H_fakeLink = + originalModel.getJoint(fakeLink_realLink_joint)->getRestTransform(realLinkOldIndex, fakeLinkOldIndex); + + // Add the fake base as a frame + cleanModel.addAdditionalFrameToLink(realLinkName, fakeLinkName, realLink_H_fakeLink); + } + } + + // Set the default base link + return cleanModel.setDefaultBaseLink(cleanModel.getLinkIndex(newDefaultBaseLink)); + } + + bool processSensors(const Model& model, + const std::vector>& helpers, + iDynTree::SensorsList& sensors) + { + sensors = iDynTree::SensorsList(); + for (auto& sensorHelper : helpers) { + Sensor *sensor = sensorHelper->generateSensor(model); + if (!sensor) { + // TODO: write error + // Clean sensor list + sensors = iDynTree::SensorsList(); + return false; + } + sensors.addSensor(*sensor); + delete sensor; + } + return true; + } + + bool addSensorFramesAsAdditionalFramesToModel(Model& model, + const SensorsList& sensors) + { + bool ret = true; + + // First, we cycle on all the sensor that are attached to a link, because their frame is easy to add + // TODO : not super happy about this cycle, but is doing is work well + for (SensorType type = SIX_AXIS_FORCE_TORQUE; type < NR_OF_SENSOR_TYPES; type = (SensorType)(type + 1)) + { + // TODO : link sensor are extremly widespared and they have all approximatly the same API, + // so we need a better way to iterate over them + if (isLinkSensor(type)) + { + for (size_t sensIdx = 0; sensIdx < sensors.getNrOfSensors(type); ++sensIdx) + { + LinkSensor * linkSensor = dynamic_cast(sensors.getSensor(type,sensIdx)); + if (!linkSensor) { + //TODO: error + return false; + } + + LinkIndex linkToWhichTheSensorIsAttached = linkSensor->getParentLinkIndex(); + std::string linkToWhichTheSensorIsAttachedName = model.getLinkName(linkToWhichTheSensorIsAttached); + + if (model.isFrameNameUsed(linkSensor->getName())) + { + std::string err = "addSensorFramesAsAdditionalFrames is specified as an option, but it is impossible to add the frame of sensor " + linkSensor->getName() + " as there is already a frame with that name"; + reportWarning("", "addSensorFramesAsAdditionalFramesToModel", err.c_str()); + } + else + { + // std::cerr << "Adding sensor " << linkSensor->getName() << " to link " << linkToWhichTheSensorIsAttachedName << " as additional frame"<< std::endl; + bool ok = model.addAdditionalFrameToLink(linkToWhichTheSensorIsAttachedName,linkSensor->getName(),linkSensor->getLinkSensorTransform()); + + if (!ok) + { + std::string err = "addSensorFramesAsAdditionalFrames is specified as an option, but it is impossible to add the frame of sensor " + linkSensor->getName() + " for unknown reasons"; + reportError("", "addSensorFramesAsAdditionalFramesToModel", err.c_str()); + ret = false; + } + } + } + } + + // Explictly address the case of F/T sensors + if (type == SIX_AXIS_FORCE_TORQUE) + { + // We add the sensor frame as an additional frame of the **child** link + // (as tipically for URDF sensors the child link frame is coincident with the F/T sensor frame + for (size_t sensIdx = 0; sensIdx < sensors.getNrOfSensors(type); ++sensIdx) + { + SixAxisForceTorqueSensor * ftSensor = dynamic_cast(sensors.getSensor(type,sensIdx)); + + std::string linkToWhichTheSensorIsAttachedName = ftSensor->getSecondLinkName(); + + if (model.isFrameNameUsed(ftSensor->getName())) + { + std::string err = "addSensorFramesAsAdditionalFrames is specified as an option, but it is impossible to add the frame of sensor " + ftSensor->getName() + " as there is already a frame with that name"; + reportWarning("", "addSensorFramesAsAdditionalFramesToModel", err.c_str()); + } + else + { + Transform link_H_sensor; + bool ok = ftSensor->getLinkSensorTransform(ftSensor->getSecondLinkIndex(),link_H_sensor); + ok = ok && model.addAdditionalFrameToLink(linkToWhichTheSensorIsAttachedName,ftSensor->getName(),link_H_sensor); + + if (!ok) + { + std::string err = "addSensorFramesAsAdditionalFrames is specified as an option, but it is impossible to add the frame of sensor " + ftSensor->getName() + " for unknown reasons"; + reportError("", "addSensorFramesAsAdditionalFramesToModel", err.c_str()); + ret = false; + } + } + } + } + } + + return ret; + } + + bool addVisualPropertiesToModel(const Model& model, + const std::unordered_map>& visuals, + const std::unordered_map& materialDatabase, + ModelSolidShapes &modelGeometries) + { + for (const auto& linkVisual : visuals) { + // A urdf link can be either a iDynTree link or an iDynTree frame, solve + // this ambiguity and get idyntreeLinkName and idynTreeLink_H_geometry + bool isLink = model.isLinkNameUsed(linkVisual.first); + + for (const auto& visual : linkVisual.second) { + Transform link_H_geometry; + std::string linkName; + + // Getting associated link and tranform from link frame to the geometry frame + if (isLink) + { + link_H_geometry = visual.m_origin; + linkName = linkVisual.first; + } + else + { + FrameIndex urdfLinkFrameIndex = model.getFrameIndex(linkVisual.first); + + if (urdfLinkFrameIndex == FRAME_INVALID_INDEX) + { + std::string message = std::string("Expecting ") + linkVisual.first + " to be a frame, but it was not found in the frame list"; + reportError("URDFDocument", "addVisualPropertiesToModel", message.c_str()); + return false; + } + + link_H_geometry = model.getFrameTransform(urdfLinkFrameIndex) * visual.m_origin; + linkName = model.getLinkName(model.getFrameLink(urdfLinkFrameIndex)); + } + + // Retrieving the geometry + std::shared_ptr shape = visual.m_solidShape; + if (visual.m_material) { + // Now check material (if exists) if it has all the information + if (visual.m_material->m_rgba) { + shape->material = *visual.m_material->m_rgba; + } else { + // Look in the DB for the material with the specified name + auto found = materialDatabase.find(visual.m_material->m_name); + if (found == materialDatabase.end()) { + std::string message = std::string("Material for link ") + linkName + " has not rgba and it is not in the global material database."; + reportError("URDFDocument", "addVisualPropertiesToModel", message.c_str()); + return false; + } + shape->material = *found->second.m_rgba; + } + } + + shape->name = visual.m_name; + shape->link_H_geometry = link_H_geometry; + + LinkIndex idyntreeLinkIndex = model.getLinkIndex(linkName); + // ModelSolidShapes contains plain pointers, but they own the memory. + SolidShape *solidShape = shape->clone(); + modelGeometries.linkSolidShapes[idyntreeLinkIndex].push_back(solidShape); + } + } + return true; + } + +} diff --git a/src/model_io/urdf/src/URDFDofsImport.cpp b/src/model_io/urdf/src/URDFDofsImport.cpp index f0d75198b17..069a591b5c7 100644 --- a/src/model_io/urdf/src/URDFDofsImport.cpp +++ b/src/model_io/urdf/src/URDFDofsImport.cpp @@ -8,9 +8,9 @@ * at your option. */ -#include +#include "iDynTree/ModelIO/URDFDofsImport.h" -#include +#include "iDynTree/ModelIO/ModelLoader.h" #include @@ -48,9 +48,10 @@ bool dofsListFromURDFString(const std::string & urdf_string, dofs.resize(0); // Load a iDynTree::Model and dump the dofs name in the vector - iDynTree::Model model; - bool ok = modelFromURDFString(urdf_string,model); + ModelLoader loader; + bool ok = loader.loadModelFromString(urdf_string); + iDynTree::Model model = loader.model(); for(size_t jnt = 0; jnt < model.getNrOfJoints(); jnt++) { diff --git a/src/model_io/urdf/src/URDFGenericSensorsImport.cpp b/src/model_io/urdf/src/URDFGenericSensorsImport.cpp deleted file mode 100644 index 68aadfac4d2..00000000000 --- a/src/model_io/urdf/src/URDFGenericSensorsImport.cpp +++ /dev/null @@ -1,524 +0,0 @@ -/* - * Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia - * - * Licensed under either the GNU Lesser General Public License v3.0 : - * https://www.gnu.org/licenses/lgpl-3.0.html - * or the GNU Lesser General Public License v2.1 : - * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html - * at your option. - */ - - -#include - -#include -#include - - -#include - -#include -#include -#include -#include - -#include -#include - -#include - -#include -#include -#include - -#include "URDFParsingUtils.h" - - -namespace iDynTree -{ - - -bool findJointParentsAndChild(TiXmlElement* robotXml, - const std::string queriedJointName, - std::string & parentLinkName, - std::string & childLinkName) -{ - for (TiXmlElement* joint_xml = robotXml->FirstChildElement("joint"); - joint_xml; joint_xml = joint_xml->NextSiblingElement("joint")) - { - std::string jointName; - - const char *name = joint_xml->Attribute("name"); - if (!name) - { - reportError("","findJointParentsAndChild","unnamed joint found"); - return false; - } - jointName = name; - - if( jointName == queriedJointName ) - { - TiXmlElement *parent_xml = joint_xml->FirstChildElement("parent"); - if (parent_xml) - { - const char *pname = parent_xml->Attribute("link"); - if (!pname) - { - std::string errStr = "No parent specified for joint " + jointName; - reportError("","findJointParentsAndChild",errStr.c_str()); - return false; - } - else - { - parentLinkName = std::string(pname); - } - } - else - { - std::string errStr = "No parent specified for joint " + jointName; - reportError("","findJointParentsAndChild",errStr.c_str()); - return false; - } - - // Get Child Link - TiXmlElement *child_xml = joint_xml->FirstChildElement("child"); - if (child_xml) - { - const char *pname = child_xml->Attribute("link"); - if (!pname) - { - std::string errStr = "No child specified for joint " + jointName; - reportError("","findJointParentsAndChild",errStr.c_str()); - return false; - } - else - { - childLinkName = std::string(pname); - } - } - else - { - std::string errStr = "No child specified for joint " + jointName; - reportError("","findJointParentsAndChild",errStr.c_str()); - return false; - } - - return true; - } - } - - std::string errStr = "Joint " + queriedJointName + " not found in the model."; - reportError("","findJointParentsAndChild",errStr.c_str()); - return false; -} - -bool sensorsFromURDFString(const std::string& urdfXml, - const Model & model, - SensorsList & outputSensors) -{ - SensorsList newSensors; - - bool parsingSuccessful = true; - - /* parse custon urdf */ - TiXmlDocument tiUrdfXml; - tiUrdfXml.Parse(urdfXml.c_str()); - - TiXmlElement* robotXml = tiUrdfXml.FirstChildElement("robot"); - - // Several sensor types have been proposed for use in URDF, - // see http://wiki.ros.org/urdf/XML/sensor/proposals , - // but few of them (the one more relevant to dynamics) are supported by iDynTree - // To avoid printing too many warnings, a warning about the ignored sensor - // is printed only if the sensor has a type that is not on the following list - // In this way we can print a warning to catch eventual typos, but avoid flooding - // the user with meaningless warnings if he loads (for example) a model full of cameras - std::vector sensorTypesUsedInURDFButNotSupportedInIDynTree; - sensorTypesUsedInURDFButNotSupportedInIDynTree.push_back("camera"); - sensorTypesUsedInURDFButNotSupportedInIDynTree.push_back("ray"); - sensorTypesUsedInURDFButNotSupportedInIDynTree.push_back("imu"); - sensorTypesUsedInURDFButNotSupportedInIDynTree.push_back("magnetometer"); - sensorTypesUsedInURDFButNotSupportedInIDynTree.push_back("gps"); - sensorTypesUsedInURDFButNotSupportedInIDynTree.push_back("contact"); - sensorTypesUsedInURDFButNotSupportedInIDynTree.push_back("sonar"); - sensorTypesUsedInURDFButNotSupportedInIDynTree.push_back("rfidtag"); - sensorTypesUsedInURDFButNotSupportedInIDynTree.push_back("rfid"); - // Some another type of sensors used in existing models that for sure are not typos - sensorTypesUsedInURDFButNotSupportedInIDynTree.push_back("pressure"); - sensorTypesUsedInURDFButNotSupportedInIDynTree.push_back("ultrasound"); - - - // Get all the sensors elements of robot element - for (TiXmlElement* sensorXml = robotXml->FirstChildElement("sensor"); - sensorXml; sensorXml = sensorXml->NextSiblingElement("sensor")) - { - if( sensorXml->Attribute("name")==NULL || - sensorXml->Attribute("type")==NULL ) - { - std::cerr << "[ERROR] Sensor name or type specified incorrectly." << std::endl; - parsingSuccessful = false; - return false; - } - - // Parse sensors name - std::string sensorName(sensorXml->Attribute("name")); - - // Parse sensor type - std::string sensorType(sensorXml->Attribute("type")); - - iDynTree::SensorType type; - - - - if(sensorType.compare("accelerometer") == 0) - { - type = ACCELEROMETER; - } - else if(sensorType.compare("gyroscope") == 0) - { - type = GYROSCOPE; - } - else if(sensorType.compare("force_torque") == 0) - { - type = SIX_AXIS_FORCE_TORQUE; - } - else - { - // Print the warning about ignored sensors only if the sensor type is not on the list (to catch typos) - if( std::find(sensorTypesUsedInURDFButNotSupportedInIDynTree.begin(),sensorTypesUsedInURDFButNotSupportedInIDynTree.end(), sensorType) - == sensorTypesUsedInURDFButNotSupportedInIDynTree.end() ) - { - std::string errString = "Specified sensor type " + sensorType + " of sensor with name " + sensorName +" is not recognised, this sensor was ignored by the iDynTree sensor parser."; - reportWarning("","sensorsFromURDFString",errString.c_str()); - } - continue; - } - - // Parse origin element - Transform link_H_pose; - TiXmlElement* originTag = sensorXml->FirstChildElement("origin"); - - bool ok = transformFromURDFXML(originTag, link_H_pose); - - if (!ok) - { - std::cerr<< "[ERROR] impossible to parse origin element of " << sensorName << - ", parsing failed." << std::endl; - parsingSuccessful = false; - return false; - } - - // Parse parent element - TiXmlElement* parent = sensorXml->FirstChildElement("parent"); - - std::string parentLink, parentJoint; - JointIndex parentJointIndex = JOINT_INVALID_INDEX; - LinkIndex parentLinkIndex = LINK_INVALID_INDEX; - - if(!parent) - { - std::cerr<< "[ERROR] parent element not found in sensor " << sensorName << - ", parsing failed." << std::endl; - parsingSuccessful = false; - return false; - } - - if(parent->Attribute("link")!= NULL) - { - parentLink = std::string(parent->Attribute("link")); - parentLinkIndex = model.getLinkIndex(parentLink); - - if( parentLinkIndex == LINK_INVALID_INDEX ) - { - std::cerr<< "[ERROR] sensor " << sensorName - << " has parent link " << parentLink - << " but the link is not found on the model, parsing failed." << std::endl; - parsingSuccessful = false; - return false; - } - - if( type == SIX_AXIS_FORCE_TORQUE ) - { - std::cerr<< "[ERROR] sensor " << sensorName - << " of type force_torque cannot be child of a link " - << ", parsing failed." << std::endl; - parsingSuccessful = false; - return false; - } - } - else if(parent->Attribute("joint")!=NULL) - { - parentJoint = std::string(parent->Attribute("joint")); - - parentJointIndex = model.getJointIndex(parentJoint); - - if( parentJointIndex == JOINT_INVALID_INDEX ) - { - std::cerr<< "[ERROR] sensor " << sensorName - << " has parent joint " << parentJoint - << " but the joint is not found on the model, parsing failed." << std::endl; - parsingSuccessful = false; - return false; - } - - if( type == GYROSCOPE ) - { - std::cerr<< "[ERROR] sensor " << sensorName - << " of type gyroscope cannot be child of a joint " - << ", parsing failed." << std::endl; - parsingSuccessful = false; - return false; - } - - if( type == ACCELEROMETER ) - { - std::cerr<< "[ERROR] sensor " << sensorName - << " of type accelerometer cannot be child of a joint " - << ", parsing failed." << std::endl; - parsingSuccessful = false; - return false; - } - } - else - { - std::cerr << "[ERROR] Link or Joint attribute for parent element not found in sensor " - << sensorName << ", parsing failed." << std::endl; - parsingSuccessful = false; - return false; - } - - // Actually allocate the sensors - if( type == SIX_AXIS_FORCE_TORQUE ) - { - // parse frame - enum { PARENT_LINK_FRAME , - CHILD_LINK_FRAME , - SENSOR_FRAME } frame_type; - - enum { PARENT_TO_CHILD, - CHILD_TO_PARENT } measure_direction_type; - - TiXmlElement* force_torque = sensorXml->FirstChildElement("force_torque"); - - if( !force_torque ) - { - std::cerr<< "[ERROR] sensor " << sensorName - << " of type force_torque is missing force_torque element " - << ", parsing failed." << std::endl; - parsingSuccessful = false; - return false; - } - - TiXmlElement* frame_el = force_torque->FirstChildElement("frame"); - TiXmlElement* measure_direction_el = force_torque->FirstChildElement("measure_direction"); - - // parse frame - if( !frame_el || !measure_direction_el ) - { - std::cerr<< "[ERROR] sensor " << sensorName - << " of type force_torque is missing frame or measure_direction element " - << ", parsing failed." << std::endl; - parsingSuccessful = false; - return false; - } - - std::string frame = frame_el->GetText(); - if( frame == "child" ) - { - frame_type = CHILD_LINK_FRAME; - } - else if( frame == "parent" ) - { - frame_type = PARENT_LINK_FRAME; - } - else if( frame == "sensor" ) - { - frame_type = SENSOR_FRAME; - } - else - { - std::cerr<< "[ERROR] sensor " << sensorName - << " of type force_torque has unexpected frame content " << frame - << ", parsing failed." << std::endl; - parsingSuccessful = false; - return false; - } - - std::string measure_direction = measure_direction_el->GetText(); - if( measure_direction == "parent_to_child" ) - { - measure_direction_type = PARENT_TO_CHILD; - } - else if( measure_direction == "child_to_parent" ) - { - measure_direction_type = CHILD_TO_PARENT; - } - else - { - std::cerr<< "[ERROR] sensor " << sensorName - << " of type force_torque has unexpected measure_direction content " << measure_direction - << ", parsing failed." << std::endl; - parsingSuccessful = false; - return false; - } - - // Get parent and child links of the joint to which the FT sensor is attached - std::string parentLinkName, childLinkName; - bool ok = findJointParentsAndChild(robotXml,parentJoint,parentLinkName,childLinkName); - - if( !ok ) - { - parsingSuccessful = false; - return false; - } - - LinkIndex parentLinkIndex = model.getLinkIndex(parentLinkName); - LinkIndex childLinkIndex = model.getLinkIndex(childLinkName); - - if( parentLinkIndex == LINK_INVALID_INDEX || - childLinkIndex == LINK_INVALID_INDEX ) - { - std::cerr<< "[ERROR] link " << parentLinkName << " or " << childLinkName - << " not found when parsing sensor " << sensorName - << ", parsing failed." << std::endl; - parsingSuccessful = false; - return false; - } - - SixAxisForceTorqueSensor * sensor = new SixAxisForceTorqueSensor(); - sensor->setName(sensorName); - sensor->setParentJoint(parentJoint); - sensor->setParentJointIndex(parentJointIndex); - if( measure_direction_type == PARENT_TO_CHILD ) - { - sensor->setAppliedWrenchLink(childLinkIndex); - } - else - { - sensor->setAppliedWrenchLink(parentLinkIndex); - } - - // The transform tag is parsed using the Gazebo convention - // For now we assume that the six axis ft sensor is attached to a - // fixed junction. Hence the first/second link to sensor transforms - // are fixed are given by the frame option - iDynTree::Transform parent_link_H_child_link = model.getJoint(parentJointIndex)->getRestTransform(parentLinkIndex,childLinkIndex); - iDynTree::Transform child_link_H_sensor = link_H_pose; - - if( frame_type == PARENT_LINK_FRAME ) - { - sensor->setFirstLinkSensorTransform(parentLinkIndex,iDynTree::Transform::Identity()); - sensor->setSecondLinkSensorTransform(childLinkIndex,parent_link_H_child_link.inverse()); - } - else if( frame_type == CHILD_LINK_FRAME ) - { - sensor->setFirstLinkSensorTransform(parentLinkIndex,parent_link_H_child_link); - sensor->setSecondLinkSensorTransform(childLinkIndex,iDynTree::Transform::Identity()); - } - else - { - assert( frame_type == SENSOR_FRAME ); - sensor->setFirstLinkSensorTransform(parentLinkIndex,parent_link_H_child_link*child_link_H_sensor); - sensor->setSecondLinkSensorTransform(childLinkIndex,child_link_H_sensor); - } - - sensor->setFirstLinkName(parentLinkName); - sensor->setSecondLinkName(childLinkName); - - newSensors.addSensor(*sensor); - delete sensor; - } - else if( type == GYROSCOPE ) - { - GyroscopeSensor * sensor = new GyroscopeSensor(); - sensor->setLinkSensorTransform(link_H_pose); - sensor->setName(sensorName); - sensor->setParentLink(parentLink); - sensor->setParentLinkIndex(parentLinkIndex); - newSensors.addSensor(*sensor); - delete sensor; - } - else if( type == ACCELEROMETER ) - { - AccelerometerSensor * sensor = new AccelerometerSensor(); - sensor->setLinkSensorTransform(link_H_pose); - sensor->setName(sensorName); - sensor->setParentLink(parentLink); - sensor->setParentLinkIndex(parentLinkIndex); - newSensors.addSensor(*sensor); - delete sensor; - } - else - { - std::cerr<< "[ERROR] sensor " << sensorName - << " of unknown type " - << ", parsing failed." << std::endl; - parsingSuccessful = false; - return false; - } - - } - - // If the parsing was successful, - // copy the obtained sensors to the output structure - if( parsingSuccessful ) - { - outputSensors = newSensors; - } - - return parsingSuccessful; -} - - -bool sensorsFromURDF(const std::string & urdfFilename, - const iDynTree::Model & undirectedTree, - SensorsList & sensors) -{ - std::ifstream ifs(urdfFilename.c_str()); - std::string xmlString( (std::istreambuf_iterator(ifs) ), - (std::istreambuf_iterator() ) ); - - return sensorsFromURDFString(xmlString,undirectedTree,sensors); -} - -bool sensorsFromURDF(const std::string & urdf_filename, - iDynTree::SensorsList & output) -{ - iDynTree::Model model; - bool ok = modelFromURDF(urdf_filename,model); - - if( !ok ) - { - std::cerr << "[ERROR] iDynTree::sensorsListFromURDF : error in loading urdf " - << urdf_filename << std::endl; - return false; - } - - ok = sensorsFromURDF(urdf_filename,model,output); - - return ok; -} - -bool sensorsFromURDFString(const std::string& urdf_string, - iDynTree::SensorsList& output) -{ - iDynTree::Model model; - bool ok = modelFromURDFString(urdf_string,model); - - if( !ok ) - { - std::cerr << "[ERROR] iDynTree::sensorsListFromURDFString : error in loading urdf string " - << urdf_string << std::endl; - return false; - } - - - ok = sensorsFromURDFString(urdf_string,model,output); - - return ok; -} - - - -} - diff --git a/src/model_io/urdf/src/URDFModelImport.cpp b/src/model_io/urdf/src/URDFModelImport.cpp deleted file mode 100644 index 8eef5af195f..00000000000 --- a/src/model_io/urdf/src/URDFModelImport.cpp +++ /dev/null @@ -1,771 +0,0 @@ -/* - * Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia - * - * Licensed under either the GNU Lesser General Public License v3.0 : - * https://www.gnu.org/licenses/lgpl-3.0.html - * or the GNU Lesser General Public License v2.1 : - * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html - * at your option. - */ - -#include -#include -#include - -#include -#include - -#include -#include -#include -#include -#include - -#include -#include - -#include - -#include -#include -#include -#include -#include - -#include "URDFParsingUtils.h" - -namespace iDynTree -{ - -double URDFImportTol = 1e-9; - -bool inertiaFromURDFXML(TiXmlElement * inertiaXml, - SpatialInertia & inertia) -{ - // Parse link_T_com transform - // by default is the identity - Transform link_T_com = Transform::Identity(); - - TiXmlElement *o = inertiaXml->FirstChildElement("origin"); - if (o) - { - if (!transformFromURDFXML(o, link_T_com)) - return false; - } - - TiXmlElement *mass_xml = inertiaXml->FirstChildElement("mass"); - if (!mass_xml) - { - reportError("","inertiaFromURDFXML","Inertial element must have a mass element"); - return false; - } - if (!mass_xml->Attribute("value")) - { - reportError("","inertiaFromURDFXML","Inertial: mass element must have value attribute"); - return false; - } - - double mass; - if( !stringToDoubleWithClassicLocale(mass_xml->Attribute("value"),mass) ) - { - std::stringstream stm; - stm << "Inertial: mass [" << mass_xml->Attribute("value") - << "] is not a float"; - reportError("","inertiaFromURDFXML",stm.str().c_str()); - return false; - } - - TiXmlElement *inertia_xml = inertiaXml->FirstChildElement("inertia"); - if (!inertia_xml) - { - reportError("","inertiaFromURDFXML","Inertial element must have inertia element"); - return false; - } - if (!(inertia_xml->Attribute("ixx") && inertia_xml->Attribute("ixy") && inertia_xml->Attribute("ixz") && - inertia_xml->Attribute("iyy") && inertia_xml->Attribute("iyz") && - inertia_xml->Attribute("izz"))) - { - reportError("","inertiaFromURDFXML","Inertial: inertia element must have ixx,ixy,ixz,iyy,iyz,izz attributes"); - return false; - } - - double ixx, ixy, ixz, iyy, iyz, izz; - if( !stringToDoubleWithClassicLocale(inertia_xml->Attribute("ixx"),ixx) - || !stringToDoubleWithClassicLocale(inertia_xml->Attribute("ixy"),ixy) - || !stringToDoubleWithClassicLocale(inertia_xml->Attribute("ixz"),ixz) - || !stringToDoubleWithClassicLocale(inertia_xml->Attribute("iyy"),iyy) - || !stringToDoubleWithClassicLocale(inertia_xml->Attribute("iyz"),iyz) - || !stringToDoubleWithClassicLocale(inertia_xml->Attribute("izz"),izz) ) - - { - std::stringstream stm; - stm << "Inertial: one of the inertia elements is not a valid double:" - << " ixx [" << inertia_xml->Attribute("ixx") << "]" - << " ixy [" << inertia_xml->Attribute("ixy") << "]" - << " ixz [" << inertia_xml->Attribute("ixz") << "]" - << " iyy [" << inertia_xml->Attribute("iyy") << "]" - << " iyz [" << inertia_xml->Attribute("iyz") << "]" - << " izz [" << inertia_xml->Attribute("izz") << "]"; - reportError("","inertiaFromURDFXML",stm.str().c_str()); - return false; - } - - // Create rotational inertia - double rotInertiaWrtComData[3*3] = { ixx, ixy, ixz, - ixy, iyy, iyz, - ixz, iyz, izz}; - RotationalInertiaRaw rotInertiaWrtCom(rotInertiaWrtComData,3,3); - - // We need to rotate the inertia in the link reference frame - // and use a special constructor-like function that takes in - // to account that is expressed with respect to the com - Position com_wrt_link = link_T_com.getPosition(); - Rotation link_R_com = link_T_com.getRotation(); - inertia.fromRotationalInertiaWrtCenterOfMass(mass,com_wrt_link,link_R_com*rotInertiaWrtCom); - - return true; -} - -bool linkFromURDFXML(TiXmlElement* linkXml, - Link & link, - std::string & linkName) -{ - const char *name_char = linkXml->Attribute("name"); - if (!name_char) - { - reportError("","linkFromURDFXML","No name given for a link in the model."); - return false; - } - linkName = std::string(name_char); - - // Inertial (optional) - TiXmlElement *i = linkXml->FirstChildElement("inertial"); - SpatialInertia inertia = SpatialInertia::Zero(); - if (i) - { - if (!inertiaFromURDFXML(i,inertia)) - { - std::string errStr = "Could not parse inertial element for link " + linkName; - reportError("","linkFromURDFXML",errStr.c_str()); - return false; - } - } - link.setInertia(inertia); - - return true; -} - -bool axisFromURDFXML(TiXmlElement* axisXml, - Axis & axis) -{ - if (!axisXml || !(axisXml->Attribute("xyz"))) - { - axis = Axis(Direction(1.0, 0.0, 0.0),Position(0.0,0.0,0.0)); - } - else - { - const char* xyz_str = axisXml->Attribute("xyz"); - Vector3 xyz; - if( vector3FromString(xyz_str,xyz) ) - { - axis = Axis(Direction(xyz(0), xyz(1), xyz(2)),Position(0.0,0.0,0.0)); - } - else - { - return false; - } - } - - return true; -} - -bool posLimitsFromURDFXML(TiXmlElement* limXml, - double & posLimMin, double & posLimMax, std::string & jointName) -{ - if ( limXml->Attribute("lower") ) - { - if( !stringToDoubleWithClassicLocale(limXml->Attribute("lower"),posLimMin) ) - { - std::stringstream stm; - stm << " [" << limXml->Attribute("lower") - << "] is not a double, failing the parsing."; - reportError("","posLimitsFromURDFXML",stm.str().c_str()); - return false; - } - } - else - { - if(jointName == "revolute") - reportWarning("","posLimitsFromURDFXML","lower tag not present in revolute joint, defaulting to 0.0 ."); - else if(jointName == "prismatic") - reportWarning("","posLimitsFromURDFXML","lower tag not present in prismatic joint, defaulting to 0.0 ."); - posLimMin = 0.0; - } - - if ( limXml->Attribute("upper") ) - { - if( !stringToDoubleWithClassicLocale(limXml->Attribute("upper"),posLimMax) ) - { - std::stringstream stm; - stm << " [" << limXml->Attribute("upper") - << "] is not a double, failing the parsing."; - reportError("","posLimitsFromURDFXML",stm.str().c_str()); - return false; - } - } - else - { - if(jointName == "revolute") - reportWarning("","posLimitsFromURDFXML","upper tag not present in revolute joint, defaulting to 0.0 ."); - else if(jointName == "prismatic") - reportWarning("","posLimitsFromURDFXML","upper tag not present in prismatic joint, defaulting to 0.0 ."); - posLimMax = 0.0; - } - - return true; -} - - -/** - * This function allocated dinamically the joint. - * The joint should be then deleted by the parser - * after it has been added to the model. - * - */ -bool jointFromURDFXML(const Model & model, - TiXmlElement* jointXml, - IJointPtr & p_joint, - std::string & jointName, - std::string & parentLinkName, - std::string & childLinkName, - std::string & jointType) -{ - // reset p_joint - p_joint = 0; - // Get Joint Name - const char *name = jointXml->Attribute("name"); - if (!name) - { - reportError("","jointFromURDFXML","unnamed joint found"); - return false; - } - jointName = name; - - // Get transform from Parent Link to Joint Frame - Transform parent_T_joint; - TiXmlElement *origin_xml = jointXml->FirstChildElement("origin"); - if (!origin_xml) - { - parent_T_joint = Transform::Identity(); - } - else - { - if (!transformFromURDFXML(origin_xml,parent_T_joint)) - { - std::string errStr = "Malformed parent origin element for joint " + jointName; - reportError("","jointFromURDFXML",errStr.c_str()); - return false; - } - } - - // Get Parent Link - TiXmlElement *parent_xml = jointXml->FirstChildElement("parent"); - if (parent_xml) - { - const char *pname = parent_xml->Attribute("link"); - if (!pname) - { - std::string errStr = "No parent specified for joint " + jointName; - reportError("","jointFromURDFXML",errStr.c_str()); - return false; - } - else - { - parentLinkName = std::string(pname); - } - } - - // Get Child Link - TiXmlElement *child_xml = jointXml->FirstChildElement("child"); - if (child_xml) - { - const char *pname = child_xml->Attribute("link"); - if (!pname) - { - std::string errStr = "No child specified for joint " + jointName; - reportError("","jointFromURDFXML",errStr.c_str()); - return false; - } - else - { - childLinkName = std::string(pname); - } - } - - assert(parentLinkName != childLinkName); - - // Get Joint type - const char* type_char = jointXml->Attribute("type"); - if (!type_char) - { - std::string errStr = "No child specified for joint " + jointName; - reportError("","jointFromURDFXML",errStr.c_str()); - return false; - } - - std::string type_str = type_char; - jointType = type_str; - if (type_str == "planar" || - type_str == "floating") - { - std::string errStr = "Joint " + jointName + " has type " + type_str + " that is not currently supported by iDynTree"; - reportError("","jointFromURDFXML",errStr.c_str()); - return false; - } - else if (type_str == "fixed" || - type_str == "revolute" || - type_str == "continuous" || - type_str == "prismatic") - { - // perfect, type supported by iDynTree, parsing happening later - } - else - { - std::string errStr = "Joint " + jointName + " has unknown type " + type_str; - reportError("","jointFromURDFXML",errStr.c_str()); - return false; - } - - // Get indices in model for the links involved in the joint - LinkIndex parentLinkIndex = model.getLinkIndex(parentLinkName); - - if( parentLinkIndex == LINK_INVALID_INDEX ) - { - std::string errStr = "Joint " + jointName + " has unknown parent " + parentLinkName; - reportError("","jointFromURDFXML",errStr.c_str()); - return false; - } - - LinkIndex childLinkIndex = model.getLinkIndex(childLinkName); - - if( childLinkIndex == LINK_INVALID_INDEX ) - { - std::string errStr = "Joint " + jointName + " has unknown child " + childLinkName; - reportError("","jointFromURDFXML",errStr.c_str()); - return false; - } - - assert(parentLinkIndex != childLinkIndex); - - // Get Joint Axis - Axis axis_wrt_childLink; - if (type_str != "fixed" && type_str != "floating") - { - TiXmlElement *axis_xml = jointXml->FirstChildElement("axis"); - axisFromURDFXML(axis_xml,axis_wrt_childLink); - } - - // Actually allocate a joint - if( type_str == "fixed" ) - { - p_joint = new FixedJoint(parentLinkIndex,childLinkIndex,parent_T_joint); - } - else if ( type_str == "revolute" - || type_str == "continuous" ) - { - RevoluteJoint * rev_joint = new RevoluteJoint(); - rev_joint->setAttachedLinks(parentLinkIndex,childLinkIndex); - rev_joint->setRestTransform(parent_T_joint); - rev_joint->setAxis(axis_wrt_childLink, childLinkIndex); - p_joint = static_cast(rev_joint); - } - else if (type_str == "prismatic") - { - PrismaticJoint * prism_joint = new PrismaticJoint(); - prism_joint->setAttachedLinks(parentLinkIndex,childLinkIndex); - prism_joint->setRestTransform(parent_T_joint); - prism_joint->setAxis(axis_wrt_childLink, childLinkIndex); - p_joint = static_cast(prism_joint); - } - - assert(p_joint != 0); - - // Get Joint limits - TiXmlElement *limit_xml = jointXml->FirstChildElement("limit"); - if (limit_xml) - { - double posLimMin, posLimMax; - if( !posLimitsFromURDFXML(limit_xml,posLimMin,posLimMax,jointName) ) - { - std::string errStr = "Parsing limits failed for joint " + jointName + ", URDF parsing failed."; - reportError("", "jointFromURDFXML", errStr.c_str()); - delete p_joint; - p_joint = 0; - return false; - } - - if( p_joint->getNrOfDOFs() == 0 ) - { - std::string warnStr = "Limits are presented in joint " + jointName + ", that has zero DOFs."; - reportWarning("", "jointFromURDFXML", warnStr.c_str()); - } - - p_joint->enablePosLimits(true); - p_joint->setPosLimits(0,posLimMin,posLimMax); - } - else if (type_str == "revolute") - { - std::string errStr = "Joint " + jointName + " has type revolute but the limit tag is missing."; - reportWarning("","jointFromURDFXML",errStr.c_str()); - } - else if (type_str == "prismatic") - { - std::string errStr = "Joint " + jointName + " has type prismatic but the limit tag is missing."; - reportWarning("","jointFromURDFXML",errStr.c_str()); - } - - return true; -} - - -bool modelFromURDF(const std::string & urdf_filename, - iDynTree::Model & output, - const URDFParserOptions options) -{ - std::ifstream ifs(urdf_filename.c_str()); - - if( !ifs.is_open() ) - { - std::cerr << "[ERROR] iDynTree::modelFromURDF : error opening file " - << urdf_filename << std::endl; - return false; - } - - std::string xml_string( (std::istreambuf_iterator(ifs) ), - (std::istreambuf_iterator() ) ); - - // We store the original filename, this is useful to find external meshes - URDFParserOptions modifiedOptions = options; - modifiedOptions.originalFilename = urdf_filename; - - return modelFromURDFString(xml_string,output,modifiedOptions); -} - -/** - * Check if a given transform is the identity, up to the transform. - */ -bool isIdentity(const Transform & trans) -{ - Rotation rot = trans.getRotation(); - Position pos = trans.getPosition(); - - for(int row=0; row < 3; row++ ) - { - for(int col=0; col < 3; col++ ) - { - if( row == col ) - { - if( fabs(rot(row,col)-1) > URDFImportTol ) - { - return false; - } - } - else - { - if( fabs(rot(row,col)) > URDFImportTol ) - { - return false; - } - } - } - } - - for(int row=0; row < 3; row++ ) - { - if( fabs(pos(row)) > URDFImportTol ) - { - return false; - } - } - - return true; -} - -/** - * Helper function of modelFromURDFString , used to cleanup the - * fixed joints temporary vector in case of error. - * - */ -void cleanupFixedJoints(std::vector & fixedJoints) -{ - for(size_t i=0; i < fixedJoints.size(); i++) - { - if( fixedJoints[i] ) - { - delete fixedJoints[i]; - fixedJoints[i] = 0; - } - } -} - - -/** - * Helper function to load all the sensor frames from - * as additional frames in the model, so they can be used - * in all the methods that are frame-specific such as Jacobian computations. - */ -bool addSensorFramesAsAdditionalFramesToModel(Model & model, - const SensorsList & sensors) -{ - bool ret = true; - - // First, we cycle on all the sensor that are attached to a link, because their frame is easy to add - // TODO : not super happy about this cycle, but is doing is work well - for(SensorType type=SIX_AXIS_FORCE_TORQUE; type < NR_OF_SENSOR_TYPES; type = (SensorType)(type+1)) - { - // TODO : link sensor are extremly widespared and they have all approximatly the same API, - // so we need a better way to iterate over them - if( isLinkSensor(type) ) - { - for(size_t sensIdx = 0; sensIdx < sensors.getNrOfSensors(type); sensIdx++) - { - LinkSensor * linkSensor = dynamic_cast(sensors.getSensor(type,sensIdx)); - - LinkIndex linkToWhichTheSensorIsAttached = linkSensor->getParentLinkIndex(); - std::string linkToWhichTheSensorIsAttachedName = model.getLinkName(linkToWhichTheSensorIsAttached); - - if( model.isFrameNameUsed(linkSensor->getName()) ) - { - std::string err = "addSensorFramesAsAdditionalFrames is specified as an option, but it is impossible to add the frame of sensor " + linkSensor->getName() + " as there is already a frame with that name"; - reportWarning("","addSensorFramesAsAdditionalFramesToModel",err.c_str()); - } - else - { - // std::cerr << "Adding sensor " << linkSensor->getName() << " to link " << linkToWhichTheSensorIsAttachedName << " as additional frame"<< std::endl; - bool ok = model.addAdditionalFrameToLink(linkToWhichTheSensorIsAttachedName,linkSensor->getName(),linkSensor->getLinkSensorTransform()); - - if( !ok ) - { - std::string err = "addSensorFramesAsAdditionalFrames is specified as an option, but it is impossible to add the frame of sensor " + linkSensor->getName() + " for unknown reasons"; - reportError("","addSensorFramesAsAdditionalFramesToModel",err.c_str()); - ret = false; - } - } - } - } - - // Explictly address the case of F/T sensors - if( type == SIX_AXIS_FORCE_TORQUE ) - { - // We add the sensor frame as an additional frame of the **child** link - // (as tipically for URDF sensors the child link frame is coincident with the F/T sensor frame - for(size_t sensIdx = 0; sensIdx < sensors.getNrOfSensors(type); sensIdx++) - { - SixAxisForceTorqueSensor * ftSensor = dynamic_cast(sensors.getSensor(type,sensIdx)); - - std::string linkToWhichTheSensorIsAttachedName = ftSensor->getSecondLinkName(); - - if( model.isFrameNameUsed(ftSensor->getName()) ) - { - std::string err = "addSensorFramesAsAdditionalFrames is specified as an option, but it is impossible to add the frame of sensor " + ftSensor->getName() + " as there is already a frame with that name"; - reportWarning("","addSensorFramesAsAdditionalFramesToModel",err.c_str()); - } - else - { - Transform link_H_sensor; - bool ok = ftSensor->getLinkSensorTransform(ftSensor->getSecondLinkIndex(),link_H_sensor); - ok = ok && model.addAdditionalFrameToLink(linkToWhichTheSensorIsAttachedName,ftSensor->getName(),link_H_sensor); - - if( !ok ) - { - std::string err = "addSensorFramesAsAdditionalFrames is specified as an option, but it is impossible to add the frame of sensor " + ftSensor->getName() + " for unknown reasons"; - reportError("","addSensorFramesAsAdditionalFramesToModel",err.c_str()); - ret = false; - } - } - } - } - } - - return ret; -} - -bool modelFromURDFString(const std::string& urdf_string, - iDynTree::Model& model, - const URDFParserOptions options) -{ - bool ok = true; - - // clear the input model - Model rawModel = Model(); - - TiXmlDocument urdfXml; - if (urdfXml.Parse(urdf_string.c_str()) == 0) { - reportError("", "modelFromURDFString", "Invalid XML"); - return false; - } - - TiXmlElement* robotXml = urdfXml.FirstChildElement("robot"); - - // parse all links - for (TiXmlElement* link_xml = robotXml->FirstChildElement("link"); - link_xml; link_xml = link_xml->NextSiblingElement("link") ) - { - Link link; - std::string linkName; - ok = ok && linkFromURDFXML(link_xml,link,linkName); - if( !ok ) - { - model = Model(); - return false; - } - - LinkIndex newLinkIndex = rawModel.addLink(linkName,link); - - if( newLinkIndex == LINK_INVALID_INDEX ) - { - model = Model(); - return false; - } - } - - // parse all joints, saving a set of parents and childs - std::set parents; - std::set childs; - // we parse the fixed joints separatly, so we can add them - // all after the joints with a non-zero dofs . This is necessary - // for backward compatibility with KDL-based software - std::vector fixedJoints; - std::vector fixedJointNames; - for (TiXmlElement* joint_xml = robotXml->FirstChildElement("joint"); - joint_xml; joint_xml = joint_xml->NextSiblingElement("joint")) - { - IJointPtr joint=0; - std::string jointName; - std::string parentLinkName; - std::string childLinkName; - std::string jointType; - - ok = ok && jointFromURDFXML(rawModel,joint_xml,joint,jointName,parentLinkName,childLinkName,jointType); - - // save parent and child in a set - parents.insert(parentLinkName); - childs.insert(childLinkName); - - if( !ok ) - { - cleanupFixedJoints(fixedJoints); - delete joint; - model = Model(); - return false; - } - - assert(joint->getFirstAttachedLink() != joint->getSecondAttachedLink()); - - // All joints but the fixed one are immediatly added to the model - if( jointType != "fixed" ) - { - JointIndex newJointIndex = rawModel.addJoint(jointName,joint); - - delete joint; - - if( newJointIndex == JOINT_INVALID_INDEX ) - { - cleanupFixedJoints(fixedJoints); - model = Model(); - return false; - } - } - else - { - // fixed joints are stored separatly and added after the non-zero dofs joints - fixedJoints.push_back(joint); - fixedJointNames.push_back(jointName); - } - - } - - // Adding all the fixed joint in the end - for(size_t i=0; i < fixedJoints.size(); i++) - { - assert( fixedJoints.size() == fixedJointNames.size() ); - JointIndex newJointIndex = rawModel.addJoint(fixedJointNames[i],fixedJoints[i]); - - delete fixedJoints[i]; - fixedJoints[i] = 0; - - // If we had a problem adding the fixed joint - // we cleanup the loading and we exit - if( newJointIndex == JOINT_INVALID_INDEX ) - { - cleanupFixedJoints(fixedJoints); - model = Model(); - return false; - } - } - - // Get root - std::vector rootCandidates; - for(unsigned int lnk=0; lnk < rawModel.getNrOfLinks(); lnk++ ) - { - std::string linkName = rawModel.getLinkName(lnk); - - if( childs.find(linkName) == childs.end() ) - { - rootCandidates.push_back(linkName); - } - } - - if( rootCandidates.size() == 0 ) - { - reportError("","modelFromURDFString","No root link found in URDF string"); - model = Model(); - return false; - } - - if( rootCandidates.size() >= 2 ) - { - std::stringstream ss; - ss << "Multiple (" << rootCandidates.size() << ") root links: ("; - for(size_t root=0; root < rootCandidates.size(); root++) - { - ss << rootCandidates[root]; - - if( root != rootCandidates.size()-1 ) - { - ss << ", "; - } - } - ss << ") found in URDF string"; - - std::cerr << "Multiple roots!!!" << std::endl; - reportError("","modelFromURDFString",ss.str().c_str()); - model = Model(); - return false; - } - - // set the default root in the model - rawModel.setDefaultBaseLink(rawModel.getLinkIndex(rootCandidates[0])); - - // Remove fake links and add them as frames - ok = ok && removeFakeLinks(rawModel,model); - - if( options.addSensorFramesAsAdditionalFrames ) - { - // Add sensor frames as additional frames in the model - - // We must first parse the sensor, as at the moment the two parsers are separated - iDynTree::SensorsList sensors; - sensorsFromURDFString(urdf_string,model,sensors); - - addSensorFramesAsAdditionalFramesToModel(model,sensors); - } - - // Parse visual and collision geometries - ok = ok && solidShapesFromURDFString(urdf_string,options.originalFilename,model,"visual",model.visualSolidShapes()); - ok = ok && solidShapesFromURDFString(urdf_string,options.originalFilename,model,"collision",model.collisionSolidShapes()); - - return ok; -} - -} diff --git a/src/model_io/urdf/src/URDFSolidShapesImport.cpp b/src/model_io/urdf/src/URDFSolidShapesImport.cpp deleted file mode 100644 index 53f0d66dc89..00000000000 --- a/src/model_io/urdf/src/URDFSolidShapesImport.cpp +++ /dev/null @@ -1,431 +0,0 @@ -/* - * Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia - * - * Licensed under either the GNU Lesser General Public License v3.0 : - * https://www.gnu.org/licenses/lgpl-3.0.html - * or the GNU Lesser General Public License v2.1 : - * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html - * at your option. - */ - -#include -#include - -#include - -#include -#include - -#include "URDFParsingUtils.h" - -namespace iDynTree -{ - -bool solidShapesFromURDF(const std::string & urdf_filename, - const Model & model, - const std::string urdfGeometryType, - ModelSolidShapes & output) -{ - std::ifstream ifs(urdf_filename.c_str()); - - if( !ifs.is_open() ) - { - std::cerr << "[ERROR] iDynTree::geometriesFromURDF : error opening file " - << urdf_filename << std::endl; - return false; - } - - std::string xml_string( (std::istreambuf_iterator(ifs) ), (std::istreambuf_iterator() ) ); - - std::cerr << "xml_string : " < tags under . - * - * This material can be refenced from - * under using the `name` attribute. - * - * See http://wiki.ros.org/urdf/XML/link - */ -typedef std::map URDFModelMaterialDatabase; - -void parseURDFMaterial(const URDFModelMaterialDatabase & materialDB, - iDynTree::Vector4 & material_rgba, - TiXmlElement* materialXml) -{ - bool parsingSuccessfull = false; - if( materialXml ) - { - TiXmlElement* colorXml = materialXml->FirstChildElement("color"); - - if( colorXml ) - { - const char * rgba = colorXml->Attribute("rgba"); - - if( rgba ) - { - vector4FromString(std::string(rgba),material_rgba); - parsingSuccessfull = true; - } - else - { - reportError("","parseURDFMaterial","Impossible to parse URDF material, color tag has now rgba element"); - } - } - - TiXmlElement* textureXml = materialXml->FirstChildElement("texture"); - - if( textureXml ) - { - const char * filename = colorXml->Attribute("filename"); - - if( filename ) - { - reportError("","parseURDFMaterial","Impossible to parse URDF material, texture tag not supported by iDynTree."); - } - } - - if( !parsingSuccessfull ) - { - const char * materialName = materialXml->Attribute("name"); - - // If there is a valid name, query the model material database - if( materialName ) - { - std::string materialNameCpp(materialName); - URDFModelMaterialDatabase::const_iterator it = materialDB.find(materialNameCpp); - - if( it != materialDB.end() ) - { - material_rgba = it->second; - parsingSuccessfull = true; - } - else - { - std::stringstream ss; - ss << "Impossible to parse URDF material, material " << materialNameCpp << " not found in model database."; - reportWarning("","parseURDFMaterial",ss.str().c_str()); - } - } - else - { - // Error print suppressed until https://github.com/robotology-playground/icub-model-generator/issues/36 is fixed - // reportError("","parseURDFMaterial","Impossible to parse URDF material, material name attribute not found."); - } - } - - } - - if( !parsingSuccessfull ) - { - if( materialXml ) - { - // Error print suppressed until https://github.com/robotology-playground/icub-model-generator/issues/36 is fixed - // reportError("","parseURDFMaterial","Impossible to parse URDF material, setting material to white."); - } - // Set default material - material_rgba(0) = 1.0; - material_rgba(1) = 1.0; - material_rgba(2) = 1.0; - material_rgba(3) = 1.0; - } - -} - -void parseURDFModelMaterialDatabase(TiXmlElement* robotXml, - URDFModelMaterialDatabase& materialDB) -{ - URDFModelMaterialDatabase emptyDB; - - for (TiXmlElement* materialXml = robotXml->FirstChildElement("material"); - materialXml; materialXml = materialXml->NextSiblingElement("material")) - { - // Get the linkName - std::string urdfMaterialName = materialXml->Attribute("name"); - - // Parse the color - iDynTree::Vector4 color; - - // Material child of robot element cannot refer to the model - // database, - parseURDFMaterial(emptyDB,color,materialXml); - - // Save material in DB - materialDB[urdfMaterialName] = color; - } - - return; -} - -/** - * Extract path from filename. - * \todo check if it works on Windows. - * See example in http://www.cplusplus.com/reference/string/string/find_last_of/ . - */ -std::string extractPathFromFilename(const std::string filename) -{ - const std::string path_separators = "/\\"; - - - // If not path separated is found in the string, the filename is referred - // to the current directory - size_t lastSep = filename.find_last_of(path_separators); - if( lastSep == std::string::npos ) - { - return ""; - } - - return filename.substr(0,lastSep+1); -} -/** - * Retrieve the location of an external mesh references in the URDF. - * For now just support meshes contained in the local directory of the urdf file, - * as the one contained in this folders : - * https://github.com/bulletphysics/bullet3/tree/master/data . - */ -std::string getURDFMeshAbsolutePathFilename(const std::string & urdf_filename, - const std::string & mesh_uri) -{ - return extractPathFromFilename(urdf_filename)+mesh_uri; -} - -/** - * Get the filetype of the mesh from the name. It should be either dae (collada) or stl. - */ -std::string getFileExt(const std::string & mesh_uri) -{ - const std::string fileExtSeparator = "."; - - // If not path separated is found in the string, the filename is referred - // to the current directory - size_t lastSep = mesh_uri.find_last_of(fileExtSeparator); - if( lastSep == std::string::npos ) - { - return ""; - } - - return mesh_uri.substr(lastSep+1); -} - - -bool addURDFGeometryToModelGeometries(const iDynTree::Model& model, - const std::string urdfLinkName, - const std::string urdfGeomName, - const Transform urdfLink_H_geometry, - const std::string urdf_filename, - const URDFModelMaterialDatabase& materialDB, - ModelSolidShapes & modelGeoms, - TiXmlElement* geomXml, - TiXmlElement* materialXml) -{ - // A urdf link can be either a iDynTree link or an iDynTree frame, solve - // this ambiguity and get idyntreeLinkName and idynTreeLink_H_geometry - bool is_iDynTreeLink = model.isLinkNameUsed(urdfLinkName); - std::string idyntreeLinkName; - Transform idyntreeLink_H_geometry; - - if( is_iDynTreeLink ) - { - idyntreeLink_H_geometry = urdfLink_H_geometry; - idyntreeLinkName = urdfLinkName; - } - else - { - FrameIndex urdfLinkFrameIndex = model.getFrameIndex(urdfLinkName); - - if( urdfLinkFrameIndex == FRAME_INVALID_INDEX ) - { - std::cerr << "[ERROR] In parsing geometry of urdf link " << urdfLinkName << std::endl; - return false; - } - - idyntreeLink_H_geometry = model.getFrameTransform(urdfLinkFrameIndex)*urdfLink_H_geometry; - idyntreeLinkName = model.getLinkName(model.getFrameLink(urdfLinkFrameIndex)); - } - - SolidShape * pGeom = 0; - bool parseOk = true; - if( geomXml->FirstChildElement("box") != 0 ) - { - std::string vec; - if( geomXml->FirstChildElement("box")->Attribute("size") ) - { - vec = geomXml->FirstChildElement("box")->Attribute("size"); - } - else - { - std::cerr << "[ERROR] box geometry of link " << urdfLinkName << " does not have size attribute" << std::endl; - return false; - } - - Box * pBox = new Box(); - Vector3 boxDim; - parseOk = vector3FromString(vec,boxDim); - pBox->x = boxDim(0); - pBox->y = boxDim(1); - pBox->z = boxDim(2); - pGeom = static_cast(pBox); - } - - if( geomXml->FirstChildElement("sphere") != 0 ) - { - double radiusD; - parseOk = stringToDoubleWithClassicLocale(geomXml->FirstChildElement("sphere")->Attribute("radius"), radiusD); - - if (parseOk) - { - Sphere * pSphere = new Sphere(); - pSphere->radius = radiusD; - pGeom = static_cast(pSphere); - } - } - - if( geomXml->FirstChildElement("cylinder") != 0 ) - { - double radiusD, lengthD; - parseOk = stringToDoubleWithClassicLocale(geomXml->FirstChildElement("cylinder")->Attribute("radius"),radiusD); - parseOk = parseOk && stringToDoubleWithClassicLocale(geomXml->FirstChildElement("cylinder")->Attribute("length"),lengthD); - - if (parseOk) - { - Cylinder * pCylinder = new Cylinder(); - pCylinder->radius = radiusD; - pCylinder->length = lengthD; - pGeom = static_cast(pCylinder); - } - } - - if( geomXml->FirstChildElement("mesh") != 0 ) - { - ExternalMesh * pExternalMesh = new ExternalMesh(); - - const char * filename = geomXml->FirstChildElement("mesh")->Attribute("filename"); - - if( filename ) - { - // For now we just support urdf with local meshes, see as an example - // https://github.com/bulletphysics/bullet3/tree/master/data - std::string localName = filename; - pExternalMesh->filename = getURDFMeshAbsolutePathFilename(urdf_filename,localName); - pExternalMesh->scale(0) = pExternalMesh->scale(1) = pExternalMesh->scale(2) = 1.0; - - if ( geomXml->FirstChildElement("mesh")->Attribute("scale") ) - { - std::string scaleAttr = geomXml->FirstChildElement("mesh")->Attribute("scale"); - parseOk = vector3FromString(scaleAttr,pExternalMesh->scale); - } - - pGeom = static_cast(pExternalMesh); - } - else - { - std::cerr << "[ERROR] mesh geometry of link " << urdfLinkName << " does not have filename attribute" << std::endl; - } - } - - if( !pGeom || !parseOk ) - { - std::cerr << "[ERROR] In parsing geometry of urdf link " << urdfLinkName << std::endl; - return false; - } - - // parse material (eventually checking the material database) - parseURDFMaterial(materialDB,pGeom->material,materialXml); - - pGeom->name = urdfGeomName; - pGeom->link_H_geometry = idyntreeLink_H_geometry; - - LinkIndex idyntreeLinkIndex = model.getLinkIndex(idyntreeLinkName); - modelGeoms.linkSolidShapes[idyntreeLinkIndex].push_back(pGeom); - - return true; -} - -bool solidShapesFromURDFString(const std::string & urdf_string, - const std::string & urdf_filename, - const Model & model, - const std::string urdfGeometryType, - iDynTree::ModelSolidShapes & output) -{ - iDynTree::ModelSolidShapes newGeoms; - - newGeoms.resize(model); - - if(urdfGeometryType != "visual" && urdfGeometryType != "collision") - { - std::cerr << "[ERROR] unknown urdfGeometryType " << urdfGeometryType << std::endl; - } - - std::string tagToSearch = urdfGeometryType; - - bool parsingSuccessful = true; - - TiXmlDocument tiUrdfXml; - tiUrdfXml.Parse(urdf_string.c_str()); - - TiXmlElement* robotXml = tiUrdfXml.FirstChildElement("robot"); - - if( !robotXml ) - { - std::cerr << "Impossible to find robot element in urdf xml" << std::endl; - } - - // Get material database - URDFModelMaterialDatabase materialDB; - parseURDFModelMaterialDatabase(robotXml,materialDB); - - // Get all the link elements of robot element - for (TiXmlElement* linkXml = robotXml->FirstChildElement("link"); - linkXml; linkXml = linkXml->NextSiblingElement("link")) - { - // Get the linkName - std::string urdfLinkName = linkXml->Attribute("name"); - - // For each link, get all the visual or collision elements - for (TiXmlElement* visXml = linkXml->FirstChildElement(tagToSearch); - visXml; visXml = visXml->NextSiblingElement(tagToSearch)) - { - // We first get the origin element - TiXmlElement* originXml = visXml->FirstChildElement("origin"); - // Default value (if origin is missing) is identity - Transform urdfLink_H_geometry; - transformFromURDFXML(originXml,urdfLink_H_geometry); - - std::string geomName = tagToSearch; - if( visXml->Attribute("name") ) - { - geomName = visXml->Attribute("name"); - } - - // For each visual or collision element, get its geometry object - TiXmlElement* geomXml = visXml->FirstChildElement("geometry"); - if(geomXml == 0) - { - std::cerr << "Error in parsing " << tagToSearch << " element, of link " << urdfLinkName << " geometry child element not found" << std::endl; - return false; - } - - TiXmlElement* materialXml = visXml->FirstChildElement("material"); - - parsingSuccessful = parsingSuccessful && addURDFGeometryToModelGeometries(model,urdfLinkName,geomName,urdfLink_H_geometry,urdf_filename,materialDB, - newGeoms,geomXml,materialXml); - } - } - - // If the parsing was successful, - // copy the obtained sensors to the output structure - if( parsingSuccessful ) - { - output = newGeoms; - } - - return parsingSuccessful; -} - - -} - diff --git a/src/model_io/urdf/src/VisualElement.cpp b/src/model_io/urdf/src/VisualElement.cpp new file mode 100644 index 00000000000..931e04d4572 --- /dev/null +++ b/src/model_io/urdf/src/VisualElement.cpp @@ -0,0 +1,53 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "VisualElement.h" + +#include "GeometryElement.h" +#include "MaterialElement.h" +#include "OriginElement.h" + +#include +#include + +namespace iDynTree { + + // !!!: this might be also collision. Should we specify the name or an enum ? + VisualElement::VisualElement() + : iDynTree::XMLElement("visual"){} + + const VisualElement::VisualInfo& VisualElement::visualInfo() const + { + return m_info; + } + + bool VisualElement::setAttributes(const std::unordered_map>& attributes) { + + auto found = attributes.find("name"); + if (found != attributes.end()) { + m_info.m_name = found->second->value(); + } + return true; + } + + std::shared_ptr VisualElement::childElementForName(const std::string& name) { + if (name == "origin") { + return std::make_shared(m_info.m_origin); + } else if (name == "geometry") { + return std::make_shared(m_info.m_solidShape); + } else if (name == "material") { + return std::make_shared(m_info.m_material); + } + return std::make_shared(name); + } + +} diff --git a/src/model_io/urdf/src/deprecated/URDFGenericSensorsImport.cpp b/src/model_io/urdf/src/deprecated/URDFGenericSensorsImport.cpp new file mode 100644 index 00000000000..5ad0beb66d0 --- /dev/null +++ b/src/model_io/urdf/src/deprecated/URDFGenericSensorsImport.cpp @@ -0,0 +1,72 @@ +/* + * Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "iDynTree/ModelIO/URDFGenericSensorsImport.h" +#include "iDynTree/ModelIO/ModelLoader.h" + +namespace iDynTree +{ + +bool sensorsFromURDF(const std::string & urdf_filename, + iDynTree::SensorsList & output) +{ + ModelLoader loader; + bool ok = loader.loadModelFromFile(urdf_filename); + output = loader.sensors(); + return ok; +} + +bool sensorsFromURDF(const std::string & urdf_filename, + const Model & model, + iDynTree::SensorsList & output) +{ + ModelLoader loader; + bool ok = loader.loadModelFromFile(urdf_filename); + output = loader.sensors(); + + if (!output.isConsistent(model)) + { + reportError("", "sensorsFromURDF", "Specified Model is not consistent with the sensors extracted from URDF file." + " Please use iDynTree::ModelLoader to parse both model and sensors at the same time."); + return false; + } + + return ok; +} + +bool sensorsFromURDFString(const std::string & urdf_string, + iDynTree::SensorsList & output) +{ + ModelLoader loader; + bool ok = loader.loadModelFromString(urdf_string); + output = loader.sensors(); + return ok; +} + +bool sensorsFromURDFString(const std::string & urdf_string, + const Model & model, + iDynTree::SensorsList & output) +{ + ModelLoader loader; + bool ok = loader.loadModelFromString(urdf_string); + output = loader.sensors(); + + if (!output.isConsistent(model)) + { + reportError("", "sensorsFromURDFString", "Specified Model is not consistent with the sensors extracted from URDF string." + " Please use iDynTree::ModelLoader to parse both model and sensors at the same time."); + return false; + } + + return ok; +} + +} + diff --git a/src/model_io/urdf/src/deprecated/URDFModelImport.cpp b/src/model_io/urdf/src/deprecated/URDFModelImport.cpp new file mode 100644 index 00000000000..43e9e84ed32 --- /dev/null +++ b/src/model_io/urdf/src/deprecated/URDFModelImport.cpp @@ -0,0 +1,57 @@ +/* + * Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "iDynTree/ModelIO/URDFModelImport.h" + +#include "iDynTree/ModelIO/ModelLoader.h" + +#include + +#include +#include +#include +#include +#include + +namespace iDynTree +{ + +inline ModelParserOptions convertOptions(const URDFParserOptions options) +{ + ModelParserOptions retOptions; + retOptions.originalFilename = options.originalFilename; + retOptions.addSensorFramesAsAdditionalFrames = options.addSensorFramesAsAdditionalFrames; + return retOptions; +} + +bool modelFromURDF(const std::string & urdf_filename, + iDynTree::Model & output, + const URDFParserOptions options) +{ + ModelLoader loader; + loader.setParsingOptions(convertOptions(options)); + bool ok = loader.loadModelFromFile(urdf_filename); + output = loader.model(); + return ok; +} + +bool modelFromURDFString(const std::string & urdf_string, + iDynTree::Model & output, + const URDFParserOptions options) +{ + ModelLoader loader; + loader.setParsingOptions(convertOptions(options)); + bool ok = loader.loadModelFromString(urdf_string); + output = loader.model(); + return ok; +} + +} + diff --git a/src/model_io/urdf/src/deprecated/URDFSolidShapesImport.cpp b/src/model_io/urdf/src/deprecated/URDFSolidShapesImport.cpp new file mode 100644 index 00000000000..5656ecc14a1 --- /dev/null +++ b/src/model_io/urdf/src/deprecated/URDFSolidShapesImport.cpp @@ -0,0 +1,77 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "iDynTree/ModelIO/URDFSolidShapesImport.h" +#include "iDynTree/ModelIO/ModelLoader.h" + + +namespace iDynTree +{ + +bool solidShapesFromURDF(const std::string & urdf_filename, + const Model & model, + const std::string urdfGeometryType, + ModelSolidShapes & output) +{ + if (urdfGeometryType != "visual" && urdfGeometryType != "collision") + { + std::cerr << "[ERROR] unknown urdfGeometryType " << urdfGeometryType << std::endl; + return false; + } + + ModelLoader loader; + bool ok = loader.loadModelFromFile(urdf_filename); + + if (ok && urdfGeometryType == "visual") + { + output = loader.model().visualSolidShapes(); + } + + if (ok && urdfGeometryType == "collision") + { + output = loader.model().collisionSolidShapes(); + } + + return ok; +} + +bool solidShapesFromURDFString(const std::string & urdf_string, + const std::string & urdf_filename, + const Model & model, + const std::string urdfGeometryType, + iDynTree::ModelSolidShapes & output) +{ + if (urdfGeometryType != "visual" && urdfGeometryType != "collision") + { + std::cerr << "[ERROR] unknown urdfGeometryType " << urdfGeometryType << std::endl; + return false; + } + + ModelLoader loader; + ModelParserOptions options; + options.originalFilename = urdf_filename; + loader.setParsingOptions(options); + bool ok = loader.loadModelFromString(urdf_string); + + if (ok && urdfGeometryType == "visual") + { + output = loader.model().visualSolidShapes(); + } + + if (ok && urdfGeometryType == "collision") + { + output = loader.model().collisionSolidShapes(); + } + + return ok; +} + +} + diff --git a/src/model_io/urdf/tests/PredictSensorsMeasurementUnitTest.cpp b/src/model_io/urdf/tests/PredictSensorsMeasurementUnitTest.cpp index 38a55f7b0c6..66ebc7657f0 100644 --- a/src/model_io/urdf/tests/PredictSensorsMeasurementUnitTest.cpp +++ b/src/model_io/urdf/tests/PredictSensorsMeasurementUnitTest.cpp @@ -10,11 +10,10 @@ #include -# include # include #include "testModels.h" #include -#include +#include #include #include #include @@ -33,8 +32,10 @@ void init(std::string fileName, Model &model, Traversal &traversal, SensorsList &sensorsList, SensorsMeasurements &predictedMeasurement) { // load URDF model - bool ok = modelFromURDF(fileName,model); - ASSERT_EQUAL_DOUBLE(ok,true); + ModelLoader loader; + bool ok = loader.loadModelFromFile(fileName); + model = loader.model(); + ASSERT_IS_TRUE(ok); std::cout<<"Model "< -#include #include #include "testModels.h" @@ -22,37 +21,42 @@ using namespace iDynTree; void checkURDF(std::string fileName, unsigned int expectedNrOfAccelerometers, - unsigned int expectedNrOfGyroscopes) + unsigned int expectedNrOfGyroscopes, + unsigned int expectedNrOfFTs) { - iDynTree::SensorsList sensorList; - iDynTree::sensorsFromURDF(fileName,sensorList); + ModelLoader loader; + ASSERT_IS_TRUE(loader.loadModelFromFile(fileName)); + iDynTree::SensorsList sensorList = loader.sensors(); std::cout<<"Sensor list created from URDF. num accel : "< consideredJoints; - bool ok = mdlLoader.loadReducedModelFromFile(fileName,consideredJoints); + bool ok = loader.loadReducedModelFromFile(fileName,consideredJoints); ASSERT_IS_TRUE(ok); // The number of gyro and accelerometers (and in general of link sensors) should be converved - ASSERT_EQUAL_DOUBLE(mdlLoader.sensors().getNrOfSensors(iDynTree::ACCELEROMETER),expectedNrOfAccelerometers); - ASSERT_EQUAL_DOUBLE(mdlLoader.sensors().getNrOfSensors(iDynTree::GYROSCOPE),expectedNrOfGyroscopes); + ASSERT_EQUAL_DOUBLE(loader.sensors().getNrOfSensors(iDynTree::ACCELEROMETER),expectedNrOfAccelerometers); + ASSERT_EQUAL_DOUBLE(loader.sensors().getNrOfSensors(iDynTree::GYROSCOPE),expectedNrOfGyroscopes); } int main() { std::cout<<"Generic Sensor test running (one Link):\n"; - checkURDF(getAbsModelPath("oneLink.urdf"),2,1); + checkURDF(getAbsModelPath("oneLink.urdf"),2, 1, 0); std::cout<<"Generic Sensor test running (two Link):\n"; - checkURDF(getAbsModelPath("/twoLinks.urdf"),2,1); + checkURDF(getAbsModelPath("/twoLinks.urdf"),2, 1, 0); + + std::cout<<"Generic Sensor test running (icalibrate):\n"; + checkURDF(getAbsModelPath("/icalibrate.urdf"), 0, 0, 1); std::cout <<"Generic Sensor test just ran\n"; return 0; diff --git a/src/model_io/urdf/tests/URDFModelImportUnitTest.cpp b/src/model_io/urdf/tests/URDFModelImportUnitTest.cpp index 46cea07b325..1a5d306e585 100644 --- a/src/model_io/urdf/tests/URDFModelImportUnitTest.cpp +++ b/src/model_io/urdf/tests/URDFModelImportUnitTest.cpp @@ -13,7 +13,6 @@ #include #include -#include #include #include @@ -30,6 +29,7 @@ void checkParsingOfDofsFromURDF(std::string fileName, { std::vector dofsNameList; bool ok = dofsListFromURDF(fileName,dofsNameList); + ASSERT_IS_TRUE(ok); ASSERT_EQUAL_DOUBLE(dofsNameList.size(),expectedNrOfDOFs); } @@ -41,8 +41,9 @@ void checkURDF(std::string fileName, unsigned int expectedNrOfFrames, std::string expectedDefaultBase) { - Model model; - bool ok = modelFromURDF(fileName,model); + ModelLoader loader; + bool ok = loader.loadModelFromFile(fileName); + Model model = loader.model(); assert(ok); std::cerr << "Model loaded from " << fileName << std::endl; @@ -128,8 +129,10 @@ void checkLimitsForJointsAreDefined(Model & model) void checkLimitsForJointsAreDefinedFromFileName(std::string urdfFileName) { - Model model; - bool ok = modelFromURDF(urdfFileName,model); + ModelLoader loader; + bool ok = loader.loadModelFromFile(urdfFileName); + Model model = loader.model(); + ASSERT_IS_TRUE(ok); checkLimitsForJointsAreDefined(model); @@ -148,8 +151,7 @@ void checkLimitsForJointsAreDefinedFromFileName(std::string urdfFileName) ok = dofsListFromURDF(urdfFileName,dofsOfModel); ASSERT_IS_TRUE(ok); - ModelLoader loader; - ok = loader.loadReducedModelFromFile(urdfFileName,dofsOfModel); + ok = loader.loadReducedModelFromFile(urdfFileName, dofsOfModel); ASSERT_IS_TRUE(ok); @@ -196,14 +198,16 @@ void checkLoadReducedModelOrderIsKept(std::string urdfFileName) int main() { + checkURDF(getAbsModelPath("/simple_model.urdf"),1,0,0,1,"link1"); checkURDF(getAbsModelPath("/oneLink.urdf"),1,0,0,7,"link1"); checkURDF(getAbsModelPath("twoLinks.urdf"),2,1,1,6,"link1"); checkURDF(getAbsModelPath("icub_skin_frames.urdf"),39,38,32,62,"root_link"); checkURDF(getAbsModelPath("iCubGenova02.urdf"),33,32,26,111,"root_link"); + checkURDF(getAbsModelPath("icalibrate.urdf"), 6, 5, 3, 7,"base"); checkModelLoderForURDFFile(getAbsModelPath("/oneLink.urdf")); checkModelLoaderFromURDFString("this is not an xml", false); - + checkLimitsForJointsAreDefinedFromFileName(getAbsModelPath("iCubGenova02.urdf")); checkLoadReducedModelOrderIsKept(getAbsModelPath("iCubGenova02.urdf")); diff --git a/src/model_io/urdf/tests/icubSensorURDFUnitTest.cpp b/src/model_io/urdf/tests/icubSensorURDFUnitTest.cpp index a23b117d208..3999fd04925 100644 --- a/src/model_io/urdf/tests/icubSensorURDFUnitTest.cpp +++ b/src/model_io/urdf/tests/icubSensorURDFUnitTest.cpp @@ -7,11 +7,10 @@ * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html * at your option. */ -# include # include #include "testModels.h" #include -#include +#include #include #include @@ -32,15 +31,14 @@ void checkURDF(std::string fileName, ) { std::cout<<"Tying to load model from URDF"<" + "$" + "$" + "$" + ${IDYNTREE_TREE_INCLUDE_DIRS} + PRIVATE ${EIGEN3_INCLUDE_DIR} + ${LIBXML2_INCLUDE_DIR}) + +target_link_libraries(${libraryname} LINK_PUBLIC + LINK_PRIVATE ${LIBXML2_LIBRARIES} idyntree-core) + +if(NOT CMAKE_VERSION VERSION_LESS 2.8.12) + target_compile_options(${libraryname} PRIVATE ${IDYNTREE_WARNING_FLAGS} ${LIBXML2_DEFINITIONS}) +endif() + +# Ensure that build include directories are always included before system ones +get_property(IDYNTREE_TREE_INCLUDE_DIRS GLOBAL PROPERTY IDYNTREE_TREE_INCLUDE_DIRS) +target_include_directories(${libraryname} BEFORE PRIVATE ${IDYNTREE_TREE_INCLUDE_DIRS}) + +set_property(TARGET ${libraryname} PROPERTY PUBLIC_HEADER ${IDYNTREE_MODELIO_XML_HEADERS}) + +install(TARGETS ${libraryname} + EXPORT iDynTree + COMPONENT runtime + RUNTIME DESTINATION "${CMAKE_INSTALL_BINDIR}" COMPONENT bin + LIBRARY DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT shlib + ARCHIVE DESTINATION "${CMAKE_INSTALL_LIBDIR}" COMPONENT lib + PUBLIC_HEADER DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/iDynTree) + +set_property(GLOBAL APPEND PROPERTY ${VARS_PREFIX}_TARGETS ${libraryname}) + +get_property(IDYNTREE_COMP_INCLUDE_DIRS TARGET ${libraryname} PROPERTY INTERFACE_INCLUDE_DIRECTORIES) +set_property(GLOBAL APPEND PROPERTY IDYNTREE_TREE_INCLUDE_DIRS ${IDYNTREE_COMP_INCLUDE_DIRS}) + +if(IDYNTREE_COMPILE_TESTS) + add_subdirectory(tests) +endif(IDYNTREE_COMPILE_TESTS) diff --git a/src/model_io/xml/include/iDynTree/XMLAttribute.h b/src/model_io/xml/include/iDynTree/XMLAttribute.h new file mode 100644 index 00000000000..16538b7cb4f --- /dev/null +++ b/src/model_io/xml/include/iDynTree/XMLAttribute.h @@ -0,0 +1,48 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#ifndef IDYNTREE_MODELIO_XML_XMLATTRIBUTE_H +#define IDYNTREE_MODELIO_XML_XMLATTRIBUTE_H + +#include + +namespace iDynTree { + class XMLAttribute; +} + +class iDynTree::XMLAttribute { +private: + std::string m_name; + std::string m_value; + std::string m_prefix; + std::string m_uri; + +public: + XMLAttribute(std::string name, std::string value, std::string prefix, std::string uri); + + // We allow to modify the attribute after it has been created. + // This might be useful for XML processing + + void setName(std::string name); + void setValue(std::string value); + void setPrefix(std::string prefix); + void setURI(std::string uri); + + std::string name() const; + std::string value() const; + std::string prefix() const; + std::string uri() const; + + const std::string description() const; +}; + +#endif /* end of include guard: IDYNTREE_MODELIO_XML_XMLATTRIBUTE_H */ diff --git a/src/model_io/xml/include/iDynTree/XMLDocument.h b/src/model_io/xml/include/iDynTree/XMLDocument.h new file mode 100644 index 00000000000..3a050a92409 --- /dev/null +++ b/src/model_io/xml/include/iDynTree/XMLDocument.h @@ -0,0 +1,52 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#ifndef IDYNTREE_MODELIO_XML_XMLDOCUMENT_H +#define IDYNTREE_MODELIO_XML_XMLDOCUMENT_H + +#include +#include + +namespace iDynTree { + class XMLDocument; + class XMLElement; + class XMLParser; +} + +class iDynTree::XMLDocument { + class XMLDocumentPimpl; + std::unique_ptr m_pimpl; + + friend class XMLParser; + void setRootElement(std::shared_ptr root); + +public: + + XMLDocument(); + virtual ~XMLDocument(); + + /** + * Factory method to create the XML root element given for the specified name. + * + * @param name name of the element to create + * @return a new parser element for the corresponding tag + */ + virtual std::shared_ptr rootElementForName(const std::string& name); + + // TODO: find a better name + virtual bool documentHasBeenParsed(); + + const std::shared_ptr root() const; + std::string description() const; +}; + +#endif /* end of include guard: IDYNTREE_MODELIO_XML_XMLDOCUMENT_H */ diff --git a/src/model_io/xml/include/iDynTree/XMLElement.h b/src/model_io/xml/include/iDynTree/XMLElement.h new file mode 100644 index 00000000000..f701d712a59 --- /dev/null +++ b/src/model_io/xml/include/iDynTree/XMLElement.h @@ -0,0 +1,136 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#ifndef IDYNTREE_MODELIO_XML_XMLELEMENT_H +#define IDYNTREE_MODELIO_XML_XMLELEMENT_H + +#include +#include +#include +#include +#include + +namespace iDynTree { + class XMLAttribute; + class XMLElement; + class XMLParser; +} + + +/** + * Class representing an XML element. + * + * This class represents an XML element encountered during parsing, + * i.e. the XML part between (and comprising) ... + */ +class iDynTree::XMLElement { +private: + class XMLElementPimpl; + std::unique_ptr m_pimpl; + + friend class XMLParser; + + /** + * Adds a child element to the current element + * + * @param child the child element + */ + void addChildElement(std::shared_ptr child); + +public: + /** + * Default constructor. + * + * Constructs an unnamed XML Element with no attributes. + */ + XMLElement(); + + /** + * Constructs a named XML Element with no attributes. + * @param name the name of the XML element. + */ + XMLElement(const std::string& name); + + /** + * Constructs a named XML Element with the specified attributes. + * + * This is the designated initializer. + * @param name the name of the XML element. + * @param attributes the attributes of the XML element. + */ + XMLElement(const std::string& name, + const std::unordered_map>& attributes); + + /** + * Destructor + */ + virtual ~XMLElement(); + + /** + * Sets a callback that will be called when attributes will be parsed + * + * The function should have the following signature `const std::unordered_map>& -> bool`. + * The attributes parsed from the XML will be passed as argument to the function. + * In case of error, it should return false, true otherwise. + * @param callback the callback to be set + */ + void setAttributeCallback(std::function>&)> callback); + + /** + * Sets a callback that will be called when the element has been finished parsing. + * + * The function should have the following signature `void -> void`. + * @param callback the callback + */ + void setExitScopeCallback(std::function callback); + + /** + * Sets a callback that will be called when a child element has been finished parsing + * + * The callback should have the following signature `std::shared_ptr -> void`, + * where the element passed is the child element that has been parsed. + * @param callback the callback + */ + void setChildHasBeenParsedCallback(std::function)> callback); + + std::function>&)> attributeCallback() const; + std::function exitScopeCallback() const; + + std::string name() const; + const std::vector> children() const; + + const std::unordered_map> attributes() const; + + /** + * Factory method to create child element given the name. + * + * @param name name of the element to create + * @return a new parser element for the corresponding tag + */ + virtual std::shared_ptr childElementForName(const std::string& name); + + virtual void exitElementScope(); + + virtual void childHasBeenParsed(std::shared_ptr parsedChild); + + virtual bool setAttributes(const std::unordered_map>& attributes); + + virtual void parsedCharacters(const std::string& characters); + + std::string getParsedTextContent() const; + + std::string description() const; + +}; + + +#endif /* end of include guard: IDYNTREE_MODELIO_XML_XMLELEMENT_H */ diff --git a/src/model_io/xml/include/iDynTree/XMLParser.h b/src/model_io/xml/include/iDynTree/XMLParser.h new file mode 100644 index 00000000000..ee062939626 --- /dev/null +++ b/src/model_io/xml/include/iDynTree/XMLParser.h @@ -0,0 +1,215 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#ifndef IDYNTREE_MODELIO_XML_XMLPARSER_H +#define IDYNTREE_MODELIO_XML_XMLPARSER_H + +#include +#include +#include +#include + +namespace iDynTree { + + class XMLParser; + class XMLElement; + class XMLDocument; +} + +//TODO: handle errors + +/** XML Parser class + * + * Use this class to parse XML files. It currently supports the following features + * - XSD validation + * - Extensibility (by providing a different root object for the XML hierarchy. + * + * ## Common usage + * + * ```{.cpp} + * + * // Allocate parser + * std::shared_ptr parser = std::make_shared(); + * // If needed, you can customize the class representing the XML Document + * // just set a function returning a subclass of XMLElement + * parser->setDocumentFactory([]{ return std::shared_ptr(new MyCustomXMLDocument); }); + * // Parse + * parser->parseXMLFile(filename); + * // You can retrieve the Document after the parsing + * std::shared_ptr document = parser->document(); + * + * ``` + * ## Description + * + * ## Validation support + * + * The parser supports XSD schema validation. This options is controlled by two methods: + * + * - `setValidateXML` accepts a boolean, to enable the validation + * - `setSchemaLocation` specifies the location of the XSD schema. + * + * If both variables are set, the validation will take place before parsing. + * Note that currently the errors are output to standard error (or output?) and not handled directly + * in the code. It might be possible to handle those in code though (feature request). + * + * ## Todos: + * Possible feature requests: + * + * - parse entities out of context (xmlSAXParseEntity) + * - Validation for in memory parsing + * - Use libxml in memory tree (that can be modified and dumped to file) instead of custom tree + */ +class iDynTree::XMLParser { + + class XMLParserPimpl; + std::unique_ptr m_pimpl; + +public: + + /** + * Default constructor + */ + XMLParser(); + + /** + * Destructor + */ + ~XMLParser(); + + /** + * Returns true if the parsed tree is ketp in memory. + * @see setKeepTreeInMemory(bool) + * @return true if the parsed tree is kept on memory. + */ + bool keepTreeInMemory() const; + + /** + * Set if the parse tree should be kept in memory + * @see keepTreeInMemory + * @param keepTreeInMemory true if the tree should be kept in memory. + */ + void setKeepTreeInMemory(bool keepTreeInMemory); + + /** + * Returns true if the parser logs the parsing to standard output. + * @see setLogParsing(bool) + * @return true if log to standard output is enabled. + */ + bool logParsing() const; + + /** + * Set the logging option of the parser. + * see logParsing + * @param enableLogging true if the parser should log to standard output. + */ + void setLogParsing(bool enableLogging); + + /** + * Returns true if the validation option is enabled. + * @see setValidateXML(bool) + * @see schemaLocation + * @see setSchemaLocation(std::string) + * @return true if the XML should be validated against a schema. + */ + bool validateXML() const; + + /** + * Set the option to perform Schema validation. + * + * @note both an XSD schema location and this option should be specified + * to perform validation. + * + * @see validateXML + * @see schemaLocation + * @see setSchemaLocation(std::string) + * + * @param validate true if the XML should be validated against a XSD. + */ + void setValidateXML(bool validate); + + /** + * Returns the current schema location used for validation. + * + * @see validateXML + * @see setValidateXML(bool) + * @see setSchemaLocation(std::string) + * + * @return the current schema location. + */ + std::string schemaLocation() const; + + /** + * Sets the XSD schema location. + * + * @note to perform the validation, the option should be explicitly set, together with the schema location. + * + * @see validateXML + * @see setValidateXML(bool) + * @see schemaLocation(std::string) + * + * @param schemaLocation the new XSD schema location. + */ + void setSchemaLocation(std::string schemaLocation); + + /** + * Parse the specified XML file. + * + * If the validation option is enabled, the XML file will be also validated against the specified + * XSD schema. + * + * @see setValidateXML(bool) + * @see setSchemaLocation(std::string) + * @see parseXMLString(std::string) + * + * @param absoluteFileName the XML file to be parsed. + * @return true if the document is valid and successfully parsed. + */ + bool parseXMLFile(std::string absoluteFileName); + + /** + * Parse the specified XML document string. + * + * @note XSD validation is currently not supported for in-memory parsing. + * Use parseXMLFile(std::string) instead + * + * @see parseXMLFile(std::string) + * + * @param xmlString string containing a valid XML content. + * @return true if the XML document is valid and successfully parsed. + */ + bool parseXMLString(std::string xmlString); + + /** + * Set the factory function responsible of creating a new XMLDocument element. + * + * By specifying a new factory function, it is possible to change how the XML document will be + * represented in memory. + * The signature of the function is `(void) -> std::shared_ptr`, i.e. a function + * accepting no arguments and returning a `std::shared_ptr` to an `XMLDocument` object. + * + @param factory the function that will be called for instantiating a new XMLDocument object. + */ + void setDocumentFactory(std::function()> factory); + + // TODO: check if we want to return a copy, a const or something + + /** + * Returns the current parsed document. + * + * @return the parsed document. + */ + std::shared_ptr document() const; + +}; + + +#endif /* end of include guard: IDYNTREE_MODELIO_XML_XMLPARSER_H */ diff --git a/src/model_io/xml/src/XMLAttribute.cpp b/src/model_io/xml/src/XMLAttribute.cpp new file mode 100644 index 00000000000..e6200b82d1c --- /dev/null +++ b/src/model_io/xml/src/XMLAttribute.cpp @@ -0,0 +1,73 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "XMLAttribute.h" + +#include + +namespace iDynTree { + + //MARK: - XMLAttribute definition + + XMLAttribute::XMLAttribute(std::string name, std::string value, std::string prefix, std::string uri) + : m_name(name) + , m_value(value) + , m_prefix(prefix) + , m_uri(uri) {} + + void XMLAttribute::setName(std::string name) + { + m_name = name; + } + + void XMLAttribute::setValue(std::string value) + { + m_value = value; + } + + void XMLAttribute::setPrefix(std::string prefix) + { + m_prefix = prefix; + } + + void XMLAttribute::setURI(std::string uri) + { + m_uri = uri; + } + + std::string XMLAttribute::name() const + { + return m_name; + } + std::string XMLAttribute::value() const + { + return m_value; + } + std::string XMLAttribute::prefix() const + { + return m_prefix; + } + std::string XMLAttribute::uri() const + { + return m_uri; + } + + const std::string XMLAttribute::description() const + { + std::ostringstream str; + if (!m_prefix.empty()) { + str << m_prefix << ":"; + } + str << m_name << "=" << "\"" << m_value <<"\""; + return str.str(); + } +} diff --git a/src/model_io/xml/src/XMLDocument.cpp b/src/model_io/xml/src/XMLDocument.cpp new file mode 100644 index 00000000000..b680f288395 --- /dev/null +++ b/src/model_io/xml/src/XMLDocument.cpp @@ -0,0 +1,57 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "XMLDocument.h" + +#include "XMLElement.h" + +#include + +namespace iDynTree { + + class XMLDocument::XMLDocumentPimpl + { + public: + std::shared_ptr m_root; + }; + + XMLDocument::XMLDocument() + : m_pimpl(new XMLDocumentPimpl()) {} + + XMLDocument::~XMLDocument() {} + + void XMLDocument::setRootElement(std::shared_ptr root) + { + m_pimpl->m_root = root; + } + + const std::shared_ptr XMLDocument::root() const + { + return m_pimpl->m_root; + } + + std::shared_ptr XMLDocument::rootElementForName(const std::string& name) + { + return std::make_shared(name); + } + + bool XMLDocument::documentHasBeenParsed() { return true; } + + std::string XMLDocument::description() const + { + std::ostringstream str; + if (m_pimpl->m_root) { + str << m_pimpl->m_root->description(); + } + return str.str(); + } +} diff --git a/src/model_io/xml/src/XMLElement.cpp b/src/model_io/xml/src/XMLElement.cpp new file mode 100644 index 00000000000..186489b7ba1 --- /dev/null +++ b/src/model_io/xml/src/XMLElement.cpp @@ -0,0 +1,152 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "XMLElement.h" + +#include "XMLAttribute.h" + +#include +#include +#include + + +namespace iDynTree { + + //MARK: - XMLElementPimpl definition + + class XMLElement::XMLElementPimpl { + public: + // Functions that can be set to change the behaviour. + // Useful as an alternative to inheritance + std::function>&)> f_attribute; + std::function f_exitScope; + std::function)> f_childParsed; + + // contains the textual content of the element + std::stringstream m_charactersStream; + + std::string m_name; + std::vector> m_children; + std::unordered_map> m_attributes; + }; + + //MARK: - XMLElement definition + + XMLElement::XMLElement() + : XMLElement("") {} + + XMLElement::XMLElement(const std::string& name) + : XMLElement(name, std::unordered_map>()) {} + + XMLElement::XMLElement(const std::string& name, + const std::unordered_map>& attributes) + : m_pimpl(new XMLElementPimpl()) + { + m_pimpl->m_name = name; + m_pimpl->m_attributes = attributes; + } + + XMLElement::~XMLElement() {} + + void XMLElement::addChildElement(std::shared_ptr child) + { + m_pimpl->m_children.push_back(child); + } + + void XMLElement::setAttributeCallback(std::function>&)> callback) + { + m_pimpl->f_attribute = callback; + } + + void XMLElement::setExitScopeCallback(std::function callback) + { + m_pimpl->f_exitScope = callback; + } + + void XMLElement::setChildHasBeenParsedCallback(std::function)> callback) + { + m_pimpl->f_childParsed = callback; + } + + std::function>&)> XMLElement::attributeCallback() const + { + return m_pimpl->f_attribute; + } + std::function XMLElement::exitScopeCallback() const + { + return m_pimpl->f_exitScope; + } + + std::string XMLElement::name() const { return m_pimpl->m_name; } + + const std::vector> XMLElement::children() const + { + return m_pimpl->m_children; + } + + std::shared_ptr XMLElement::childElementForName(const std::string& name) + { + return std::make_shared(name); + } + + void XMLElement::exitElementScope() + { + if (m_pimpl->f_exitScope) { + m_pimpl->f_exitScope(); + } + } + + void XMLElement::childHasBeenParsed(std::shared_ptr parsedChild) + { + if (m_pimpl->f_childParsed) { + m_pimpl->f_childParsed(parsedChild); + } + } + + bool XMLElement::setAttributes(const std::unordered_map>& attributes) + { + m_pimpl->m_attributes = attributes; + if (m_pimpl->f_attribute) return m_pimpl->f_attribute(attributes); + return true; + } + + const std::unordered_map> XMLElement::attributes() const + { + return m_pimpl->m_attributes; + } + + void XMLElement::parsedCharacters(const std::string& characters) + { + m_pimpl->m_charactersStream << characters; + } + + std::string XMLElement::getParsedTextContent() const + { + return m_pimpl->m_charactersStream.str(); + } + + std::string XMLElement::description() const + { + std::ostringstream str; + str << "<" << m_pimpl->m_name; + for (const auto& attribute : m_pimpl->m_attributes) { + str << " " << attribute.second->description(); + } + str << ">" << std::endl; + for (const auto& child : m_pimpl->m_children) { + str << child->description() << std::endl; + } + str << getParsedTextContent(); + str << "m_name << ">" << std::endl; + return str.str(); + } +} diff --git a/src/model_io/xml/src/XMLParser.cpp b/src/model_io/xml/src/XMLParser.cpp new file mode 100644 index 00000000000..f208e6085e9 --- /dev/null +++ b/src/model_io/xml/src/XMLParser.cpp @@ -0,0 +1,394 @@ +/* + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia + * + * Author: Francesco Romano - Google LLC + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + +#include "XMLParser.h" + +#include "XMLElement.h" +#include "XMLAttribute.h" +#include "XMLDocument.h" + +#include + +#include +#include + +#include +#include +#include +#include +#include +#include +#include + +static const std::string stringFromFormattedCString(const char *message, va_list arguments) +{ + va_list tempArguments; + va_copy(tempArguments, arguments); + // We have to get the size of the final string. + // We use vsnprintf with an empty buffer + // (the function returns the number of characters that didn't fit the buffer) + va_copy(tempArguments, arguments); + int length = std::vsnprintf(NULL, 0, message, tempArguments); + va_end(tempArguments); + + // We now have the size. We can create the real string. + std::vector buffer(length + 1); + std::vsnprintf(buffer.data(), buffer.size(), message, arguments); + + return std::string(buffer.begin(), buffer.end()); +} + +namespace iDynTree { + + //MARK: - XMLParserPimpl definition + + class XMLParser::XMLParserPimpl { + + xmlSAXHandler m_callbackHandler; + + public: + std::stack> m_parsedTrace; + std::function()> f_documentFactory; + + std::shared_ptr m_document; + + std::string m_schemaLocation; + bool m_performValidation; + + bool m_logParsing; + + bool m_keepInMemory; + + public: + XMLParserPimpl() { + // ???: SAX2 structure initialization is kept in PIMPL constructor + // All the other initializations are left to the main class + + // xmlSAX2InitDefaultSAXHandler(&m_callbackHandler, 0); + // xmlSAXVersion(&m_callbackHandler, 2); + // TODO: check what init does as the program crashes in that case + // I think it initialize some callbacks that are missing + memset(&m_callbackHandler, 0, sizeof(xmlSAXHandler)); + m_callbackHandler.initialized = XML_SAX2_MAGIC; + + m_callbackHandler.startElementNs = &parserCallbackStartTag; + m_callbackHandler.endElementNs = &parserCallbackEndTag; + m_callbackHandler.startDocument = &parserCallbackStartDocument; + m_callbackHandler.endDocument = &parserCallbackEndDocument; + m_callbackHandler.characters = &parserCallbackCharacters; + m_callbackHandler.error = &parserErrorMessageCallback; + m_callbackHandler.warning = &parserWarningMessageCallback; + + } + + xmlSAXHandlerPtr callbackHandler() { return &m_callbackHandler; } + //TODO: should we handle entities (i.e. & ≶ etc). +// static xmlEntityPtr +// my_getEntity(void *user_data, const xmlChar *name) { +// return xmlGetPredefinedEntity(name); +// } + + private: + + static const std::string stringFromXMLCharPtr(const xmlChar* xmlString); + static const std::unordered_map> attributesFromArray(const xmlChar ** attributes, + int nb_attributes, + int nb_defaulted); + + static void parserCallbackStartDocument(void* context); + static void parserCallbackEndDocument(void* context); + static void parserCallbackStartTag(void* context, + const xmlChar * localname, + const xmlChar * prefix, + const xmlChar * URI, + int nb_namespaces, + const xmlChar ** namespaces, + int nb_attributes, + int nb_defaulted, + const xmlChar ** attributes); + static void parserCallbackEndTag(void* context, + const xmlChar * localname, + const xmlChar * prefix, + const xmlChar * URI); + static void parserCallbackCharacters(void * ctx, + const xmlChar * ch, + int len); + + static void parserErrorMessageCallback(void * ctx, const char * msg, ...); + static void parserWarningMessageCallback(void * ctx, const char * msg, ...); + }; + + const std::string XMLParser::XMLParserPimpl::stringFromXMLCharPtr(const xmlChar* xmlString) + { + return std::string(reinterpret_cast(xmlString), xmlStrlen(xmlString)); + } + + const std::unordered_map> XMLParser::XMLParserPimpl::attributesFromArray(const xmlChar ** attributes, + int nb_attributes, + int nb_defaulted) + { + // TODO: how to handle the nb_defaulted parameter + const int fields = 5; + std::unordered_map> mappedAttributes; + // Array of array. The inner array contains: localname/prefix/URI/value/end + for (int attributeIndex = 0; attributeIndex < nb_attributes; ++attributeIndex) { + std::string name = XMLParser::XMLParserPimpl::stringFromXMLCharPtr(attributes[attributeIndex * fields + 0]); + std::string prefix = XMLParser::XMLParserPimpl::stringFromXMLCharPtr(attributes[attributeIndex * fields + 1]); + std::string uri = XMLParser::XMLParserPimpl::stringFromXMLCharPtr(attributes[attributeIndex * fields + 2]); + const xmlChar *value_start = attributes[attributeIndex * fields + 3]; + const xmlChar *value_end = attributes[attributeIndex * fields + 4]; + size_t len = value_end - value_start; + std::string value(reinterpret_cast(value_start), len); + + mappedAttributes.emplace(name, std::make_shared(name, value, prefix, uri)); + } + return mappedAttributes; + } + + void XMLParser::XMLParserPimpl::parserCallbackStartDocument(void* context) + { + XMLParser *state = static_cast(context); + if (state->m_pimpl->m_logParsing) { + reportInfo("XMLParser", "parserCallbackStartDocument", "Start document"); + } + // clear stack + state->m_pimpl->m_parsedTrace = std::stack>(); + // create a Document type + state->m_pimpl->m_document = std::shared_ptr(state->m_pimpl->f_documentFactory()); + } + + void XMLParser::XMLParserPimpl::parserCallbackEndDocument(void* context) + { + XMLParser *state = static_cast(context); + if (state->m_pimpl->m_logParsing) { + reportInfo("XMLParser", "parserCallbackEndDocument", "End document"); + } + + if (!state->m_pimpl->m_document->documentHasBeenParsed()) { + reportError("XMLParser", "parserCallbackEndDocument", "Document final callback failed processing"); + } + + if (!state->m_pimpl->m_parsedTrace.empty()) { + // This is an error. Reset the document as it is invalid + state->m_pimpl->m_document.reset(); + reportError("XMLParser", "parserCallbackEndDocument", "Unbalanced tags in the document"); + } + + } + void XMLParser::XMLParserPimpl::parserCallbackStartTag(void* context, + const xmlChar * localname, + const xmlChar * prefix, + const xmlChar * URI, + int nb_namespaces, + const xmlChar ** namespaces, + int nb_attributes, + int nb_defaulted, + const xmlChar ** attributes) + { + // ask to the top of the stack if it can push this element + // TODO: handle namespaces and prefix + XMLParser *state = static_cast(context); + const std::string localNameString = XMLParser::XMLParserPimpl::stringFromXMLCharPtr(localname); + if (state->m_pimpl->m_logParsing) { + // TODO: reportXXX should either accept a format + var arguments or something else + std::string message = std::string("Start of tag <") + localNameString + (">"); + reportInfo("XMLParser", "parserCallbackStartTag", message.c_str()); + } + + // get attributes + std::unordered_map> parsedAttributes = XMLParser::XMLParserPimpl::attributesFromArray(attributes, nb_attributes, nb_defaulted); + + if (state->m_pimpl->m_logParsing) { + for (auto pair : parsedAttributes) { + // TODO: reportXXX should either accept a format + var arguments or something else + std::string message = std::string("Attribute found: ") + pair.second->description(); + reportInfo("XMLParser", "parserCallbackStartTag", message.c_str()); + } + } + + std::shared_ptr nextElement; + // The start tag can be the root or not. If root, we have to ask the children to the + // Document object + if (state->m_pimpl->m_parsedTrace.empty()) { + // it is the root + nextElement = state->m_pimpl->m_document->rootElementForName(localNameString); + if (state->m_pimpl->m_keepInMemory) { + state->m_pimpl->m_document->setRootElement(nextElement); + } + } else { + nextElement = state->m_pimpl->m_parsedTrace.top()->childElementForName(localNameString); + if (state->m_pimpl->m_keepInMemory) { + state->m_pimpl->m_parsedTrace.top()->addChildElement(nextElement); + } + } + + // additionally configure element + if (!nextElement->setAttributes(parsedAttributes)) { + // Error + } + state->m_pimpl->m_parsedTrace.push(nextElement); + + } + + void XMLParser::XMLParserPimpl::parserCallbackEndTag(void* context, + const xmlChar * localname, + const xmlChar * prefix, + const xmlChar * URI) + { + // TODO: use the prefix and uri, or remove them from the parameters + XMLParser *state = static_cast(context); + std::shared_ptr element = state->m_pimpl->m_parsedTrace.top(); + + if (state->m_pimpl->m_logParsing) { + // Add here the optional text content + std::string message = std::string("Content of tag: ") + element->getParsedTextContent(); + reportInfo("XMLParser", "parserCallbackEndTag", message.c_str()); + + // TODO: reportXXX should either accept a format + var arguments or something else + message = std::string("End of tag <") + element->name() + (">"); + reportInfo("XMLParser", "parserCallbackEndTag", message.c_str()); + } + element->exitElementScope(); + state->m_pimpl->m_parsedTrace.pop(); + // Get a callback also to the parent, if any + if (!state->m_pimpl->m_parsedTrace.empty()) { + state->m_pimpl->m_parsedTrace.top()->childHasBeenParsed(element); + } + } + + void XMLParser::XMLParserPimpl::parserCallbackCharacters(void *context, const xmlChar *ch, int len) + { + //TODO: manage better the characters.. whitespace characters & c + XMLParser *state = static_cast(context); + std::shared_ptr element = state->m_pimpl->m_parsedTrace.top(); + std::string parsedString = std::string(reinterpret_cast(ch), len); + if (state->m_pimpl->m_logParsing) { + std::cerr << "Ch:(" << len << ") __" << parsedString << "__" << std::endl; + } + element->parsedCharacters(parsedString); + } + + void XMLParser::XMLParserPimpl::parserErrorMessageCallback(void * /*context*/, + const char * message, ...) + { + va_list arguments; + va_start(arguments, message); + std::string errorMessage = stringFromFormattedCString(message, arguments); + va_end(arguments); + reportError("XMLParser", "[Parsing]", errorMessage.c_str()); + } + + void XMLParser::XMLParserPimpl::parserWarningMessageCallback(void * /*context*/, + const char * message, ...) + { + va_list arguments; + va_start(arguments, message); + std::string errorMessage = stringFromFormattedCString(message, arguments); + va_end(arguments); + reportWarning("XMLParser", "[Parsing]", errorMessage.c_str()); + } + + //MARK: - XMLParser definition + + XMLParser::XMLParser() + : m_pimpl(new XMLParserPimpl()) + { + assert(m_pimpl); + m_pimpl->f_documentFactory = []{ return std::shared_ptr(new XMLDocument()); }; + m_pimpl->m_performValidation = false; + m_pimpl->m_logParsing = false; + m_pimpl->m_keepInMemory = false; + } + + XMLParser::~XMLParser() {} + + void XMLParser::setDocumentFactory(std::function ()> factory) + { + assert(m_pimpl); + if (factory) { + m_pimpl->f_documentFactory = factory; + } else { + // Restore the default function + m_pimpl->f_documentFactory = []{ return std::shared_ptr(new XMLDocument()); }; + } + } + + bool XMLParser::parseXMLFile(std::string absoluteFileName) + { + assert(m_pimpl); + LIBXML_TEST_VERSION + + if (m_pimpl->m_performValidation) { + if (m_pimpl->m_schemaLocation.empty()) { + reportError("XMLParser", "parseXMLFile", "Validation requested, but no schema has been specified"); + return false; + } + // Create necessary structures for the validator + xmlSchemaParserCtxtPtr schemaParserContext = xmlSchemaNewParserCtxt(m_pimpl->m_schemaLocation.c_str()); + xmlSchemaPtr xmlSchema = xmlSchemaParse(schemaParserContext); + xmlSchemaValidCtxtPtr validator = xmlSchemaNewValidCtxt(xmlSchema); + + // This is the actual validation. Note that there is the possibility to use + // xmlSchemaSAXPlug which should perform the validation while parsing. + // The code remains cleared in this way though, as the validation is optional. + + int validation = xmlSchemaValidateFile(validator, absoluteFileName.c_str(), 0); + + xmlSchemaFreeValidCtxt(validator); + xmlSchemaFree(xmlSchema); + xmlSchemaFreeParserCtxt(schemaParserContext); + if (validation) { + std::string message = std::string("Failed to validate ") + absoluteFileName + " for schema " + m_pimpl->m_schemaLocation; + reportError("XMLParser", "parseXMLFile", message.c_str()); + return false; + } + + } + +// xmlParserCtxtPtr parserContext = xmlCreatePushParserCtxt(m_pimpl->callbackHandler(), +// this, NULL, 0, absoluteFileName.c_str()); + + int result = xmlSAXUserParseFile(m_pimpl->callbackHandler(), this, absoluteFileName.c_str()); + return result == 0; + } + + bool XMLParser::parseXMLString(std::string xmlString) + { + assert(m_pimpl); + LIBXML_TEST_VERSION + + // For now we do not support validation on the fly + + int result = xmlSAXUserParseMemory(m_pimpl->callbackHandler(), this, xmlString.c_str(), xmlString.length()); + return result == 0; + } + + std::shared_ptr XMLParser::document() const + { + assert(m_pimpl); + return m_pimpl->m_document; + } + + bool XMLParser::validateXML() const { return m_pimpl->m_performValidation; } + void XMLParser::setValidateXML(bool validate) { m_pimpl->m_performValidation = validate; } + + std::string XMLParser::schemaLocation() const { return m_pimpl->m_schemaLocation; } + void XMLParser::setSchemaLocation(std::string schemaLocation) { m_pimpl->m_schemaLocation = schemaLocation; } + + bool XMLParser::logParsing() const { return m_pimpl->m_logParsing; } + void XMLParser::setLogParsing(bool enableLogging) { m_pimpl->m_logParsing = enableLogging; } + + bool XMLParser::keepTreeInMemory() const { return m_pimpl->m_keepInMemory; } + void XMLParser::setKeepTreeInMemory(bool keepTreeInMemory) { m_pimpl->m_keepInMemory = keepTreeInMemory; } + +} + diff --git a/src/model_io/xml/tests/CMakeLists.txt b/src/model_io/xml/tests/CMakeLists.txt new file mode 100644 index 00000000000..a3106f8ec3b --- /dev/null +++ b/src/model_io/xml/tests/CMakeLists.txt @@ -0,0 +1,22 @@ +# Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia +# +# Licensed under either the GNU Lesser General Public License v3.0 : +# https://www.gnu.org/licenses/lgpl-3.0.html +# or the GNU Lesser General Public License v2.1 : +# https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html +# at your option. + +get_property(IDYNTREE_TREE_INCLUDE_DIRS GLOBAL PROPERTY IDYNTREE_TREE_INCLUDE_DIRS) + +set(IDYNTREE_MODELIO_XML_DATAFILES ${IDYNTREE_MODELIO_TESTFILES_DIR}/xml) + +add_executable(XMLParserUnitTest XMLParserUnitTest.cpp) +target_compile_definitions(XMLParserUnitTest PUBLIC -DIDYNTREE_TEST_FILES_DIR="${IDYNTREE_MODELIO_XML_DATAFILES}") + +target_include_directories(XMLParserUnitTest PRIVATE ${EIGEN3_INCLUDE_DIR} ${IDYNTREE_TREE_INCLUDE_DIRS}) +target_link_libraries(XMLParserUnitTest idyntree-core idyntree-modelio-xml) +add_test(NAME UnitTestXMLParser COMMAND XMLParserUnitTest) + +if(IDYNTREE_RUN_VALGRIND_TESTS) + add_test(NAME memcheck_UnitTestXMLParser COMMAND ${MEMCHECK_COMMAND_COMPLETE} $) +endif() \ No newline at end of file diff --git a/src/model_io/xml/tests/XMLParserUnitTest.cpp b/src/model_io/xml/tests/XMLParserUnitTest.cpp new file mode 100644 index 00000000000..148b3a4caf3 --- /dev/null +++ b/src/model_io/xml/tests/XMLParserUnitTest.cpp @@ -0,0 +1,61 @@ +#include + +#include +#include +#include +#include + +#include +#include + + +int main() { + + std::string schema = std::string(IDYNTREE_TEST_FILES_DIR) + "/" + "schema.xsd"; + + std::string validXML = std::string(IDYNTREE_TEST_FILES_DIR) + "/" + "valid.xml"; + std::string nonValidXML = std::string(IDYNTREE_TEST_FILES_DIR) + "/" + "invalid_schema.xml"; + std::string notValidFormatXML = std::string(IDYNTREE_TEST_FILES_DIR) + "/" + "invalid_xml.xml"; + std::string doubleRootXML = std::string(IDYNTREE_TEST_FILES_DIR) + "/" + "double_root.xml"; + + + // allocate parser + iDynTree::XMLParser parser; + parser.setSchemaLocation(schema); +// parser.setLogParsing(true); + parser.setKeepTreeInMemory(true); + parser.setValidateXML(true); + + std::cerr << "Parsing " << validXML << std::endl; + ASSERT_IS_TRUE(parser.parseXMLFile(validXML)); + std::cerr << "Successfuly parsed " << validXML << std::endl << std::endl; + + //Test changing the structure +// auto attribute = parser.document()->root()->attributes().find("orderid"); +// attribute->second->setValue("ciao"); + +// std::cerr << parser.document()->description() << std::endl << std::endl; + + std::cerr << "Parsing " << nonValidXML << std::endl; + ASSERT_IS_FALSE(parser.parseXMLFile(nonValidXML)); + std::cerr << "Could not parse " << nonValidXML << std::endl << std::endl; + + // This instead should be parsed + // Disable validation: well formed XML should be parsed, even if they do not validate + // against the XSD schema. + parser.setValidateXML(false); + + std::cerr << "Parsing (No validation) " << nonValidXML << std::endl; + ASSERT_IS_TRUE(parser.parseXMLFile(nonValidXML)); + std::cerr << "Successfuly parsed " << nonValidXML << std::endl << std::endl; + + std::cerr << "Parsing " << notValidFormatXML << std::endl; + ASSERT_IS_FALSE(parser.parseXMLFile(notValidFormatXML)); + std::cerr << "Could not parse " << notValidFormatXML << std::endl << std::endl; + + std::cerr << "Parsing " << doubleRootXML << std::endl; + ASSERT_IS_FALSE(parser.parseXMLFile(doubleRootXML)); + std::cerr << "Could not parse " << doubleRootXML << std::endl << std::endl; + + return EXIT_SUCCESS; +} diff --git a/src/regressors/include/kdl_codyco/regressors/dirl_utils.hpp b/src/regressors/include/kdl_codyco/regressors/dirl_utils.hpp index 4bccba7d90c..3e55d047bc9 100644 --- a/src/regressors/include/kdl_codyco/regressors/dirl_utils.hpp +++ b/src/regressors/include/kdl_codyco/regressors/dirl_utils.hpp @@ -15,7 +15,7 @@ #include "kdl_codyco/undirectedtree.hpp" #include "iDynTree/Sensors/Sensors.h" -#include "iDynTree/Sensors/SixAxisFTSensor.h" +#include "iDynTree/Sensors/SixAxisForceTorqueSensor.h" #include "iDynTree/Core/Wrench.h" #include "iDynTree/Regressors/DynamicsRegressorParameters.h" diff --git a/src/regressors/src/dirl_utils.cpp b/src/regressors/src/dirl_utils.cpp index a5016cae81f..76a5d740091 100644 --- a/src/regressors/src/dirl_utils.cpp +++ b/src/regressors/src/dirl_utils.cpp @@ -12,7 +12,7 @@ #include "kdl_codyco/regressor_utils.hpp" -#include "iDynTree/Sensors/SixAxisFTSensor.h" +#include "iDynTree/Sensors/SixAxisForceTorqueSensor.h" #include "iDynTree/Core/Transform.h" #include "kdl_codyco/KDLConversions.h" #include diff --git a/src/regressors/src/subtreeBaseDynamicsRegressor.cpp b/src/regressors/src/subtreeBaseDynamicsRegressor.cpp index d23b1f6b5a4..5f18be49eb5 100644 --- a/src/regressors/src/subtreeBaseDynamicsRegressor.cpp +++ b/src/regressors/src/subtreeBaseDynamicsRegressor.cpp @@ -12,7 +12,7 @@ #include "kdl_codyco/regressor_utils.hpp" -#include "iDynTree/Sensors/SixAxisFTSensor.h" +#include "iDynTree/Sensors/SixAxisForceTorqueSensor.h" #include "iDynTree/Core/Wrench.h" #include "kdl_codyco/KDLConversions.h" #include "dirl_utils.hpp" diff --git a/src/regressors/src/torqueRegressor.cpp b/src/regressors/src/torqueRegressor.cpp index 139b7b451ac..9a0c77d596b 100644 --- a/src/regressors/src/torqueRegressor.cpp +++ b/src/regressors/src/torqueRegressor.cpp @@ -13,7 +13,7 @@ #include "kdl_codyco/regressor_utils.hpp" #include "iDynTree/Sensors/Sensors.h" -#include "iDynTree/Sensors/SixAxisFTSensor.h" +#include "iDynTree/Sensors/SixAxisForceTorqueSensor.h" #include "kdl_codyco/KDLConversions.h" #include "iDynTree/Core/Transform.h" #include "iDynTree/Core/Wrench.h" diff --git a/src/sensors/CMakeLists.txt b/src/sensors/CMakeLists.txt index 807b85d2211..3115e8bd468 100644 --- a/src/sensors/CMakeLists.txt +++ b/src/sensors/CMakeLists.txt @@ -16,6 +16,7 @@ include_directories(${IDYNTREE_TREE_INCLUDE_DIRS}) set(IDYNTREE_SENSORS_HEADERS include/iDynTree/Sensors/AllSensorsTypes.h include/iDynTree/Sensors/Sensors.h + include/iDynTree/Sensors/SixAxisForceTorqueSensor.h include/iDynTree/Sensors/SixAxisFTSensor.h include/iDynTree/Sensors/GyroscopeSensor.h include/iDynTree/Sensors/AccelerometerSensor.h @@ -25,7 +26,7 @@ set(IDYNTREE_SENSORS_HEADERS include/iDynTree/Sensors/AllSensorsTypes.h include/iDynTree/Sensors/ModelSensorsTransformers.h) set(IDYNTREE_SENSORS_SOURCES src/Sensors.cpp - src/SixAxisFTSensor.cpp + src/SixAxisForceTorqueSensor.cpp src/AccelerometerSensor.cpp src/GyroscopeSensor.cpp src/ThreeAxisAngularAccelerometerSensor.cpp diff --git a/src/sensors/include/iDynTree/Sensors/AllSensorsTypes.h b/src/sensors/include/iDynTree/Sensors/AllSensorsTypes.h index d147571e799..dad170139a4 100644 --- a/src/sensors/include/iDynTree/Sensors/AllSensorsTypes.h +++ b/src/sensors/include/iDynTree/Sensors/AllSensorsTypes.h @@ -11,7 +11,7 @@ #ifndef IDYNTREE_ALL_SENSORS_TYPE_H #define IDYNTREE_ALL_SENSORS_TYPE_H -#include +#include #include #include #include diff --git a/src/sensors/include/iDynTree/Sensors/SixAxisFTSensor.h b/src/sensors/include/iDynTree/Sensors/SixAxisFTSensor.h index c502c43874c..df6a1d603d4 100644 --- a/src/sensors/include/iDynTree/Sensors/SixAxisFTSensor.h +++ b/src/sensors/include/iDynTree/Sensors/SixAxisFTSensor.h @@ -1,5 +1,5 @@ /* - * Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia + * Copyright (C) 2018 Fondazione Istituto Italiano di Tecnologia * * Licensed under either the GNU Lesser General Public License v3.0 : * https://www.gnu.org/licenses/lgpl-3.0.html @@ -8,265 +8,13 @@ * at your option. */ +#ifndef IDYNTREE_SIX_AXIS_FT_SENSOR_H +#define IDYNTREE_SIX_AXIS_FT_SENSOR_H -#ifndef IDYNTREE_CORE_SENSOR_SIX_AXIS_FT_HPP -#define IDYNTREE_CORE_SENSOR_SIX_AXIS_FT_HPP - -namespace iDynTree -{ - class Transform; - class Wrench; - class Traversal; - class Model; -} - - -#include - -#include - -#include - -namespace iDynTree { - - - /** - * A six axis force torque sensor class implementation of the Sensor. - * - * \ingroup iDynTreeSensors - */ - class SixAxisForceTorqueSensor: public JointSensor { - private: - struct SixAxisForceTorqueSensorPrivateAttributes; - SixAxisForceTorqueSensorPrivateAttributes * pimpl; - - public: - /** - * Constructor. - */ - SixAxisForceTorqueSensor(); - - /** - * Copy constructor - */ - SixAxisForceTorqueSensor(const SixAxisForceTorqueSensor& other); - - /** - * Copy operator - */ - SixAxisForceTorqueSensor& operator=(const SixAxisForceTorqueSensor &other); - - /** - * Destructor. - */ - virtual ~SixAxisForceTorqueSensor(); - - /** - * Set the name (id) of the sensor - * - */ - bool setName(const std::string &_name); - - /** - * Set the transform from the sensor to a first link attached to the sensor. - * - * @return true if link_index is one of the two links attached to the FT sensor, false otherwise. - */ - bool setFirstLinkSensorTransform(const int link_index, const iDynTree::Transform & link_H_sensor) const; - - /** - * Set the transform from the sensor to a the second link attached to the sensor. - * - * @return true if link_index is one of the two links attached to the FT sensor, false otherwise. - */ - bool setSecondLinkSensorTransform(const int link_index, const iDynTree::Transform & link_H_sensor) const; - - /** - * Get the index of the first link attached to the sensor. - * - * @return the index of the first link attached to the sensor. - */ - LinkIndex getFirstLinkIndex() const; - - /** - * Get the index of the first link attached to the sensor. - * - * @return the index of the first link attached to the sensor. - */ - LinkIndex getSecondLinkIndex() const; - - /** - * Set the name of the first link at which the FT sensor is attached. - */ - bool setFirstLinkName(const std::string & name); - - /** - * Set the name of the first link at which the FT sensor is attached. - */ - bool setSecondLinkName(const std::string & name); - - /** - * Get the name of the first link at which the FT sensor is attached. - */ - std::string getFirstLinkName() const; - - /** - * Get the name of the second link at which the FT sensor is attached. - */ - std::string getSecondLinkName() const; - - // Documented in JointSensor - bool setParentJoint(const std::string &parent); - - // Documented in JointSensor - bool setParentJointIndex(const int &parent_index); - - /** - * The Six Axis Force Torque sensor measure the Force Torque (wrench) - * applied by a link on another link. This method sets the link - * on which the measured force is applied. - * @return the index of the link on which the measure force is applied. - */ - bool setAppliedWrenchLink(const int applied_wrench_index); - - /** - * Documented in the sensor - * - */ - std::string getName() const; - - /** - * Documented in Sensor - */ - SensorType getSensorType() const; - - // Documented in JontSensor - std::string getParentJoint() const; - - // Documented in JointSensor - JointIndex getParentJointIndex() const; - - /* - * Documented in Sensor - */ - bool isValid() const; - - /* - * Documented in Sensor - */ - Sensor * clone() const; - - /* - * Documented in Sensor - */ - bool updateIndices(const Model & model); - - // Deprecated - IDYNTREE_DEPRECATED_WITH_MSG("Use updateIndices() instead") - bool updateIndeces(const Model & model); - - /** - * The Six Axis Force Torque sensor measure the Force Torque (wrench) - * applied by a link on another link. This method returns the link - * on which the measured force is applied. - * @return the index of the link on which the measure force is applied. - */ - int getAppliedWrenchLink() const; - - /** - * Check if a given link is attached to this FT sensor. - * @return true if link_index is attached to the ft sensor, false otherwise - */ - bool isLinkAttachedToSensor(const int link_index) const; - - - /** - * Get the transform from the sensor to the specified link. - * - * @return true if link_index is one of the two links attached to the FT sensor, false otherwise. - */ - bool getLinkSensorTransform(const int link_index, iDynTree::Transform & link_H_sensor) const; - - - /** - * Get wrench applied on the specified link expressed in the specified link frame. - * - * If the F/T sensors is not connected to link_index, the function will return false - * and the wrench_applied_on_link will be zeroed. - * - * @return true if link_index is one of the two links attached to the FT sensor, false otherwise. - */ - bool getWrenchAppliedOnLink(const int link_index, - const iDynTree::Wrench & measured_wrench, - iDynTree::Wrench & wrench_applied_on_link ) const; - - /** - * Get the 6x6 matrix that multiplied by the wrench returned by the F/T sensors - * returnes the wrench applied on the specified link expressed in the specified link frame. - * - * If the F/T sensors is not connected to link_index, the function will return false - * and the matrix will be zeroed. - * - * \note This will return and adjoint transformation matrix, possibly with the sign - * changed depending on the "direction" of the F/T sensor (i.e. if it is measures - * the wrench applied by a link to another, of viceversa). - * - * \note The following condition should always hold : - * ~~~ - * getWrenchAppliedOnLink(link,measured_wrench,wrench_on_link); - * getWrenchAppliedOnLinkMatrix(link,wrench_applied_on_link_matrix); - * wrench_applied_on_link_matrix*measured_wrench.toVector() == wrench_on_link - * ~~~ - * - * @return true if link_index is one of the two links attached to the FT sensor, false otherwise. - */ - bool getWrenchAppliedOnLinkMatrix(const LinkIndex link_index, - Matrix6x6 & wrench_applied_on_link_matrix ) const; - - /** - * Get the 6x6 matrix that multiplied by the wrench applied on the specified link expressed in the specified link frame - * returns the wrench measured by the F/T sensors. - * - * If the F/T sensors is not connected to link_index, the function will return false - * and the matrix will be zeroed. - * - * \note This will return an adjoint transformation matrix, possibly with the sign - * changed depending on the "direction" of the F/T sensor (i.e. if it is measures - * the wrench applied by a link to another, of viceversa). - * - * \note The following condition should always hold : - * ~~~ - * getWrenchAppliedOnLink(link,measured_wrench,wrench_on_link); - * getWrenchAppliedOnLinkInverseMatrix(link,wrench_applied_on_link_inverse_matrix); - * measured_wrench.toVector() == wrench_applied_on_link_inverse_matrix*wrench_on_link - * ~~~ - * - * @return true if link_index is one of the two links attached to the FT sensor, false otherwise. - */ - bool getWrenchAppliedOnLinkInverseMatrix(const LinkIndex link_index, - Matrix6x6 & wrench_applied_on_link_inverse_matrix ) const; - - /** - * Predict sensor measurement when given a vector of internal wrenches - * computed with a given traversal. - * - * @return the predicted Measurement - */ - iDynTree::Wrench predictMeasurement(const Traversal& traversal, const LinkInternalWrenches & intWrenches); - - /** - * - */ - std::string toString(const Model & model) const; - - }; - - - - - -} - +#ifdef __DEPRECATED + #warning is deprecated. Please use . To disable this warning use -Wno-deprecated. +#endif +#include "iDynTree/Sensors/SixAxisForceTorqueSensor.h" #endif diff --git a/src/sensors/include/iDynTree/Sensors/SixAxisForceTorqueSensor.h b/src/sensors/include/iDynTree/Sensors/SixAxisForceTorqueSensor.h new file mode 100644 index 00000000000..c14786592bf --- /dev/null +++ b/src/sensors/include/iDynTree/Sensors/SixAxisForceTorqueSensor.h @@ -0,0 +1,272 @@ +/* + * Copyright (C) 2015 Fondazione Istituto Italiano di Tecnologia + * + * Licensed under either the GNU Lesser General Public License v3.0 : + * https://www.gnu.org/licenses/lgpl-3.0.html + * or the GNU Lesser General Public License v2.1 : + * https://www.gnu.org/licenses/old-licenses/lgpl-2.1.html + * at your option. + */ + + +#ifndef IDYNTREE_SIX_AXIS_FORCE_TORQUE_H +#define IDYNTREE_SIX_AXIS_FORCE_TORQUE_H + +namespace iDynTree +{ + class Transform; + class Wrench; + class Traversal; + class Model; +} + + +#include + +#include + +#include + +namespace iDynTree { + + + /** + * A six axis force torque sensor class implementation of the Sensor. + * + * \ingroup iDynTreeSensors + */ + class SixAxisForceTorqueSensor: public JointSensor { + private: + struct SixAxisForceTorqueSensorPrivateAttributes; + SixAxisForceTorqueSensorPrivateAttributes * pimpl; + + public: + /** + * Constructor. + */ + SixAxisForceTorqueSensor(); + + /** + * Copy constructor + */ + SixAxisForceTorqueSensor(const SixAxisForceTorqueSensor& other); + + /** + * Copy operator + */ + SixAxisForceTorqueSensor& operator=(const SixAxisForceTorqueSensor &other); + + /** + * Destructor. + */ + virtual ~SixAxisForceTorqueSensor(); + + /** + * Set the name (id) of the sensor + * + */ + bool setName(const std::string &_name); + + /** + * Set the transform from the sensor to a first link attached to the sensor. + * + * @return true if link_index is one of the two links attached to the FT sensor, false otherwise. + */ + bool setFirstLinkSensorTransform(const int link_index, const iDynTree::Transform & link_H_sensor) const; + + /** + * Set the transform from the sensor to a the second link attached to the sensor. + * + * @return true if link_index is one of the two links attached to the FT sensor, false otherwise. + */ + bool setSecondLinkSensorTransform(const int link_index, const iDynTree::Transform & link_H_sensor) const; + + /** + * Get the index of the first link attached to the sensor. + * + * @return the index of the first link attached to the sensor. + */ + LinkIndex getFirstLinkIndex() const; + + /** + * Get the index of the first link attached to the sensor. + * + * @return the index of the first link attached to the sensor. + */ + LinkIndex getSecondLinkIndex() const; + + /** + * Set the name of the first link at which the FT sensor is attached. + */ + bool setFirstLinkName(const std::string & name); + + /** + * Set the name of the first link at which the FT sensor is attached. + */ + bool setSecondLinkName(const std::string & name); + + /** + * Get the name of the first link at which the FT sensor is attached. + */ + std::string getFirstLinkName() const; + + /** + * Get the name of the second link at which the FT sensor is attached. + */ + std::string getSecondLinkName() const; + + // Documented in JointSensor + bool setParentJoint(const std::string &parent); + + // Documented in JointSensor + bool setParentJointIndex(const int &parent_index); + + /** + * The Six Axis Force Torque sensor measure the Force Torque (wrench) + * applied by a link on another link. This method sets the link + * on which the measured force is applied. + * @return the index of the link on which the measure force is applied. + */ + bool setAppliedWrenchLink(const int applied_wrench_index); + + /** + * Documented in the sensor + * + */ + std::string getName() const; + + /** + * Documented in Sensor + */ + SensorType getSensorType() const; + + // Documented in JontSensor + std::string getParentJoint() const; + + // Documented in JointSensor + JointIndex getParentJointIndex() const; + + /* + * Documented in Sensor + */ + bool isValid() const; + + /* + * Documented in Sensor + */ + Sensor * clone() const; + + /* + * Documented in Sensor + */ + bool updateIndices(const Model & model); + + // Deprecated + IDYNTREE_DEPRECATED_WITH_MSG("Use updateIndices() instead") + bool updateIndeces(const Model & model); + + /** + * The Six Axis Force Torque sensor measure the Force Torque (wrench) + * applied by a link on another link. This method returns the link + * on which the measured force is applied. + * @return the index of the link on which the measure force is applied. + */ + int getAppliedWrenchLink() const; + + /** + * Check if a given link is attached to this FT sensor. + * @return true if link_index is attached to the ft sensor, false otherwise + */ + bool isLinkAttachedToSensor(const int link_index) const; + + + /** + * Get the transform from the sensor to the specified link. + * + * @return true if link_index is one of the two links attached to the FT sensor, false otherwise. + */ + bool getLinkSensorTransform(const int link_index, iDynTree::Transform & link_H_sensor) const; + + + /** + * Get wrench applied on the specified link expressed in the specified link frame. + * + * If the F/T sensors is not connected to link_index, the function will return false + * and the wrench_applied_on_link will be zeroed. + * + * @return true if link_index is one of the two links attached to the FT sensor, false otherwise. + */ + bool getWrenchAppliedOnLink(const int link_index, + const iDynTree::Wrench & measured_wrench, + iDynTree::Wrench & wrench_applied_on_link ) const; + + /** + * Get the 6x6 matrix that multiplied by the wrench returned by the F/T sensors + * returnes the wrench applied on the specified link expressed in the specified link frame. + * + * If the F/T sensors is not connected to link_index, the function will return false + * and the matrix will be zeroed. + * + * \note This will return and adjoint transformation matrix, possibly with the sign + * changed depending on the "direction" of the F/T sensor (i.e. if it is measures + * the wrench applied by a link to another, of viceversa). + * + * \note The following condition should always hold : + * ~~~ + * getWrenchAppliedOnLink(link,measured_wrench,wrench_on_link); + * getWrenchAppliedOnLinkMatrix(link,wrench_applied_on_link_matrix); + * wrench_applied_on_link_matrix*measured_wrench.toVector() == wrench_on_link + * ~~~ + * + * @return true if link_index is one of the two links attached to the FT sensor, false otherwise. + */ + bool getWrenchAppliedOnLinkMatrix(const LinkIndex link_index, + Matrix6x6 & wrench_applied_on_link_matrix ) const; + + /** + * Get the 6x6 matrix that multiplied by the wrench applied on the specified link expressed in the specified link frame + * returns the wrench measured by the F/T sensors. + * + * If the F/T sensors is not connected to link_index, the function will return false + * and the matrix will be zeroed. + * + * \note This will return an adjoint transformation matrix, possibly with the sign + * changed depending on the "direction" of the F/T sensor (i.e. if it is measures + * the wrench applied by a link to another, of viceversa). + * + * \note The following condition should always hold : + * ~~~ + * getWrenchAppliedOnLink(link,measured_wrench,wrench_on_link); + * getWrenchAppliedOnLinkInverseMatrix(link,wrench_applied_on_link_inverse_matrix); + * measured_wrench.toVector() == wrench_applied_on_link_inverse_matrix*wrench_on_link + * ~~~ + * + * @return true if link_index is one of the two links attached to the FT sensor, false otherwise. + */ + bool getWrenchAppliedOnLinkInverseMatrix(const LinkIndex link_index, + Matrix6x6 & wrench_applied_on_link_inverse_matrix ) const; + + /** + * Predict sensor measurement when given a vector of internal wrenches + * computed with a given traversal. + * + * @return the predicted Measurement + */ + iDynTree::Wrench predictMeasurement(const Traversal& traversal, const LinkInternalWrenches & intWrenches); + + /** + * + */ + std::string toString(const Model & model) const; + + }; + + + + + +} + + + +#endif diff --git a/src/sensors/src/ModelSensorsTransformers.cpp b/src/sensors/src/ModelSensorsTransformers.cpp index e7417f8cb2d..bc03865fcab 100644 --- a/src/sensors/src/ModelSensorsTransformers.cpp +++ b/src/sensors/src/ModelSensorsTransformers.cpp @@ -14,7 +14,7 @@ #include #include -#include +#include #include diff --git a/src/sensors/src/PredictSensorsMeasurements.cpp b/src/sensors/src/PredictSensorsMeasurements.cpp index f967e2aab2f..e9dee6af713 100644 --- a/src/sensors/src/PredictSensorsMeasurements.cpp +++ b/src/sensors/src/PredictSensorsMeasurements.cpp @@ -13,7 +13,7 @@ #include #include #include -#include +#include #include #include diff --git a/src/sensors/src/Sensors.cpp b/src/sensors/src/Sensors.cpp index 0b6b13aff89..e4d08d06d56 100644 --- a/src/sensors/src/Sensors.cpp +++ b/src/sensors/src/Sensors.cpp @@ -20,7 +20,7 @@ // #include "iDynTree/Sensors/IMeasurement.hpp" #include -#include +#include #include #include diff --git a/src/sensors/src/SixAxisFTSensor.cpp b/src/sensors/src/SixAxisForceTorqueSensor.cpp similarity index 99% rename from src/sensors/src/SixAxisFTSensor.cpp rename to src/sensors/src/SixAxisForceTorqueSensor.cpp index 5a19ad37f5f..309bad765ef 100644 --- a/src/sensors/src/SixAxisFTSensor.cpp +++ b/src/sensors/src/SixAxisForceTorqueSensor.cpp @@ -8,7 +8,7 @@ * at your option. */ #include "iDynTree/Core/Wrench.h" -#include "iDynTree/Sensors/SixAxisFTSensor.h" +#include "iDynTree/Sensors/SixAxisForceTorqueSensor.h" #include "iDynTree/Core/Transform.h" diff --git a/src/sensors/tests/ReducedModelWithFTUnitTest.cpp b/src/sensors/tests/ReducedModelWithFTUnitTest.cpp index 55990b0ecc5..466ba63ba5f 100644 --- a/src/sensors/tests/ReducedModelWithFTUnitTest.cpp +++ b/src/sensors/tests/ReducedModelWithFTUnitTest.cpp @@ -1,12 +1,11 @@ #include #include #include -#include +#include #include #include #include -#include -#include +#include #include "testModels.h" #include #include @@ -59,22 +58,22 @@ std::vector get_iCubJointsSensorised() Model getModel(const std::string& fileName) { - Model model; - + ModelLoader loader; + bool ok = loader.loadModelFromFile(fileName); // Load model - bool ok = modelFromURDF(fileName, model); ASSERT_IS_TRUE(ok); + Model model = loader.model(); return model; } SensorsList getSensors(const std::string& fileName) { - SensorsList sensorList; - - // Load sensors - bool ok = sensorsFromURDF(fileName, sensorList); + ModelLoader loader; + bool ok = loader.loadModelFromFile(fileName); + // Load model ASSERT_IS_TRUE(ok); + SensorsList sensorList = loader.sensors(); return sensorList; } diff --git a/src/sensors/tests/SensorsListUnitTest.cpp b/src/sensors/tests/SensorsListUnitTest.cpp index ed6aae87092..33ac9633706 100644 --- a/src/sensors/tests/SensorsListUnitTest.cpp +++ b/src/sensors/tests/SensorsListUnitTest.cpp @@ -12,7 +12,7 @@ #include #include #include -#include +#include void checkList() { diff --git a/src/tests/benchmark/DynamicsBenchmark.cpp b/src/tests/benchmark/DynamicsBenchmark.cpp index 32d5e06d3bd..5d845a3aa6c 100644 --- a/src/tests/benchmark/DynamicsBenchmark.cpp +++ b/src/tests/benchmark/DynamicsBenchmark.cpp @@ -32,7 +32,7 @@ #include #include -#include +#include #include @@ -57,8 +57,9 @@ void dynamicsBenchmark(std::string modelFilePath, unsigned int nrOfTrials) std::cout << "Benchmarking dynamics algorithms for " << modelFilePath << std::endl; // initialization variables - iDynTree::Model model; - modelFromURDF(modelFilePath,model); + ModelLoader loader; + loader.loadModelFromFile(modelFilePath); + iDynTree::Model model = loader.model(); iDynTree::Traversal traversal; model.computeFullTreeTraversal(traversal); diff --git a/src/tests/data/CMakeLists.txt b/src/tests/data/CMakeLists.txt index e4b9aa87a3a..d6510c1d0ec 100644 --- a/src/tests/data/CMakeLists.txt +++ b/src/tests/data/CMakeLists.txt @@ -28,7 +28,8 @@ set(IDYNTREE_TESTS_URDFS icub.urdf iCubDarmstadt01.urdf twoLinksWithoutBaseSensors.urdf twoLinksRotationOnZAxis.urdf - frame.urdf) + frame.urdf + icalibrate.urdf) # configure an header containing the path diff --git a/src/tests/data/icalibrate.urdf b/src/tests/data/icalibrate.urdf new file mode 100644 index 00000000000..e8e905acbd5 --- /dev/null +++ b/src/tests/data/icalibrate.urdf @@ -0,0 +1,233 @@ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + true + + + + + 0.4543686 0.0139095 0.0139095 1.0 + 0.504854 0.015455 0.015455 1.0 + 0.4543686 0.0139095 0.0139095 1.0 + + + + + + + 0.4543686 0.0139095 0.0139095 1.0 + 0.504854 0.015455 0.015455 1.0 + 0.4543686 0.0139095 0.0139095 1.0 + + + + + + + 0.4543686 0.0139095 0.0139095 1.0 + 0.504854 0.015455 0.015455 1.0 + 0.4543686 0.0139095 0.0139095 1.0 + + + + + + + 0.4345 0.3448599 0.21463475 1.0 + 0.711 0.5643162 0.3512205 1.0 + 0.474 0.3762108 0.234147 1.0 + + + + + + 1 + 100 + + child + child_to_parent + + + model://conf/gazebo_icalibrate_ft.ini + + + + + + + child + child_to_parent + + + + 0.0 0.0 0.0 0.0 0.0 0.0 + + + diff --git a/src/tests/data/simple_model.urdf b/src/tests/data/simple_model.urdf new file mode 100644 index 00000000000..8e2a6ae2cb0 --- /dev/null +++ b/src/tests/data/simple_model.urdf @@ -0,0 +1,18 @@ + + + + + + + + + + + + + + + + + + diff --git a/src/tests/icub_consistency/iCubExternalWrenchesEstimationConsistencyTest.cpp b/src/tests/icub_consistency/iCubExternalWrenchesEstimationConsistencyTest.cpp index f8b7d746340..9dc9c500fef 100644 --- a/src/tests/icub_consistency/iCubExternalWrenchesEstimationConsistencyTest.cpp +++ b/src/tests/icub_consistency/iCubExternalWrenchesEstimationConsistencyTest.cpp @@ -48,8 +48,7 @@ #include #include -#include -#include +#include #include #include #include @@ -263,7 +262,7 @@ bool addSingleContact(iCub::iDynTree::TorqueEstimationTree & estimation_model, } void getJointSerializationFromDynTree(DynTree & dynTree, - iDynTree::Model & model, + const iDynTree::Model & model, std::vector& joints) { joints.resize(0); @@ -304,19 +303,25 @@ int main(int argc, char ** argv) iCub::iDynTree::TorqueEstimationTree * icub_model_estimation = new iCub::iDynTree::TorqueEstimationTree(urdf_filename,dof_serialization,ft_serialization,"imu_frame"); - // Creating the new iDynTree based data structures - iDynTree::Model fullModel, model; - iDynTree::modelFromURDF(urdf_filename,fullModel); + // Creating a model from file just to get the joints + iDynTree::ModelLoader preliminaryLoader; + preliminaryLoader.loadModelFromFile(urdf_filename); + // Get the same serialization of joints used in iDynTree std::vector usedJoints; - getJointSerializationFromDynTree(*icub_model_estimation,fullModel,usedJoints); - bool ok = iDynTree::createReducedModel(fullModel,usedJoints,model); + getJointSerializationFromDynTree(*icub_model_estimation,preliminaryLoader.model(),usedJoints); + + // Get model with exactly the same serialization of the legacy DynTree class + iDynTree::ModelLoader loader; + bool ok = loader.loadReducedModelFromFile(urdf_filename, usedJoints); + if( !ok ) { std::cerr << "Error in creating reduced model" << std::endl; return EXIT_FAILURE; } + iDynTree::Model model = loader.model(); assert(model.getNrOfDOFs() == icub_model_estimation->getNrOfDOFs()); @@ -332,8 +337,7 @@ int main(int argc, char ** argv) ASSERT_EQUAL_DOUBLE(ok,true); // Create sensors list with FT sensors (TODO) - iDynTree::SensorsList sensors; - iDynTree::sensorsFromURDF(urdf_filename,model,sensors); + iDynTree::SensorsList sensors = loader.sensors(); sensors.setSerialization(iDynTree::SIX_AXIS_FORCE_TORQUE,ft_serialization); // Create submodel decomposition diff --git a/src/tests/integration/DynamicsIntegrationTest.cpp b/src/tests/integration/DynamicsIntegrationTest.cpp index 180a396d560..dc52f9155d8 100644 --- a/src/tests/integration/DynamicsIntegrationTest.cpp +++ b/src/tests/integration/DynamicsIntegrationTest.cpp @@ -14,7 +14,7 @@ #include #include -#include +#include #include #include @@ -117,9 +117,10 @@ int main() { std::string urdfFileName = getAbsModelPath(std::string(IDYNTREE_TESTS_URDFS[mdl])); std::cout << "Checking dynamics test on " << urdfFileName << std::endl; - Model model; - bool ok = modelFromURDF(urdfFileName,model); + ModelLoader loader; + bool ok = loader.loadModelFromFile(urdfFileName); assert(ok); + Model model = loader.model(); Traversal traversal; ok = model.computeFullTreeTraversal(traversal); assert(ok); diff --git a/src/tests/integration/DynamicsLinearizationIntegrationTest.cpp b/src/tests/integration/DynamicsLinearizationIntegrationTest.cpp index 2d932d7cf4b..e96125e43e7 100644 --- a/src/tests/integration/DynamicsLinearizationIntegrationTest.cpp +++ b/src/tests/integration/DynamicsLinearizationIntegrationTest.cpp @@ -15,8 +15,6 @@ #include #include -#include - #include #include #include @@ -28,6 +26,8 @@ #include +#include + #include "testModels.h" #include @@ -535,8 +535,10 @@ int main() { std::string urdfFileName = getAbsModelPath(std::string(IDYNTREE_TESTS_URDFS[mdl])); std::cerr << "Checking DynamicsLinearization test on " << urdfFileName << std::endl; - Model model; - bool ok = modelFromURDF(urdfFileName,model); + + ModelLoader loader; + loader.loadModelFromFile(urdfFileName); + Model model = loader.model(); checkABAandABALinearizationAreConsistent(model); } } diff --git a/src/tests/kdl_consistency/GeometryConsistencyTest.cpp b/src/tests/kdl_consistency/GeometryConsistencyTest.cpp index 8bbe07d87b0..b979b8446fb 100644 --- a/src/tests/kdl_consistency/GeometryConsistencyTest.cpp +++ b/src/tests/kdl_consistency/GeometryConsistencyTest.cpp @@ -24,8 +24,6 @@ #include #include -#include - #include #include diff --git a/src/tests/kdl_consistency/KinematicsDynamicsConsistencyTest.cpp b/src/tests/kdl_consistency/KinematicsDynamicsConsistencyTest.cpp index 338e9a50c82..9e8c5a90308 100644 --- a/src/tests/kdl_consistency/KinematicsDynamicsConsistencyTest.cpp +++ b/src/tests/kdl_consistency/KinematicsDynamicsConsistencyTest.cpp @@ -20,6 +20,8 @@ #include // iDynTree includes +#include +#include #include #include #include @@ -31,12 +33,8 @@ #include #include #include +#include -#include - -#include - -#include using namespace iDynTree; @@ -58,8 +56,9 @@ void testFwdKinConsistency(std::string modelFilePath) // Load iDynTree model and compute a default traversal - iDynTree::Model model; - modelFromURDF(modelFilePath,model); + ModelLoader loader; + loader.loadModelFromFile(modelFilePath); + iDynTree::Model model = loader.model(); iDynTree::Traversal traversal; model.computeFullTreeTraversal(traversal); diff --git a/src/tests/kdl_tests/subtree_regressor_test.cpp b/src/tests/kdl_tests/subtree_regressor_test.cpp index 2795b4668e5..d06c4fe5608 100644 --- a/src/tests/kdl_tests/subtree_regressor_test.cpp +++ b/src/tests/kdl_tests/subtree_regressor_test.cpp @@ -26,7 +26,7 @@ #include -#include +#include #include diff --git a/src/tools/idyntree-model-info.cpp b/src/tools/idyntree-model-info.cpp index 71f802075b5..1fa09adac56 100644 --- a/src/tools/idyntree-model-info.cpp +++ b/src/tools/idyntree-model-info.cpp @@ -9,7 +9,7 @@ */ #include -#include +#include #include #include "cmdline.h" @@ -163,10 +163,10 @@ int main(int argc, char** argv) // Read model std::string modelPath = cmd.get("model"); + iDynTree::ModelLoader loader; + bool ok = loader.loadModelFromFile(modelPath); iDynTree::KinDynComputations model; - bool ok = model.loadRobotModelFromFile(modelPath); - - if( !ok ) + if( !ok || !model.loadRobotModel(loader.model())) { std::cerr << "Impossible to read model at file " << modelPath << std::endl; return EXIT_FAILURE;