diff --git a/CHANGELOG.md b/CHANGELOG.md
index 89940dc0f94..fb94b82c426 100644
--- a/CHANGELOG.md
+++ b/CHANGELOG.md
@@ -29,12 +29,13 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 - The Python package name of the SWIG bindings changed from `iDynTree` to `idyntree.bindings` (https://github.com/robotology/idyntree/pull/733, https://github.com/robotology/idyntree/pull/735). To continue referring to iDynTree classes as `iDynTree.<ClassName>`, you can change your `import iDynTree` statements to `import idyntree.bindings as iDynTree`. Otherwise, you can use `import idyntree.bindings` to refer them as `idyntree.bindings.<ClassName>`.
 - Improve the use of `const` keyword  in `KinDynComputations`(https://github.com/robotology/idyntree/pull/736).
 
-### Removed 
+### Removed
 - Remove the CMake option IDYNTREE_USES_KDL and all the classes available when enabling it. They were deprecated in iDynTree 1.0 .
 - Remove the semantics related classes. They were deprecated in iDynTree 1.0 .
 - Remove unnecessary warning messages from [ModelSensorsTransformers.cpp](https://github.com/robotology/idyntree/blob/master/src/sensors/src/ModelSensorsTransformers.cpp) and [URDFDocument.cpp](https://github.com/robotology/idyntree/blob/master/src/model_io/urdf/src/URDFDocument.cpp) (see [PR 718](https://github.com/robotology/idyntree/pull/718))
 - Python2 will not be maintained past 2020 and its support has been dropped (https://github.com/robotology/idyntree/pull/726).
 - Remove the need to call `iDynTree.init_helpers()` and `iDynTree.init_numpy_helpers()` from Python (https://github.com/robotology/idyntree/pull/726).
+- Remove headers and methods that were deprecated in iDynTree 1.0 (https://github.com/robotology/idyntree/pull/751).
 
 ## [Unreleased]
 
diff --git a/bindings/iDynTree.i b/bindings/iDynTree.i
index 49937cf3886..9aef2f4bc2d 100644
--- a/bindings/iDynTree.i
+++ b/bindings/iDynTree.i
@@ -98,9 +98,7 @@
 #include "iDynTree/Sensors/PredictSensorsMeasurements.h"
 
 // Model loading from external formats
-#include "iDynTree/ModelIO/URDFModelImport.h"
 #include "iDynTree/ModelIO/URDFDofsImport.h"
-#include "iDynTree/ModelIO/URDFGenericSensorsImport.h"
 #include "iDynTree/ModelIO/ModelLoader.h"
 #include "iDynTree/ModelIO/ModelExporter.h"
 #include "iDynTree/ModelIO/ModelCalibrationHelper.h"
@@ -272,9 +270,7 @@ namespace std {
 %include "sensors.i"
 
 // Model loading from external formats
-%include "iDynTree/ModelIO/URDFModelImport.h"
 %include "iDynTree/ModelIO/URDFDofsImport.h"
-%include "iDynTree/ModelIO/URDFGenericSensorsImport.h"
 %include "iDynTree/ModelIO/ModelLoader.h"
 %include "iDynTree/ModelIO/ModelExporter.h"
 %include "iDynTree/ModelIO/ModelCalibrationHelper.h"
diff --git a/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m b/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m
index e4cee8172ee..b4e8dbf2417 100644
--- a/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/AccelerometerSensor.m
@@ -7,58 +7,55 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1300, varargin{:});
+        tmp = iDynTreeMEX(1312, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1301, self);
+        iDynTreeMEX(1313, self);
         self.SwigClear();
       end
     end
     function varargout = setName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1302, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1314, self, varargin{:});
     end
     function varargout = setLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1303, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1315, self, varargin{:});
     end
     function varargout = setParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1304, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1316, self, varargin{:});
     end
     function varargout = setParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1305, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1317, self, varargin{:});
     end
     function varargout = getName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1306, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1318, self, varargin{:});
     end
     function varargout = getSensorType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1307, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1319, self, varargin{:});
     end
     function varargout = getParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1308, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1320, self, varargin{:});
     end
     function varargout = getParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1309, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1321, self, varargin{:});
     end
     function varargout = getLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1310, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1322, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1311, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1323, self, varargin{:});
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1312, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1324, self, varargin{:});
     end
     function varargout = updateIndices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1313, self, varargin{:});
-    end
-    function varargout = updateIndeces(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1314, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1325, self, varargin{:});
     end
     function varargout = predictMeasurement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1315, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1326, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3.m
deleted file mode 100644
index c57fc09c539..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3.m
+++ /dev/null
@@ -1,27 +0,0 @@
-classdef AngularForceVector3 < iDynTree.ForceVector3__AngularForceVector3
-  methods
-    function self = AngularForceVector3(varargin)
-      self@iDynTree.ForceVector3__AngularForceVector3(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(574, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = changePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(575, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(576, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3Semantics.m
deleted file mode 100644
index 46b3d102523..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/AngularForceVector3Semantics.m
+++ /dev/null
@@ -1,30 +0,0 @@
-classdef AngularForceVector3Semantics < iDynTree.ForceVector3Semantics__AngularForceVector3Semantics
-  methods
-    function self = AngularForceVector3Semantics(varargin)
-      self@iDynTree.ForceVector3Semantics__AngularForceVector3Semantics(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(570, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = changePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(571, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(573, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-    function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(572, varargin{:});
-    end
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3.m
deleted file mode 100644
index d818d696144..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3.m
+++ /dev/null
@@ -1,27 +0,0 @@
-classdef AngularMotionVector3 < iDynTree.MotionVector3__AngularMotionVector3
-  methods
-    function self = AngularMotionVector3(varargin)
-      self@iDynTree.MotionVector3__AngularMotionVector3(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(563, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = exp(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(564, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(565, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3Semantics.m
deleted file mode 100644
index 379be5909df..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/AngularMotionVector3Semantics.m
+++ /dev/null
@@ -1,24 +0,0 @@
-classdef AngularMotionVector3Semantics < iDynTree.GeomVector3Semantics__AngularMotionVector3Semantics
-  methods
-    function self = AngularMotionVector3Semantics(varargin)
-      self@iDynTree.GeomVector3Semantics__AngularMotionVector3Semantics(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(561, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(562, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithm.m b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithm.m
index d14bddbcd3f..2c00f70c337 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(1215, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1229, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m
index 6ef81269aab..48cdefd43d2 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ArticulatedBodyAlgorithmInternalBuffers.m
@@ -9,110 +9,110 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1193, varargin{:});
+        tmp = iDynTreeMEX(1207, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1194, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1208, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1195, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1209, self, varargin{:});
     end
     function varargout = S(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1196, self);
+        varargout{1} = iDynTreeMEX(1210, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1197, self, varargin{1});
+        iDynTreeMEX(1211, self, varargin{1});
       end
     end
     function varargout = U(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1198, self);
+        varargout{1} = iDynTreeMEX(1212, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1199, self, varargin{1});
+        iDynTreeMEX(1213, self, varargin{1});
       end
     end
     function varargout = D(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1200, self);
+        varargout{1} = iDynTreeMEX(1214, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1201, self, varargin{1});
+        iDynTreeMEX(1215, self, varargin{1});
       end
     end
     function varargout = u(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1202, self);
+        varargout{1} = iDynTreeMEX(1216, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1203, self, varargin{1});
+        iDynTreeMEX(1217, self, varargin{1});
       end
     end
     function varargout = linksVel(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1204, self);
+        varargout{1} = iDynTreeMEX(1218, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1205, self, varargin{1});
+        iDynTreeMEX(1219, self, varargin{1});
       end
     end
     function varargout = linksBiasAcceleration(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1206, self);
+        varargout{1} = iDynTreeMEX(1220, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1207, self, varargin{1});
+        iDynTreeMEX(1221, self, varargin{1});
       end
     end
     function varargout = linksAccelerations(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1208, self);
+        varargout{1} = iDynTreeMEX(1222, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1209, self, varargin{1});
+        iDynTreeMEX(1223, self, varargin{1});
       end
     end
     function varargout = linkABIs(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1210, self);
+        varargout{1} = iDynTreeMEX(1224, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1211, self, varargin{1});
+        iDynTreeMEX(1225, self, varargin{1});
       end
     end
     function varargout = linksBiasWrench(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1212, self);
+        varargout{1} = iDynTreeMEX(1226, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1213, self, varargin{1});
+        iDynTreeMEX(1227, self, varargin{1});
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1214, self);
+        iDynTreeMEX(1228, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Box.m b/bindings/matlab/autogenerated/+iDynTree/Box.m
index b3c6ca0af58..12c45ef5d51 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Box.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Box.m
@@ -2,42 +2,30 @@
   methods
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(989, self);
+        iDynTreeMEX(1004, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(990, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1005, self, varargin{:});
     end
-    function varargout = x(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(991, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(992, self, varargin{1});
-      end
+    function varargout = getX(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1006, self, varargin{:});
     end
-    function varargout = y(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(993, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(994, self, varargin{1});
-      end
+    function varargout = setX(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1007, self, varargin{:});
     end
-    function varargout = z(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(995, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(996, self, varargin{1});
-      end
+    function varargout = getY(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1008, self, varargin{:});
+    end
+    function varargout = setY(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1009, self, varargin{:});
+    end
+    function varargout = getZ(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1010, self, varargin{:});
+    end
+    function varargout = setZ(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1011, self, varargin{:});
     end
     function self = Box(varargin)
       self@iDynTree.SolidShape(SwigRef.Null);
@@ -46,7 +34,7 @@ function delete(self)
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(997, varargin{:});
+        tmp = iDynTreeMEX(1012, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ColorViz.m b/bindings/matlab/autogenerated/+iDynTree/ColorViz.m
index b188c8a5e35..77989cd8894 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(1790, self);
+        varargout{1} = iDynTreeMEX(1789, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1791, self, varargin{1});
+        iDynTreeMEX(1790, self, varargin{1});
       end
     end
     function varargout = g(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1792, self);
+        varargout{1} = iDynTreeMEX(1791, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1793, self, varargin{1});
+        iDynTreeMEX(1792, self, varargin{1});
       end
     end
     function varargout = b(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1794, self);
+        varargout{1} = iDynTreeMEX(1793, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1795, self, varargin{1});
+        iDynTreeMEX(1794, self, varargin{1});
       end
     end
     function varargout = a(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1796, self);
+        varargout{1} = iDynTreeMEX(1795, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1797, self, varargin{1});
+        iDynTreeMEX(1796, self, varargin{1});
       end
     end
     function self = ColorViz(varargin)
@@ -49,14 +49,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1798, varargin{:});
+        tmp = iDynTreeMEX(1797, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1799, self);
+        iDynTreeMEX(1798, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/CompositeRigidBodyAlgorithm.m b/bindings/matlab/autogenerated/+iDynTree/CompositeRigidBodyAlgorithm.m
index 49d265e9a07..02131c701e2 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(1192, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1206, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentum.m b/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentum.m
index 38dd8dc8620..99ab9f85cc0 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(1189, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1203, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentumDerivativeBias.m b/bindings/matlab/autogenerated/+iDynTree/ComputeLinearAndAngularMomentumDerivativeBias.m
index dad318af785..ab9a749a677 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(1190, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1204, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ContactWrench.m b/bindings/matlab/autogenerated/+iDynTree/ContactWrench.m
index 2d176d7714d..4b8cd13a156 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(1119, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1133, self, varargin{:});
     end
     function varargout = contactPoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1120, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1134, self, varargin{:});
     end
     function varargout = contactWrench(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1121, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1135, 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(1122, varargin{:});
+        tmp = iDynTreeMEX(1136, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1123, self);
+        iDynTreeMEX(1137, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ConvexHullProjectionConstraint.m b/bindings/matlab/autogenerated/+iDynTree/ConvexHullProjectionConstraint.m
index d16ea9177f6..205baf44e86 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ConvexHullProjectionConstraint.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ConvexHullProjectionConstraint.m
@@ -4,118 +4,118 @@
       this = iDynTreeMEX(3, self);
     end
     function varargout = setActive(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1898, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1897, self, varargin{:});
     end
     function varargout = isActive(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1899, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1898, self, varargin{:});
     end
     function varargout = getNrOfConstraints(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1900, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1899, self, varargin{:});
     end
     function varargout = projectedConvexHull(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1901, self);
+        varargout{1} = iDynTreeMEX(1900, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1902, self, varargin{1});
+        iDynTreeMEX(1901, self, varargin{1});
       end
     end
     function varargout = A(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1903, self);
+        varargout{1} = iDynTreeMEX(1902, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1904, self, varargin{1});
+        iDynTreeMEX(1903, self, varargin{1});
       end
     end
     function varargout = b(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1905, self);
+        varargout{1} = iDynTreeMEX(1904, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1906, self, varargin{1});
+        iDynTreeMEX(1905, self, varargin{1});
       end
     end
     function varargout = P(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1907, self);
+        varargout{1} = iDynTreeMEX(1906, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1908, self, varargin{1});
+        iDynTreeMEX(1907, self, varargin{1});
       end
     end
     function varargout = Pdirection(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1909, self);
+        varargout{1} = iDynTreeMEX(1908, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1910, self, varargin{1});
+        iDynTreeMEX(1909, self, varargin{1});
       end
     end
     function varargout = AtimesP(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1911, self);
+        varargout{1} = iDynTreeMEX(1910, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1912, self, varargin{1});
+        iDynTreeMEX(1911, self, varargin{1});
       end
     end
     function varargout = o(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1913, self);
+        varargout{1} = iDynTreeMEX(1912, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1914, self, varargin{1});
+        iDynTreeMEX(1913, self, varargin{1});
       end
     end
     function varargout = buildConvexHull(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1915, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1914, self, varargin{:});
     end
     function varargout = supportFrameIndices(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1916, self);
+        varargout{1} = iDynTreeMEX(1915, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1917, self, varargin{1});
+        iDynTreeMEX(1916, self, varargin{1});
       end
     end
     function varargout = absoluteFrame_X_supportFrame(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1918, self);
+        varargout{1} = iDynTreeMEX(1917, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1919, self, varargin{1});
+        iDynTreeMEX(1918, self, varargin{1});
       end
     end
     function varargout = project(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1920, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1919, self, varargin{:});
     end
     function varargout = computeMargin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1921, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1920, self, varargin{:});
     end
     function varargout = setProjectionAlongDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1922, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1921, self, varargin{:});
     end
     function varargout = projectAlongDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1923, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1922, self, varargin{:});
     end
     function self = ConvexHullProjectionConstraint(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
@@ -123,14 +123,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1924, varargin{:});
+        tmp = iDynTreeMEX(1923, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1925, self);
+        iDynTreeMEX(1924, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Cylinder.m b/bindings/matlab/autogenerated/+iDynTree/Cylinder.m
index f0f3f5ae6a0..b07c35c9cfb 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Cylinder.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Cylinder.m
@@ -2,32 +2,24 @@
   methods
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(998, self);
+        iDynTreeMEX(1013, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(999, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1014, self, varargin{:});
     end
-    function varargout = length(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1000, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(1001, self, varargin{1});
-      end
+    function varargout = getLength(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1015, self, varargin{:});
     end
-    function varargout = radius(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1002, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(1003, self, varargin{1});
-      end
+    function varargout = setLength(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1016, self, varargin{:});
+    end
+    function varargout = getRadius(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1017, self, varargin{:});
+    end
+    function varargout = setRadius(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1018, self, varargin{:});
     end
     function self = Cylinder(varargin)
       self@iDynTree.SolidShape(SwigRef.Null);
@@ -36,7 +28,7 @@ function delete(self)
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1004, varargin{:});
+        tmp = iDynTreeMEX(1019, 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 b39b3f61045..ed7a939d22b 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(1074, varargin{:});
+        tmp = iDynTreeMEX(1088, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1075, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1089, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1076, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1090, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1077, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1091, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1078, self);
+        iDynTreeMEX(1092, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/DOFSpatialMotionArray.m b/bindings/matlab/autogenerated/+iDynTree/DOFSpatialMotionArray.m
index 6febbf7a602..1119ccd9543 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(1079, varargin{:});
+        tmp = iDynTreeMEX(1093, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1080, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1094, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1081, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1095, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1082, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1096, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1083, self);
+        iDynTreeMEX(1097, 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 88b308260c9..9286491391f 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(724);
+    varargout{1} = iDynTreeMEX(730);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(725,varargin{1});
+    iDynTreeMEX(731,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 a3f262f14f3..8bc56de3f1a 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(726);
+    varargout{1} = iDynTreeMEX(732);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(727,varargin{1});
+    iDynTreeMEX(733,varargin{1});
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/DynamicMatrixView.m b/bindings/matlab/autogenerated/+iDynTree/DynamicMatrixView.m
new file mode 100644
index 00000000000..2828e8e2ee9
--- /dev/null
+++ b/bindings/matlab/autogenerated/+iDynTree/DynamicMatrixView.m
@@ -0,0 +1,38 @@
+classdef DynamicMatrixView < SwigRef
+  methods
+    function this = swig_this(self)
+      this = iDynTreeMEX(3, self);
+    end
+    function self = DynamicMatrixView(varargin)
+      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+        if ~isnull(varargin{1})
+          self.swigPtr = varargin{1}.swigPtr;
+        end
+      else
+        tmp = iDynTreeMEX(716, varargin{:});
+        self.swigPtr = tmp.swigPtr;
+        tmp.SwigClear();
+      end
+    end
+    function varargout = storageOrder(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(717, self, varargin{:});
+    end
+    function varargout = paren(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(718, self, varargin{:});
+    end
+    function varargout = rows(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(719, self, varargin{:});
+    end
+    function varargout = cols(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(720, self, varargin{:});
+    end
+    function delete(self)
+      if self.swigPtr
+        iDynTreeMEX(721, self);
+        self.SwigClear();
+      end
+    end
+  end
+  methods(Static)
+  end
+end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ExtWrenchesAndJointTorquesEstimator.m b/bindings/matlab/autogenerated/+iDynTree/ExtWrenchesAndJointTorquesEstimator.m
index 5c272d9191d..17b15aeb389 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(1469, varargin{:});
+        tmp = iDynTreeMEX(1471, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1470, self);
+        iDynTreeMEX(1472, self);
         self.SwigClear();
       end
     end
     function varargout = setModelAndSensors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1471, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1473, self, varargin{:});
     end
     function varargout = loadModelAndSensorsFromFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1472, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1474, self, varargin{:});
     end
     function varargout = loadModelAndSensorsFromFileWithSpecifiedDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1473, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1475, self, varargin{:});
     end
     function varargout = model(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1474, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1476, self, varargin{:});
     end
     function varargout = sensors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1475, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1477, self, varargin{:});
     end
     function varargout = submodels(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1476, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1478, self, varargin{:});
     end
     function varargout = updateKinematicsFromFloatingBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1477, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1479, self, varargin{:});
     end
     function varargout = updateKinematicsFromFixedBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1478, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1480, self, varargin{:});
     end
     function varargout = computeExpectedFTSensorsMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1479, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1481, self, varargin{:});
     end
     function varargout = estimateExtWrenchesAndJointTorques(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1480, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1482, self, varargin{:});
     end
     function varargout = checkThatTheModelIsStill(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1481, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1483, self, varargin{:});
     end
     function varargout = estimateLinkNetWrenchesWithoutGravity(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1482, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1484, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/ExternalMesh.m b/bindings/matlab/autogenerated/+iDynTree/ExternalMesh.m
index ad429440021..b10a1781bbd 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ExternalMesh.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ExternalMesh.m
@@ -2,32 +2,24 @@
   methods
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1005, self);
+        iDynTreeMEX(1020, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1006, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1021, self, varargin{:});
     end
-    function varargout = filename(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1007, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(1008, self, varargin{1});
-      end
+    function varargout = getFilename(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1022, self, varargin{:});
     end
-    function varargout = scale(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1009, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(1010, self, varargin{1});
-      end
+    function varargout = setFilename(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1023, self, varargin{:});
+    end
+    function varargout = getScale(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1024, self, varargin{:});
+    end
+    function varargout = setScale(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1025, self, varargin{:});
     end
     function self = ExternalMesh(varargin)
       self@iDynTree.SolidShape(SwigRef.Null);
@@ -36,7 +28,7 @@ function delete(self)
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1011, varargin{:});
+        tmp = iDynTreeMEX(1026, 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 cefe21e4d39..84198a0f8f2 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(728);
+    varargout{1} = iDynTreeMEX(734);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(729,varargin{1});
+    iDynTreeMEX(735,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 764eb839b51..41dd983d6e6 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(730);
+    varargout{1} = iDynTreeMEX(736);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(731,varargin{1});
+    iDynTreeMEX(737,varargin{1});
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/FixedJoint.m b/bindings/matlab/autogenerated/+iDynTree/FixedJoint.m
index aff07e60035..e492ae3b874 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(814, varargin{:});
+        tmp = iDynTreeMEX(820, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(815, self);
+        iDynTreeMEX(821, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(816, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(822, self, varargin{:});
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(817, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(823, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(818, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(824, self, varargin{:});
     end
     function varargout = setAttachedLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(819, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(825, self, varargin{:});
     end
     function varargout = setRestTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(820, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(826, self, varargin{:});
     end
     function varargout = getFirstAttachedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(821, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(827, self, varargin{:});
     end
     function varargout = getSecondAttachedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(822, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(828, self, varargin{:});
     end
     function varargout = getRestTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(823, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(829, self, varargin{:});
     end
     function varargout = getTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(824, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(830, self, varargin{:});
     end
     function varargout = getTransformDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(825, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(831, self, varargin{:});
     end
     function varargout = getMotionSubspaceVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(826, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(832, self, varargin{:});
     end
     function varargout = computeChildPosVelAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(827, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(833, self, varargin{:});
     end
     function varargout = computeChildVelAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(828, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(834, self, varargin{:});
     end
     function varargout = computeChildVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(829, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(835, self, varargin{:});
     end
     function varargout = computeChildAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(830, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(836, self, varargin{:});
     end
     function varargout = computeChildBiasAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(831, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(837, self, varargin{:});
     end
     function varargout = computeJointTorque(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(832, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(838, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(833, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(839, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(834, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(840, self, varargin{:});
     end
     function varargout = setPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(835, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(841, self, varargin{:});
     end
     function varargout = getPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(836, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(842, self, varargin{:});
     end
     function varargout = setDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(837, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(843, self, varargin{:});
     end
     function varargout = getDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(838, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(844, self, varargin{:});
     end
     function varargout = hasPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(839, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(845, self, varargin{:});
     end
     function varargout = enablePosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(840, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(846, self, varargin{:});
     end
     function varargout = getPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(841, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(847, self, varargin{:});
     end
     function varargout = getMinPosLimit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(842, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(848, self, varargin{:});
     end
     function varargout = getMaxPosLimit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(843, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(849, self, varargin{:});
     end
     function varargout = setPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(844, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(850, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__AngularForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__AngularForceVector3Semantics.m
deleted file mode 100644
index 35b0140a36f..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__AngularForceVector3Semantics.m
+++ /dev/null
@@ -1,30 +0,0 @@
-classdef ForceVector3Semantics__AngularForceVector3Semantics < iDynTree.GeomVector3Semantics__AngularForceVector3Semantics
-  methods
-    function self = ForceVector3Semantics__AngularForceVector3Semantics(varargin)
-      self@iDynTree.GeomVector3Semantics__AngularForceVector3Semantics(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(540, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(543, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-    function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(541, varargin{:});
-    end
-    function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(542, varargin{:});
-    end
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__LinearForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__LinearForceVector3Semantics.m
deleted file mode 100644
index 8a91b81f3cb..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/ForceVector3Semantics__LinearForceVector3Semantics.m
+++ /dev/null
@@ -1,30 +0,0 @@
-classdef ForceVector3Semantics__LinearForceVector3Semantics < iDynTree.GeomVector3Semantics__LinearForceVector3Semantics
-  methods
-    function self = ForceVector3Semantics__LinearForceVector3Semantics(varargin)
-      self@iDynTree.GeomVector3Semantics__LinearForceVector3Semantics(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(536, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(539, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-    function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(537, varargin{:});
-    end
-    function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(538, varargin{:});
-    end
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForceVector3__AngularForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/ForceVector3__AngularForceVector3.m
deleted file mode 100644
index ceee88d353d..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/ForceVector3__AngularForceVector3.m
+++ /dev/null
@@ -1,24 +0,0 @@
-classdef ForceVector3__AngularForceVector3 < iDynTree.GeomVector3__AngularForceVector3
-  methods
-    function self = ForceVector3__AngularForceVector3(varargin)
-      self@iDynTree.GeomVector3__AngularForceVector3(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(552, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(553, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForceVector3__LinearForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/ForceVector3__LinearForceVector3.m
deleted file mode 100644
index 43fb2bf238e..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/ForceVector3__LinearForceVector3.m
+++ /dev/null
@@ -1,24 +0,0 @@
-classdef ForceVector3__LinearForceVector3 < iDynTree.GeomVector3__LinearForceVector3
-  methods
-    function self = ForceVector3__LinearForceVector3(varargin)
-      self@iDynTree.GeomVector3__LinearForceVector3(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(550, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(551, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardAccKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardAccKinematics.m
index df5a79e9932..d47e5eefcd4 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(1187, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1201, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardBiasAccKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardBiasAccKinematics.m
index 8ff1625b961..0b8dfb28e36 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(1188, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1202, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelAccKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelAccKinematics.m
index 57cc004662a..91a2ba46fd7 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(1185, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1199, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardPosVelKinematics.m
index 2af8185dc02..9532bfd8654 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(1186, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1200, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardPositionKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardPositionKinematics.m
index 3329a6ce431..ade7759f1d4 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(1183, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1197, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ForwardVelAccKinematics.m b/bindings/matlab/autogenerated/+iDynTree/ForwardVelAccKinematics.m
index 4ae1a74eab7..17d267b0e15 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(1184, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1198, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/FrameFreeFloatingJacobian.m b/bindings/matlab/autogenerated/+iDynTree/FrameFreeFloatingJacobian.m
index 045ae43f52f..90dd392cd3d 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(1084, varargin{:});
+        tmp = iDynTreeMEX(1098, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1085, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1099, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1086, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1100, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1087, self);
+        iDynTreeMEX(1101, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingAcc.m b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingAcc.m
index 183c0156d34..04fa8a6648f 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(1113, varargin{:});
+        tmp = iDynTreeMEX(1127, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1114, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1128, self, varargin{:});
     end
     function varargout = baseAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1115, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1129, self, varargin{:});
     end
     function varargout = jointAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1116, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1130, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1117, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1131, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1118, self);
+        iDynTreeMEX(1132, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingGeneralizedTorques.m b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingGeneralizedTorques.m
index 2fa59d68266..b8c12413f26 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(1101, varargin{:});
+        tmp = iDynTreeMEX(1115, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1102, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1116, self, varargin{:});
     end
     function varargout = baseWrench(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1103, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1117, self, varargin{:});
     end
     function varargout = jointTorques(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1104, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1118, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1105, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1119, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1106, self);
+        iDynTreeMEX(1120, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingMassMatrix.m b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingMassMatrix.m
index 9afa6812262..1880c2475b5 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(1092, varargin{:});
+        tmp = iDynTreeMEX(1106, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1093, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1107, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1094, self);
+        iDynTreeMEX(1108, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingPos.m b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingPos.m
index 698e940e277..270fdfb460a 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(1095, varargin{:});
+        tmp = iDynTreeMEX(1109, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1096, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1110, self, varargin{:});
     end
     function varargout = worldBasePos(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1097, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1111, self, varargin{:});
     end
     function varargout = jointPos(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1098, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1112, self, varargin{:});
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1099, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1113, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1100, self);
+        iDynTreeMEX(1114, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/FreeFloatingVel.m b/bindings/matlab/autogenerated/+iDynTree/FreeFloatingVel.m
index a505cbfe680..58b0064167b 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(1107, varargin{:});
+        tmp = iDynTreeMEX(1121, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1108, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1122, self, varargin{:});
     end
     function varargout = baseVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1109, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1123, self, varargin{:});
     end
     function varargout = jointVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1110, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1124, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1111, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1125, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1112, self);
+        iDynTreeMEX(1126, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularForceVector3Semantics.m
deleted file mode 100644
index b2cef9369ab..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularForceVector3Semantics.m
+++ /dev/null
@@ -1,53 +0,0 @@
-classdef GeomVector3Semantics__AngularForceVector3Semantics < SwigRef
-  methods
-    function this = swig_this(self)
-      this = iDynTreeMEX(3, self);
-    end
-    function self = GeomVector3Semantics__AngularForceVector3Semantics(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(477, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = setToUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(478, self, varargin{:});
-    end
-    function varargout = getBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(479, self, varargin{:});
-    end
-    function varargout = getRefBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(480, self, varargin{:});
-    end
-    function varargout = getCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(481, self, varargin{:});
-    end
-    function varargout = isUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(482, self, varargin{:});
-    end
-    function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(483, self, varargin{:});
-    end
-    function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(486, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(487, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-    function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(484, varargin{:});
-    end
-    function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(485, varargin{:});
-    end
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularMotionVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularMotionVector3Semantics.m
deleted file mode 100644
index b21be450731..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__AngularMotionVector3Semantics.m
+++ /dev/null
@@ -1,53 +0,0 @@
-classdef GeomVector3Semantics__AngularMotionVector3Semantics < SwigRef
-  methods
-    function this = swig_this(self)
-      this = iDynTreeMEX(3, self);
-    end
-    function self = GeomVector3Semantics__AngularMotionVector3Semantics(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(455, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = setToUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(456, self, varargin{:});
-    end
-    function varargout = getBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(457, self, varargin{:});
-    end
-    function varargout = getRefBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(458, self, varargin{:});
-    end
-    function varargout = getCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(459, self, varargin{:});
-    end
-    function varargout = isUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(460, self, varargin{:});
-    end
-    function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(461, self, varargin{:});
-    end
-    function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(464, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(465, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-    function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(462, varargin{:});
-    end
-    function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(463, varargin{:});
-    end
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearForceVector3Semantics.m
deleted file mode 100644
index 94885a91fd5..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearForceVector3Semantics.m
+++ /dev/null
@@ -1,53 +0,0 @@
-classdef GeomVector3Semantics__LinearForceVector3Semantics < SwigRef
-  methods
-    function this = swig_this(self)
-      this = iDynTreeMEX(3, self);
-    end
-    function self = GeomVector3Semantics__LinearForceVector3Semantics(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(466, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = setToUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(467, self, varargin{:});
-    end
-    function varargout = getBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(468, self, varargin{:});
-    end
-    function varargout = getRefBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(469, self, varargin{:});
-    end
-    function varargout = getCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(470, self, varargin{:});
-    end
-    function varargout = isUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(471, self, varargin{:});
-    end
-    function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(472, self, varargin{:});
-    end
-    function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(475, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(476, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-    function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(473, varargin{:});
-    end
-    function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(474, varargin{:});
-    end
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearMotionVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearMotionVector3Semantics.m
deleted file mode 100644
index 292aab0f120..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3Semantics__LinearMotionVector3Semantics.m
+++ /dev/null
@@ -1,53 +0,0 @@
-classdef GeomVector3Semantics__LinearMotionVector3Semantics < SwigRef
-  methods
-    function this = swig_this(self)
-      this = iDynTreeMEX(3, self);
-    end
-    function self = GeomVector3Semantics__LinearMotionVector3Semantics(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(444, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = setToUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(445, self, varargin{:});
-    end
-    function varargout = getBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(446, self, varargin{:});
-    end
-    function varargout = getRefBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(447, self, varargin{:});
-    end
-    function varargout = getCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(448, self, varargin{:});
-    end
-    function varargout = isUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(449, self, varargin{:});
-    end
-    function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(450, self, varargin{:});
-    end
-    function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(453, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(454, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-    function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(451, varargin{:});
-    end
-    function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(452, varargin{:});
-    end
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularForceVector3.m
deleted file mode 100644
index 91e01e37838..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularForceVector3.m
+++ /dev/null
@@ -1,58 +0,0 @@
-classdef GeomVector3__AngularForceVector3 < iDynTree.Vector3
-  methods
-    function varargout = semantics(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(524, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(525, self, varargin{1});
-      end
-    end
-    function self = GeomVector3__AngularForceVector3(varargin)
-      self@iDynTree.Vector3(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(526, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = setSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(527, self, varargin{:});
-    end
-    function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(528, self, varargin{:});
-    end
-    function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(531, self, varargin{:});
-    end
-    function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(532, self, varargin{:});
-    end
-    function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(533, self, varargin{:});
-    end
-    function varargout = uminus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(534, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(535, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-    function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(529, varargin{:});
-    end
-    function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(530, varargin{:});
-    end
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularMotionVector3.m
deleted file mode 100644
index 55c49796dc4..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__AngularMotionVector3.m
+++ /dev/null
@@ -1,58 +0,0 @@
-classdef GeomVector3__AngularMotionVector3 < iDynTree.Vector3
-  methods
-    function varargout = semantics(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(500, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(501, self, varargin{1});
-      end
-    end
-    function self = GeomVector3__AngularMotionVector3(varargin)
-      self@iDynTree.Vector3(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(502, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = setSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(503, self, varargin{:});
-    end
-    function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(504, self, varargin{:});
-    end
-    function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(507, self, varargin{:});
-    end
-    function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(508, self, varargin{:});
-    end
-    function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(509, self, varargin{:});
-    end
-    function varargout = uminus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(510, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(511, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-    function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(505, varargin{:});
-    end
-    function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(506, varargin{:});
-    end
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearForceVector3.m
deleted file mode 100644
index ecbbcecec16..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearForceVector3.m
+++ /dev/null
@@ -1,58 +0,0 @@
-classdef GeomVector3__LinearForceVector3 < iDynTree.Vector3
-  methods
-    function varargout = semantics(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(512, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(513, self, varargin{1});
-      end
-    end
-    function self = GeomVector3__LinearForceVector3(varargin)
-      self@iDynTree.Vector3(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(514, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = setSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(515, self, varargin{:});
-    end
-    function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(516, self, varargin{:});
-    end
-    function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(519, self, varargin{:});
-    end
-    function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(520, self, varargin{:});
-    end
-    function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(521, self, varargin{:});
-    end
-    function varargout = uminus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(522, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(523, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-    function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(517, varargin{:});
-    end
-    function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(518, varargin{:});
-    end
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearMotionVector3.m
deleted file mode 100644
index 4d01bf4e192..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/GeomVector3__LinearMotionVector3.m
+++ /dev/null
@@ -1,58 +0,0 @@
-classdef GeomVector3__LinearMotionVector3 < iDynTree.Vector3
-  methods
-    function varargout = semantics(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(488, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(489, self, varargin{1});
-      end
-    end
-    function self = GeomVector3__LinearMotionVector3(varargin)
-      self@iDynTree.Vector3(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(490, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = setSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(491, self, varargin{:});
-    end
-    function varargout = changeCoordFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(492, self, varargin{:});
-    end
-    function varargout = dot(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(495, self, varargin{:});
-    end
-    function varargout = plus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(496, self, varargin{:});
-    end
-    function varargout = minus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(497, self, varargin{:});
-    end
-    function varargout = uminus(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(498, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(499, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-    function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(493, varargin{:});
-    end
-    function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(494, varargin{:});
-    end
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/GyroscopeSensor.m b/bindings/matlab/autogenerated/+iDynTree/GyroscopeSensor.m
index 51240a9cfe7..0573685efbf 100644
--- a/bindings/matlab/autogenerated/+iDynTree/GyroscopeSensor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/GyroscopeSensor.m
@@ -7,58 +7,55 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1316, varargin{:});
+        tmp = iDynTreeMEX(1327, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1317, self);
+        iDynTreeMEX(1328, self);
         self.SwigClear();
       end
     end
     function varargout = setName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1318, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1329, self, varargin{:});
     end
     function varargout = setLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1319, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1330, self, varargin{:});
     end
     function varargout = setParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1320, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1331, self, varargin{:});
     end
     function varargout = setParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1321, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1332, self, varargin{:});
     end
     function varargout = getName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1322, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1333, self, varargin{:});
     end
     function varargout = getSensorType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1323, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1334, self, varargin{:});
     end
     function varargout = getParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1324, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1335, self, varargin{:});
     end
     function varargout = getParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1325, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1336, self, varargin{:});
     end
     function varargout = getLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1326, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1337, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1327, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1338, self, varargin{:});
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1328, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1339, self, varargin{:});
     end
     function varargout = updateIndices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1329, self, varargin{:});
-    end
-    function varargout = updateIndeces(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1330, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1340, self, varargin{:});
     end
     function varargout = predictMeasurement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1331, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1341, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/ICamera.m b/bindings/matlab/autogenerated/+iDynTree/ICamera.m
index b3a92d473bb..f06a37ec41a 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(1786, self);
+        iDynTreeMEX(1785, self);
         self.SwigClear();
       end
     end
     function varargout = setPosition(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1787, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1786, self, varargin{:});
     end
     function varargout = setTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1788, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1787, self, varargin{:});
     end
     function varargout = setUpVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1789, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1788, 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 865ce2abb9c..b4e28e7c808 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(1814, self);
+        iDynTreeMEX(1813, self);
         self.SwigClear();
       end
     end
     function varargout = getElements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1815, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1814, self, varargin{:});
     end
     function varargout = setElementVisibility(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1816, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1815, self, varargin{:});
     end
     function varargout = setBackgroundColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1817, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1816, self, varargin{:});
     end
     function varargout = setAmbientLight(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1818, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1817, self, varargin{:});
     end
     function varargout = getLights(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1819, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1818, self, varargin{:});
     end
     function varargout = addLight(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1820, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1819, self, varargin{:});
     end
     function varargout = lightViz(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1821, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1820, self, varargin{:});
     end
     function varargout = removeLight(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1822, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1821, 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 3f15de220e3..d360eb0ebf8 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(1823, self);
+        iDynTreeMEX(1822, self);
         self.SwigClear();
       end
     end
     function varargout = setJetsFrames(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1824, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1823, self, varargin{:});
     end
     function varargout = getNrOfJets(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1825, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1824, self, varargin{:});
     end
     function varargout = getJetDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1826, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1825, self, varargin{:});
     end
     function varargout = setJetDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1827, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1826, self, varargin{:});
     end
     function varargout = setJetColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1828, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1827, self, varargin{:});
     end
     function varargout = setJetsDimensions(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1829, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1828, self, varargin{:});
     end
     function varargout = setJetsIntensity(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1830, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1829, 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 0bbd6c87edd..b714aedf8f5 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(780, self);
+        iDynTreeMEX(786, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(781, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(787, self, varargin{:});
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(782, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(788, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(783, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(789, self, varargin{:});
     end
     function varargout = setAttachedLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(784, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(790, self, varargin{:});
     end
     function varargout = setRestTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(785, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(791, self, varargin{:});
     end
     function varargout = getFirstAttachedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(786, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(792, self, varargin{:});
     end
     function varargout = getSecondAttachedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(787, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(793, self, varargin{:});
     end
     function varargout = getRestTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(788, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(794, self, varargin{:});
     end
     function varargout = getTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(789, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(795, self, varargin{:});
     end
     function varargout = getTransformDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(790, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(796, self, varargin{:});
     end
     function varargout = getMotionSubspaceVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(791, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(797, self, varargin{:});
     end
     function varargout = computeChildPosVelAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(792, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(798, self, varargin{:});
     end
     function varargout = computeChildVelAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(793, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(799, self, varargin{:});
     end
     function varargout = computeChildVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(794, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(800, self, varargin{:});
     end
     function varargout = computeChildAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(795, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(801, self, varargin{:});
     end
     function varargout = computeChildBiasAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(796, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(802, self, varargin{:});
     end
     function varargout = computeJointTorque(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(797, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(803, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(798, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(804, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(799, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(805, self, varargin{:});
     end
     function varargout = setPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(800, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(806, self, varargin{:});
     end
     function varargout = getPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(801, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(807, self, varargin{:});
     end
     function varargout = setDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(802, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(808, self, varargin{:});
     end
     function varargout = getDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(803, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(809, self, varargin{:});
     end
     function varargout = hasPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(804, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(810, self, varargin{:});
     end
     function varargout = enablePosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(805, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(811, self, varargin{:});
     end
     function varargout = getPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(806, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(812, self, varargin{:});
     end
     function varargout = getMinPosLimit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(807, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(813, self, varargin{:});
     end
     function varargout = getMaxPosLimit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(808, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(814, self, varargin{:});
     end
     function varargout = setPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(809, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(815, self, varargin{:});
     end
     function varargout = isRevoluteJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(810, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(816, self, varargin{:});
     end
     function varargout = isFixedJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(811, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(817, self, varargin{:});
     end
     function varargout = asRevoluteJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(812, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(818, self, varargin{:});
     end
     function varargout = asFixedJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(813, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(819, 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 6596d8821f2..42290029cc8 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(1800, self);
+        iDynTreeMEX(1799, self);
         self.SwigClear();
       end
     end
     function varargout = getName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1801, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1800, self, varargin{:});
     end
     function varargout = setType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1802, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1801, self, varargin{:});
     end
     function varargout = getType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1803, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1802, self, varargin{:});
     end
     function varargout = setPosition(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1804, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1803, self, varargin{:});
     end
     function varargout = getPosition(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1805, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1804, self, varargin{:});
     end
     function varargout = setDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1806, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1805, self, varargin{:});
     end
     function varargout = getDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1807, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1806, self, varargin{:});
     end
     function varargout = setAmbientColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1808, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1807, self, varargin{:});
     end
     function varargout = getAmbientColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1809, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1808, self, varargin{:});
     end
     function varargout = setSpecularColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1810, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1809, self, varargin{:});
     end
     function varargout = getSpecularColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1811, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1810, self, varargin{:});
     end
     function varargout = setDiffuseColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1812, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1811, self, varargin{:});
     end
     function varargout = getDiffuseColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1813, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1812, 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 6c83d41bbf7..60923555f47 100644
--- a/bindings/matlab/autogenerated/+iDynTree/IModelVisualization.m
+++ b/bindings/matlab/autogenerated/+iDynTree/IModelVisualization.m
@@ -5,57 +5,57 @@
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1838, self);
+        iDynTreeMEX(1837, self);
         self.SwigClear();
       end
     end
     function varargout = setPositions(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1839, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1838, self, varargin{:});
     end
     function varargout = setLinkPositions(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1840, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1839, self, varargin{:});
     end
     function varargout = model(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1841, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1840, self, varargin{:});
     end
     function varargout = getInstanceName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1842, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1841, self, varargin{:});
     end
     function varargout = setModelVisibility(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1843, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1842, self, varargin{:});
     end
     function varargout = setModelColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1844, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1843, self, varargin{:});
     end
     function varargout = resetModelColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1845, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1844, self, varargin{:});
     end
     function varargout = setLinkColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1846, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1845, self, varargin{:});
     end
     function varargout = resetLinkColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1847, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1846, self, varargin{:});
     end
     function varargout = getLinkNames(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1848, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1847, self, varargin{:});
     end
     function varargout = setLinkVisibility(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1849, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1848, self, varargin{:});
     end
     function varargout = getFeatures(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1850, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1849, self, varargin{:});
     end
     function varargout = setFeatureVisibility(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1851, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1850, self, varargin{:});
     end
     function varargout = jets(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1852, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1851, self, varargin{:});
     end
     function varargout = getWorldModelTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1853, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1852, self, varargin{:});
     end
     function varargout = getWorldLinkTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1854, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1853, self, varargin{:});
     end
     function self = IModelVisualization(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
diff --git a/bindings/matlab/autogenerated/+iDynTree/IVectorsVisualization.m b/bindings/matlab/autogenerated/+iDynTree/IVectorsVisualization.m
index 18af1f105a4..e6db08cd5ef 100644
--- a/bindings/matlab/autogenerated/+iDynTree/IVectorsVisualization.m
+++ b/bindings/matlab/autogenerated/+iDynTree/IVectorsVisualization.m
@@ -5,27 +5,27 @@
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1831, self);
+        iDynTreeMEX(1830, self);
         self.SwigClear();
       end
     end
     function varargout = addVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1832, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1831, self, varargin{:});
     end
     function varargout = getNrOfVectors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1833, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1832, self, varargin{:});
     end
     function varargout = getVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1834, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1833, self, varargin{:});
     end
     function varargout = updateVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1835, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1834, self, varargin{:});
     end
     function varargout = setVectorColor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1836, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1835, self, varargin{:});
     end
     function varargout = setVectorsAspect(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1837, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1836, self, varargin{:});
     end
     function self = IVectorsVisualization(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
diff --git a/bindings/matlab/autogenerated/+iDynTree/InverseDynamicsInertialParametersRegressor.m b/bindings/matlab/autogenerated/+iDynTree/InverseDynamicsInertialParametersRegressor.m
index dd8044e7d2f..49957fca803 100644
--- a/bindings/matlab/autogenerated/+iDynTree/InverseDynamicsInertialParametersRegressor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/InverseDynamicsInertialParametersRegressor.m
@@ -1,3 +1,3 @@
 function varargout = InverseDynamicsInertialParametersRegressor(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1216, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1230, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/InverseKinematics.m b/bindings/matlab/autogenerated/+iDynTree/InverseKinematics.m
index 8c6cb75d86e..95affd4568a 100644
--- a/bindings/matlab/autogenerated/+iDynTree/InverseKinematics.m
+++ b/bindings/matlab/autogenerated/+iDynTree/InverseKinematics.m
@@ -9,202 +9,187 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1927, varargin{:});
+        tmp = iDynTreeMEX(1926, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1928, self);
+        iDynTreeMEX(1927, self);
         self.SwigClear();
       end
     end
     function varargout = loadModelFromFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1929, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1928, self, varargin{:});
     end
     function varargout = setModel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1930, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1929, self, varargin{:});
     end
     function varargout = setJointLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1931, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1930, self, varargin{:});
     end
     function varargout = getJointLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1932, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1931, self, varargin{:});
     end
     function varargout = clearProblem(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1933, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1932, self, varargin{:});
     end
     function varargout = setFloatingBaseOnFrameNamed(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1934, self, varargin{:});
-    end
-    function varargout = setRobotConfiguration(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1935, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1933, self, varargin{:});
     end
     function varargout = setCurrentRobotConfiguration(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1936, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1934, self, varargin{:});
     end
     function varargout = setJointConfiguration(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1937, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1935, self, varargin{:});
     end
     function varargout = setRotationParametrization(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1938, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1936, self, varargin{:});
     end
     function varargout = rotationParametrization(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1939, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1937, self, varargin{:});
     end
     function varargout = setMaxIterations(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1940, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1938, self, varargin{:});
     end
     function varargout = maxIterations(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1941, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1939, self, varargin{:});
     end
     function varargout = setMaxCPUTime(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1942, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1940, self, varargin{:});
     end
     function varargout = maxCPUTime(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1943, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1941, self, varargin{:});
     end
     function varargout = setCostTolerance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1944, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1942, self, varargin{:});
     end
     function varargout = costTolerance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1945, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1943, self, varargin{:});
     end
     function varargout = setConstraintsTolerance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1946, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1944, self, varargin{:});
     end
     function varargout = constraintsTolerance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1947, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1945, self, varargin{:});
     end
     function varargout = setVerbosity(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1948, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1946, self, varargin{:});
     end
     function varargout = linearSolverName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1949, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1947, self, varargin{:});
     end
     function varargout = setLinearSolverName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1950, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1948, self, varargin{:});
     end
     function varargout = addFrameConstraint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1951, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1949, self, varargin{:});
     end
     function varargout = addFramePositionConstraint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1952, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1950, self, varargin{:});
     end
     function varargout = addFrameRotationConstraint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1953, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1951, self, varargin{:});
     end
     function varargout = activateFrameConstraint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1954, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1952, self, varargin{:});
     end
     function varargout = deactivateFrameConstraint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1955, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1953, self, varargin{:});
     end
     function varargout = isFrameConstraintActive(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1956, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1954, self, varargin{:});
     end
     function varargout = addCenterOfMassProjectionConstraint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1957, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1955, self, varargin{:});
     end
     function varargout = getCenterOfMassProjectionMargin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1958, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1956, self, varargin{:});
     end
     function varargout = getCenterOfMassProjectConstraintConvexHull(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1959, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1957, self, varargin{:});
     end
     function varargout = addTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1960, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1958, self, varargin{:});
     end
     function varargout = addPositionTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1961, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1959, self, varargin{:});
     end
     function varargout = addRotationTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1962, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1960, self, varargin{:});
     end
     function varargout = updateTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1963, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1961, self, varargin{:});
     end
     function varargout = updatePositionTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1964, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1962, self, varargin{:});
     end
     function varargout = updateRotationTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1965, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1963, self, varargin{:});
     end
     function varargout = setDefaultTargetResolutionMode(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1966, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1964, self, varargin{:});
     end
     function varargout = defaultTargetResolutionMode(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1967, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1965, self, varargin{:});
     end
     function varargout = setTargetResolutionMode(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1968, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1966, self, varargin{:});
     end
     function varargout = targetResolutionMode(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1969, self, varargin{:});
-    end
-    function varargout = setDesiredJointConfiguration(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1970, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1967, self, varargin{:});
     end
     function varargout = setDesiredFullJointsConfiguration(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1971, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1968, self, varargin{:});
     end
     function varargout = setDesiredReducedJointConfiguration(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1972, self, varargin{:});
-    end
-    function varargout = setInitialCondition(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1973, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1969, self, varargin{:});
     end
     function varargout = setFullJointsInitialCondition(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1974, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1970, self, varargin{:});
     end
     function varargout = setReducedInitialCondition(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1975, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1971, self, varargin{:});
     end
     function varargout = solve(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1976, self, varargin{:});
-    end
-    function varargout = getSolution(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1977, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1972, self, varargin{:});
     end
     function varargout = getFullJointsSolution(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1978, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1973, self, varargin{:});
     end
     function varargout = getReducedSolution(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1979, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1974, self, varargin{:});
     end
     function varargout = getPoseForFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1980, self, varargin{:});
-    end
-    function varargout = model(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1981, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1975, self, varargin{:});
     end
     function varargout = fullModel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1982, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1976, self, varargin{:});
     end
     function varargout = reducedModel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1983, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1977, self, varargin{:});
     end
     function varargout = setCOMTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1984, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1978, self, varargin{:});
     end
     function varargout = setCOMAsConstraint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1985, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1979, self, varargin{:});
     end
     function varargout = setCOMAsConstraintTolerance(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1986, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1980, self, varargin{:});
     end
     function varargout = isCOMAConstraint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1987, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1981, self, varargin{:});
     end
     function varargout = isCOMTargetActive(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1988, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1982, self, varargin{:});
     end
     function varargout = deactivateCOMTarget(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1989, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1983, self, varargin{:});
     end
     function varargout = setCOMConstraintProjectionDirection(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1990, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1984, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_INDEX.m b/bindings/matlab/autogenerated/+iDynTree/JOINT_INVALID_INDEX.m
index 8dbca7135c1..d249e38142d 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(720);
+    varargout{1} = iDynTreeMEX(726);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(721,varargin{1});
+    iDynTreeMEX(727,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 db9e5202e9a..68a74f008e7 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(722);
+    varargout{1} = iDynTreeMEX(728);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(723,varargin{1});
+    iDynTreeMEX(729,varargin{1});
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/JointDOFsDoubleArray.m b/bindings/matlab/autogenerated/+iDynTree/JointDOFsDoubleArray.m
index a4e70186f33..acbf411d28c 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(1070, varargin{:});
+        tmp = iDynTreeMEX(1084, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1071, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1085, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1072, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1086, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1073, self);
+        iDynTreeMEX(1087, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/JointPosDoubleArray.m b/bindings/matlab/autogenerated/+iDynTree/JointPosDoubleArray.m
index a44e9a086a5..73dc19d2e54 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(1066, varargin{:});
+        tmp = iDynTreeMEX(1080, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1067, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1081, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1068, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1082, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1069, self);
+        iDynTreeMEX(1083, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/JointSensor.m b/bindings/matlab/autogenerated/+iDynTree/JointSensor.m
index dcbe232f423..3f3ae7a2894 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(1230, self);
+        iDynTreeMEX(1243, self);
         self.SwigClear();
       end
     end
     function varargout = getParentJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1231, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1244, self, varargin{:});
     end
     function varargout = getParentJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1232, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1245, self, varargin{:});
     end
     function varargout = setParentJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1233, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1246, self, varargin{:});
     end
     function varargout = setParentJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1234, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1247, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1235, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1248, 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 9b7b4253cfd..1c0207a9635 100644
--- a/bindings/matlab/autogenerated/+iDynTree/KinDynComputations.m
+++ b/bindings/matlab/autogenerated/+iDynTree/KinDynComputations.m
@@ -23,164 +23,161 @@ function delete(self)
     function varargout = loadRobotModel(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1706, self, varargin{:});
     end
-    function varargout = loadRobotModelFromFile(self,varargin)
+    function varargout = isValid(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1707, self, varargin{:});
     end
-    function varargout = loadRobotModelFromString(self,varargin)
+    function varargout = setFrameVelocityRepresentation(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1708, self, varargin{:});
     end
-    function varargout = isValid(self,varargin)
+    function varargout = getFrameVelocityRepresentation(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1709, self, varargin{:});
     end
-    function varargout = setFrameVelocityRepresentation(self,varargin)
+    function varargout = getNrOfDegreesOfFreedom(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1710, self, varargin{:});
     end
-    function varargout = getFrameVelocityRepresentation(self,varargin)
+    function varargout = getDescriptionOfDegreeOfFreedom(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1711, self, varargin{:});
     end
-    function varargout = getNrOfDegreesOfFreedom(self,varargin)
+    function varargout = getDescriptionOfDegreesOfFreedom(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1712, self, varargin{:});
     end
-    function varargout = getDescriptionOfDegreeOfFreedom(self,varargin)
+    function varargout = getNrOfLinks(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1713, self, varargin{:});
     end
-    function varargout = getDescriptionOfDegreesOfFreedom(self,varargin)
+    function varargout = getNrOfFrames(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1714, self, varargin{:});
     end
-    function varargout = getNrOfLinks(self,varargin)
+    function varargout = getFloatingBase(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1715, self, varargin{:});
     end
-    function varargout = getNrOfFrames(self,varargin)
+    function varargout = setFloatingBase(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1716, self, varargin{:});
     end
-    function varargout = getFloatingBase(self,varargin)
+    function varargout = model(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1717, self, varargin{:});
     end
-    function varargout = setFloatingBase(self,varargin)
+    function varargout = getRobotModel(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1718, self, varargin{:});
     end
-    function varargout = model(self,varargin)
+    function varargout = getRelativeJacobianSparsityPattern(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1719, self, varargin{:});
     end
-    function varargout = getRobotModel(self,varargin)
+    function varargout = getFrameFreeFloatingJacobianSparsityPattern(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1720, self, varargin{:});
     end
-    function varargout = getRelativeJacobianSparsityPattern(self,varargin)
+    function varargout = setJointPos(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1721, self, varargin{:});
     end
-    function varargout = getFrameFreeFloatingJacobianSparsityPattern(self,varargin)
+    function varargout = setRobotState(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1722, self, varargin{:});
     end
-    function varargout = setJointPos(self,varargin)
+    function varargout = getRobotState(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1723, self, varargin{:});
     end
-    function varargout = setRobotState(self,varargin)
+    function varargout = getWorldBaseTransform(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1724, self, varargin{:});
     end
-    function varargout = getRobotState(self,varargin)
+    function varargout = getBaseTwist(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1725, self, varargin{:});
     end
-    function varargout = getWorldBaseTransform(self,varargin)
+    function varargout = getJointPos(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1726, self, varargin{:});
     end
-    function varargout = getBaseTwist(self,varargin)
+    function varargout = getJointVel(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1727, self, varargin{:});
     end
-    function varargout = getJointPos(self,varargin)
+    function varargout = getModelVel(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1728, self, varargin{:});
     end
-    function varargout = getJointVel(self,varargin)
+    function varargout = getFrameIndex(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1729, self, varargin{:});
     end
-    function varargout = getModelVel(self,varargin)
+    function varargout = getFrameName(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1730, self, varargin{:});
     end
-    function varargout = getFrameIndex(self,varargin)
+    function varargout = getWorldTransform(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1731, self, varargin{:});
     end
-    function varargout = getFrameName(self,varargin)
+    function varargout = getWorldTransformsAsHomogeneous(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1732, self, varargin{:});
     end
-    function varargout = getWorldTransform(self,varargin)
+    function varargout = getRelativeTransformExplicit(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1733, self, varargin{:});
     end
-    function varargout = getWorldTransformsAsHomogeneous(self,varargin)
+    function varargout = getRelativeTransform(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1734, self, varargin{:});
     end
-    function varargout = getRelativeTransformExplicit(self,varargin)
+    function varargout = getFrameVel(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1735, self, varargin{:});
     end
-    function varargout = getRelativeTransform(self,varargin)
+    function varargout = getFrameAcc(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1736, self, varargin{:});
     end
-    function varargout = getFrameVel(self,varargin)
+    function varargout = getFrameFreeFloatingJacobian(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1737, self, varargin{:});
     end
-    function varargout = getFrameAcc(self,varargin)
+    function varargout = getRelativeJacobian(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1738, self, varargin{:});
     end
-    function varargout = getFrameFreeFloatingJacobian(self,varargin)
+    function varargout = getRelativeJacobianExplicit(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1739, self, varargin{:});
     end
-    function varargout = getRelativeJacobian(self,varargin)
+    function varargout = getFrameBiasAcc(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1740, self, varargin{:});
     end
-    function varargout = getRelativeJacobianExplicit(self,varargin)
+    function varargout = getCenterOfMassPosition(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1741, self, varargin{:});
     end
-    function varargout = getFrameBiasAcc(self,varargin)
+    function varargout = getCenterOfMassVelocity(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1742, self, varargin{:});
     end
-    function varargout = getCenterOfMassPosition(self,varargin)
+    function varargout = getCenterOfMassJacobian(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1743, self, varargin{:});
     end
-    function varargout = getCenterOfMassVelocity(self,varargin)
+    function varargout = getCenterOfMassBiasAcc(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1744, self, varargin{:});
     end
-    function varargout = getCenterOfMassJacobian(self,varargin)
+    function varargout = getAverageVelocity(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1745, self, varargin{:});
     end
-    function varargout = getCenterOfMassBiasAcc(self,varargin)
+    function varargout = getAverageVelocityJacobian(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1746, self, varargin{:});
     end
-    function varargout = getAverageVelocity(self,varargin)
+    function varargout = getCentroidalAverageVelocity(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1747, self, varargin{:});
     end
-    function varargout = getAverageVelocityJacobian(self,varargin)
+    function varargout = getCentroidalAverageVelocityJacobian(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1748, self, varargin{:});
     end
-    function varargout = getCentroidalAverageVelocity(self,varargin)
+    function varargout = getLinearAngularMomentum(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1749, self, varargin{:});
     end
-    function varargout = getCentroidalAverageVelocityJacobian(self,varargin)
+    function varargout = getLinearAngularMomentumJacobian(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1750, self, varargin{:});
     end
-    function varargout = getLinearAngularMomentum(self,varargin)
+    function varargout = getCentroidalTotalMomentum(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1751, self, varargin{:});
     end
-    function varargout = getLinearAngularMomentumJacobian(self,varargin)
+    function varargout = getCentroidalTotalMomentumJacobian(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1752, self, varargin{:});
     end
-    function varargout = getCentroidalTotalMomentum(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1753, self, varargin{:});
-    end
     function varargout = getFreeFloatingMassMatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1754, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1753, self, varargin{:});
     end
     function varargout = inverseDynamics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1755, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1754, self, varargin{:});
     end
     function varargout = generalizedBiasForces(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1756, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1755, self, varargin{:});
     end
     function varargout = generalizedGravityForces(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1757, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1756, self, varargin{:});
     end
     function varargout = generalizedExternalForces(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1758, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1757, self, varargin{:});
     end
     function varargout = inverseDynamicsInertialParametersRegressor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1759, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1758, 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 711a0401ee5..cee2b25932f 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(716);
+    varargout{1} = iDynTreeMEX(722);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(717,varargin{1});
+    iDynTreeMEX(723,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 1b30dca0525..bfae03b4f97 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(718);
+    varargout{1} = iDynTreeMEX(724);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(719,varargin{1});
+    iDynTreeMEX(725,varargin{1});
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3.m b/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3.m
deleted file mode 100644
index 03c5c27a9eb..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3.m
+++ /dev/null
@@ -1,24 +0,0 @@
-classdef LinearForceVector3 < iDynTree.ForceVector3__LinearForceVector3
-  methods
-    function self = LinearForceVector3(varargin)
-      self@iDynTree.ForceVector3__LinearForceVector3(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(568, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(569, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3Semantics.m
deleted file mode 100644
index 3826ce8b83f..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/LinearForceVector3Semantics.m
+++ /dev/null
@@ -1,24 +0,0 @@
-classdef LinearForceVector3Semantics < iDynTree.ForceVector3Semantics__LinearForceVector3Semantics
-  methods
-    function self = LinearForceVector3Semantics(varargin)
-      self@iDynTree.ForceVector3Semantics__LinearForceVector3Semantics(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(566, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(567, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3.m
deleted file mode 100644
index 7449b8a6a4a..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3.m
+++ /dev/null
@@ -1,27 +0,0 @@
-classdef LinearMotionVector3 < iDynTree.MotionVector3__LinearMotionVector3
-  methods
-    function self = LinearMotionVector3(varargin)
-      self@iDynTree.MotionVector3__LinearMotionVector3(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(558, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = changePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(559, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(560, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3Semantics.m b/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3Semantics.m
deleted file mode 100644
index bbf2eb062b8..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/LinearMotionVector3Semantics.m
+++ /dev/null
@@ -1,30 +0,0 @@
-classdef LinearMotionVector3Semantics < iDynTree.GeomVector3Semantics__LinearMotionVector3Semantics
-  methods
-    function self = LinearMotionVector3Semantics(varargin)
-      self@iDynTree.GeomVector3Semantics__LinearMotionVector3Semantics(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(554, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = changePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(555, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(557, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-    function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(556, varargin{:});
-    end
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Link.m b/bindings/matlab/autogenerated/+iDynTree/Link.m
index f0b0a496eba..a405b3bef93 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(773, varargin{:});
+        tmp = iDynTreeMEX(779, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = inertia(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(774, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(780, self, varargin{:});
     end
     function varargout = setInertia(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(775, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(781, self, varargin{:});
     end
     function varargout = getInertia(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(776, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(782, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(777, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(783, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(778, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(784, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(779, self);
+        iDynTreeMEX(785, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkAccArray.m b/bindings/matlab/autogenerated/+iDynTree/LinkAccArray.m
index ec5a8a96b0c..b10f31ac261 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(766, varargin{:});
+        tmp = iDynTreeMEX(772, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(767, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(773, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(768, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(774, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(769, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(775, self, varargin{:});
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(770, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(776, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(771, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(777, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(772, self);
+        iDynTreeMEX(778, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkArticulatedBodyInertias.m b/bindings/matlab/autogenerated/+iDynTree/LinkArticulatedBodyInertias.m
index 0a5f22e629b..949fe6d5990 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(754, varargin{:});
+        tmp = iDynTreeMEX(760, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(755, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(761, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(756, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(762, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(757, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(763, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(758, self);
+        iDynTreeMEX(764, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkContactWrenches.m b/bindings/matlab/autogenerated/+iDynTree/LinkContactWrenches.m
index dd8a8f50a4f..3172a5f3bef 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(1124, varargin{:});
+        tmp = iDynTreeMEX(1138, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1125, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1139, self, varargin{:});
     end
     function varargout = getNrOfContactsForLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1126, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1140, self, varargin{:});
     end
     function varargout = setNrOfContactsForLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1127, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1141, self, varargin{:});
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1128, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1142, self, varargin{:});
     end
     function varargout = contactWrench(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1129, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1143, self, varargin{:});
     end
     function varargout = computeNetWrenches(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1130, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1144, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1131, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1145, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1132, self);
+        iDynTreeMEX(1146, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkInertias.m b/bindings/matlab/autogenerated/+iDynTree/LinkInertias.m
index 9efe41dcab0..9513e8e7102 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(749, varargin{:});
+        tmp = iDynTreeMEX(755, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(750, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(756, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(751, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(757, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(752, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(758, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(753, self);
+        iDynTreeMEX(759, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkPositions.m b/bindings/matlab/autogenerated/+iDynTree/LinkPositions.m
index 8a2c8e566c2..d6900db7f73 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(734, varargin{:});
+        tmp = iDynTreeMEX(740, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(735, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(741, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(736, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(742, self, varargin{:});
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(737, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(743, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(738, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(744, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(739, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(745, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(740, self);
+        iDynTreeMEX(746, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkSensor.m b/bindings/matlab/autogenerated/+iDynTree/LinkSensor.m
index b1957600e52..b5649195956 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(1236, self);
+        iDynTreeMEX(1249, self);
         self.SwigClear();
       end
     end
     function varargout = getParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1237, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1250, self, varargin{:});
     end
     function varargout = getParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1238, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1251, self, varargin{:});
     end
     function varargout = getLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1239, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1252, self, varargin{:});
     end
     function varargout = setParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1240, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1253, self, varargin{:});
     end
     function varargout = setParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1241, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1254, self, varargin{:});
     end
     function varargout = setLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1242, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1255, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1243, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1256, 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 64ab198d3f3..fc82d3f1bbf 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(1434, varargin{:});
+        tmp = iDynTreeMEX(1436, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = clear(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1435, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1437, self, varargin{:});
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1436, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1438, self, varargin{:});
     end
     function varargout = getNrOfContactsForLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1437, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1439, self, varargin{:});
     end
     function varargout = setNrOfContactsForLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1438, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1440, self, varargin{:});
     end
     function varargout = addNewContactForLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1439, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1441, self, varargin{:});
     end
     function varargout = addNewContactInFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1440, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1442, self, varargin{:});
     end
     function varargout = addNewUnknownFullWrenchInFrameOrigin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1441, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1443, self, varargin{:});
     end
     function varargout = contactWrench(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1442, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1444, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1443, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1445, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1444, self);
+        iDynTreeMEX(1446, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkVelArray.m b/bindings/matlab/autogenerated/+iDynTree/LinkVelArray.m
index 8a049746bfc..929db259768 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(759, varargin{:});
+        tmp = iDynTreeMEX(765, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(760, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(766, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(761, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(767, self, varargin{:});
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(762, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(768, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(763, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(769, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(764, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(770, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(765, self);
+        iDynTreeMEX(771, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinkWrenches.m b/bindings/matlab/autogenerated/+iDynTree/LinkWrenches.m
index d62258b516c..5633301997b 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(741, varargin{:});
+        tmp = iDynTreeMEX(747, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(742, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(748, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(743, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(749, self, varargin{:});
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(744, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(750, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(745, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(751, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(746, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(752, self, varargin{:});
     end
     function varargout = zero(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(747, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(753, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(748, self);
+        iDynTreeMEX(754, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/LinksSolidShapesVector.m b/bindings/matlab/autogenerated/+iDynTree/LinksSolidShapesVector.m
index 32f57ed0d38..316e85d8fa4 100644
--- a/bindings/matlab/autogenerated/+iDynTree/LinksSolidShapesVector.m
+++ b/bindings/matlab/autogenerated/+iDynTree/LinksSolidShapesVector.m
@@ -4,49 +4,49 @@
       this = iDynTreeMEX(3, self);
     end
     function varargout = pop(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1158, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1172, self, varargin{:});
     end
     function varargout = brace(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1159, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1173, self, varargin{:});
     end
     function varargout = setbrace(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1160, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1174, self, varargin{:});
     end
     function varargout = append(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1161, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1175, self, varargin{:});
     end
     function varargout = empty(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1162, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1176, self, varargin{:});
     end
     function varargout = size(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1163, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1177, self, varargin{:});
     end
     function varargout = swap(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1164, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1178, self, varargin{:});
     end
     function varargout = begin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1165, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1179, self, varargin{:});
     end
     function varargout = end(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1166, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1180, self, varargin{:});
     end
     function varargout = rbegin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1167, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1181, self, varargin{:});
     end
     function varargout = rend(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1168, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1182, self, varargin{:});
     end
     function varargout = clear(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1169, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1183, self, varargin{:});
     end
     function varargout = get_allocator(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1170, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1184, self, varargin{:});
     end
     function varargout = pop_back(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1171, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1185, self, varargin{:});
     end
     function varargout = erase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1172, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1186, self, varargin{:});
     end
     function self = LinksSolidShapesVector(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
@@ -54,38 +54,38 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1173, varargin{:});
+        tmp = iDynTreeMEX(1187, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = push_back(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1174, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1188, self, varargin{:});
     end
     function varargout = front(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1175, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1189, self, varargin{:});
     end
     function varargout = back(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1176, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1190, self, varargin{:});
     end
     function varargout = assign(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1177, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1191, self, varargin{:});
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1178, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1192, self, varargin{:});
     end
     function varargout = insert(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1179, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1193, self, varargin{:});
     end
     function varargout = reserve(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1180, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1194, self, varargin{:});
     end
     function varargout = capacity(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1181, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1195, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1182, self);
+        iDynTreeMEX(1196, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Material.m b/bindings/matlab/autogenerated/+iDynTree/Material.m
new file mode 100644
index 00000000000..ebcca5f58dc
--- /dev/null
+++ b/bindings/matlab/autogenerated/+iDynTree/Material.m
@@ -0,0 +1,47 @@
+classdef Material < SwigRef
+  methods
+    function this = swig_this(self)
+      this = iDynTreeMEX(3, self);
+    end
+    function self = Material(varargin)
+      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
+        if ~isnull(varargin{1})
+          self.swigPtr = varargin{1}.swigPtr;
+        end
+      else
+        tmp = iDynTreeMEX(972, varargin{:});
+        self.swigPtr = tmp.swigPtr;
+        tmp.SwigClear();
+      end
+    end
+    function varargout = name(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(973, self, varargin{:});
+    end
+    function varargout = hasColor(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(974, self, varargin{:});
+    end
+    function varargout = color(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(975, self, varargin{:});
+    end
+    function varargout = setColor(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(976, self, varargin{:});
+    end
+    function varargout = hasTexture(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(977, self, varargin{:});
+    end
+    function varargout = texture(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(978, self, varargin{:});
+    end
+    function varargout = setTexture(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(979, self, varargin{:});
+    end
+    function delete(self)
+      if self.swigPtr
+        iDynTreeMEX(980, self);
+        self.SwigClear();
+      end
+    end
+  end
+  methods(Static)
+  end
+end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Matrix4x4Vector.m b/bindings/matlab/autogenerated/+iDynTree/Matrix4x4Vector.m
index ca63551eb34..05546e601c3 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Matrix4x4Vector.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Matrix4x4Vector.m
@@ -4,49 +4,49 @@
       this = iDynTreeMEX(3, self);
     end
     function varargout = pop(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1760, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1759, self, varargin{:});
     end
     function varargout = brace(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1761, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1760, self, varargin{:});
     end
     function varargout = setbrace(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1762, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1761, self, varargin{:});
     end
     function varargout = append(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1763, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1762, self, varargin{:});
     end
     function varargout = empty(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1764, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1763, self, varargin{:});
     end
     function varargout = size(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1765, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1764, self, varargin{:});
     end
     function varargout = swap(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1766, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1765, self, varargin{:});
     end
     function varargout = begin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1767, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1766, self, varargin{:});
     end
     function varargout = end(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1768, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1767, self, varargin{:});
     end
     function varargout = rbegin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1769, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1768, self, varargin{:});
     end
     function varargout = rend(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1770, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1769, self, varargin{:});
     end
     function varargout = clear(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1771, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1770, self, varargin{:});
     end
     function varargout = get_allocator(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1772, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1771, self, varargin{:});
     end
     function varargout = pop_back(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1773, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1772, self, varargin{:});
     end
     function varargout = erase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1774, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1773, self, varargin{:});
     end
     function self = Matrix4x4Vector(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
@@ -54,41 +54,41 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1775, varargin{:});
+        tmp = iDynTreeMEX(1774, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = push_back(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1776, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1775, self, varargin{:});
     end
     function varargout = front(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1777, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1776, self, varargin{:});
     end
     function varargout = back(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1778, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1777, self, varargin{:});
     end
     function varargout = assign(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1779, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1778, self, varargin{:});
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1780, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1779, self, varargin{:});
     end
     function varargout = insert(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1781, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1780, self, varargin{:});
     end
     function varargout = reserve(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1782, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1781, self, varargin{:});
     end
     function varargout = capacity(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1783, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1782, self, varargin{:});
     end
     function varargout = toMatlab(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1784, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1783, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1785, self);
+        iDynTreeMEX(1784, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Model.m b/bindings/matlab/autogenerated/+iDynTree/Model.m
index dd56e89f2e3..209c0ecca6c 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Model.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Model.m
@@ -9,133 +9,133 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1025, varargin{:});
+        tmp = iDynTreeMEX(1039, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = copy(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1026, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1040, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1027, self);
+        iDynTreeMEX(1041, self);
         self.SwigClear();
       end
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1028, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1042, self, varargin{:});
     end
     function varargout = getLinkName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1029, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1043, self, varargin{:});
     end
     function varargout = getLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1030, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1044, self, varargin{:});
     end
     function varargout = isValidLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1031, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1045, self, varargin{:});
     end
     function varargout = getLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1032, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1046, self, varargin{:});
     end
     function varargout = addLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1033, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1047, self, varargin{:});
     end
     function varargout = getNrOfJoints(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1034, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1048, self, varargin{:});
     end
     function varargout = getJointName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1035, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1049, self, varargin{:});
     end
     function varargout = getTotalMass(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1036, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1050, self, varargin{:});
     end
     function varargout = getJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1037, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1051, self, varargin{:});
     end
     function varargout = getJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1038, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1052, self, varargin{:});
     end
     function varargout = isValidJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1039, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1053, self, varargin{:});
     end
     function varargout = isLinkNameUsed(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1040, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1054, self, varargin{:});
     end
     function varargout = isJointNameUsed(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1041, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1055, self, varargin{:});
     end
     function varargout = isFrameNameUsed(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1042, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1056, self, varargin{:});
     end
     function varargout = addJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1043, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1057, self, varargin{:});
     end
     function varargout = addJointAndLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1044, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1058, self, varargin{:});
     end
     function varargout = insertLinkToExistingJointAndAddJointForDisplacedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1045, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1059, self, varargin{:});
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1046, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1060, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1047, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1061, self, varargin{:});
     end
     function varargout = getNrOfFrames(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1048, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1062, self, varargin{:});
     end
     function varargout = addAdditionalFrameToLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1049, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1063, self, varargin{:});
     end
     function varargout = getFrameName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1050, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1064, self, varargin{:});
     end
     function varargout = getFrameIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1051, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1065, self, varargin{:});
     end
     function varargout = isValidFrameIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1052, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1066, self, varargin{:});
     end
     function varargout = getFrameTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1053, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1067, self, varargin{:});
     end
     function varargout = getFrameLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1054, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1068, self, varargin{:});
     end
     function varargout = getLinkAdditionalFrames(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1055, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1069, self, varargin{:});
     end
     function varargout = getNrOfNeighbors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1056, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1070, self, varargin{:});
     end
     function varargout = getNeighbor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1057, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1071, self, varargin{:});
     end
     function varargout = setDefaultBaseLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1058, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1072, self, varargin{:});
     end
     function varargout = getDefaultBaseLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1059, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1073, self, varargin{:});
     end
     function varargout = computeFullTreeTraversal(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1060, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1074, self, varargin{:});
     end
     function varargout = getInertialParameters(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1061, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1075, self, varargin{:});
     end
     function varargout = updateInertialParameters(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1062, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1076, self, varargin{:});
     end
     function varargout = visualSolidShapes(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1063, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1077, self, varargin{:});
     end
     function varargout = collisionSolidShapes(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1064, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1078, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1065, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1079, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/ModelCalibrationHelper.m b/bindings/matlab/autogenerated/+iDynTree/ModelCalibrationHelper.m
index 07fd7352b75..f6cfc36a6f0 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ModelCalibrationHelper.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ModelCalibrationHelper.m
@@ -9,37 +9,37 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1413, varargin{:});
+        tmp = iDynTreeMEX(1415, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1414, self);
+        iDynTreeMEX(1416, self);
         self.SwigClear();
       end
     end
     function varargout = loadModelFromString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1415, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1417, self, varargin{:});
     end
     function varargout = loadModelFromFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1416, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1418, self, varargin{:});
     end
     function varargout = updateModelInertialParametersToString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1417, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1419, self, varargin{:});
     end
     function varargout = updateModelInertialParametersToFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1418, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1420, self, varargin{:});
     end
     function varargout = model(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1419, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1421, self, varargin{:});
     end
     function varargout = sensors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1420, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1422, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1421, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1423, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/ModelExporter.m b/bindings/matlab/autogenerated/+iDynTree/ModelExporter.m
index cb18f1b0d20..0231f625f03 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ModelExporter.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ModelExporter.m
@@ -9,40 +9,40 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1403, varargin{:});
+        tmp = iDynTreeMEX(1405, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1404, self);
+        iDynTreeMEX(1406, self);
         self.SwigClear();
       end
     end
     function varargout = exportingOptions(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1405, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1407, self, varargin{:});
     end
     function varargout = setExportingOptions(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1406, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1408, self, varargin{:});
     end
     function varargout = init(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1407, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1409, self, varargin{:});
     end
     function varargout = model(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1408, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1410, self, varargin{:});
     end
     function varargout = sensors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1409, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1411, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1410, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1412, self, varargin{:});
     end
     function varargout = exportModelToString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1411, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1413, self, varargin{:});
     end
     function varargout = exportModelToFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1412, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1414, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/ModelExporterOptions.m b/bindings/matlab/autogenerated/+iDynTree/ModelExporterOptions.m
index b50d847c218..ed9aa88b9a5 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ModelExporterOptions.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ModelExporterOptions.m
@@ -23,20 +23,30 @@
         iDynTreeMEX(1400, self, varargin{1});
       end
     end
+    function varargout = robotExportedName(self, varargin)
+      narginchk(1, 2)
+      if nargin==1
+        nargoutchk(0, 1)
+        varargout{1} = iDynTreeMEX(1401, self);
+      else
+        nargoutchk(0, 0)
+        iDynTreeMEX(1402, self, varargin{1});
+      end
+    end
     function self = ModelExporterOptions(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1401, varargin{:});
+        tmp = iDynTreeMEX(1403, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1402, self);
+        iDynTreeMEX(1404, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ModelSolidShapes.m b/bindings/matlab/autogenerated/+iDynTree/ModelSolidShapes.m
index 1f28942feac..b38a32f8106 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ModelSolidShapes.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ModelSolidShapes.m
@@ -3,41 +3,34 @@
     function this = swig_this(self)
       this = iDynTreeMEX(3, self);
     end
+    function delete(self)
+      if self.swigPtr
+        iDynTreeMEX(1027, self);
+        self.SwigClear();
+      end
+    end
     function self = ModelSolidShapes(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
         if ~isnull(varargin{1})
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1012, varargin{:});
+        tmp = iDynTreeMEX(1028, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = clear(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1013, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(1014, self);
-        self.SwigClear();
-      end
+      [varargout{1:nargout}] = iDynTreeMEX(1029, self, varargin{:});
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1015, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1030, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1016, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1031, self, varargin{:});
     end
-    function varargout = linkSolidShapes(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1017, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(1018, self, varargin{1});
-      end
+    function varargout = getLinkSolidShapes(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1032, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/MomentumFreeFloatingJacobian.m b/bindings/matlab/autogenerated/+iDynTree/MomentumFreeFloatingJacobian.m
index c37442cc0d8..b4fc012c05a 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(1088, varargin{:});
+        tmp = iDynTreeMEX(1102, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1089, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1103, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1090, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1104, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1091, self);
+        iDynTreeMEX(1105, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/MotionVector3__AngularMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/MotionVector3__AngularMotionVector3.m
deleted file mode 100644
index c480e4ae357..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/MotionVector3__AngularMotionVector3.m
+++ /dev/null
@@ -1,27 +0,0 @@
-classdef MotionVector3__AngularMotionVector3 < iDynTree.GeomVector3__AngularMotionVector3
-  methods
-    function self = MotionVector3__AngularMotionVector3(varargin)
-      self@iDynTree.GeomVector3__AngularMotionVector3(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(547, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = cross(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(548, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(549, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/MotionVector3__LinearMotionVector3.m b/bindings/matlab/autogenerated/+iDynTree/MotionVector3__LinearMotionVector3.m
deleted file mode 100644
index 55d6c16e4a0..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/MotionVector3__LinearMotionVector3.m
+++ /dev/null
@@ -1,27 +0,0 @@
-classdef MotionVector3__LinearMotionVector3 < iDynTree.GeomVector3__LinearMotionVector3
-  methods
-    function self = MotionVector3__LinearMotionVector3(varargin)
-      self@iDynTree.GeomVector3__LinearMotionVector3(SwigRef.Null);
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(544, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = cross(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(545, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(546, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl1.m b/bindings/matlab/autogenerated/+iDynTree/MovableJointImpl1.m
index dd7f9c2f524..142f6d1d631 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(845, self);
+        iDynTreeMEX(851, self);
         self.SwigClear();
       end
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(846, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(852, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(847, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(853, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(848, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(854, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(849, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(855, self, varargin{:});
     end
     function varargout = setPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(850, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(856, self, varargin{:});
     end
     function varargout = getPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(851, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(857, self, varargin{:});
     end
     function varargout = setDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(852, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(858, self, varargin{:});
     end
     function varargout = getDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(853, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(859, 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 2b01b0845b1..5fa79ebb7e4 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(854, self);
+        iDynTreeMEX(860, self);
         self.SwigClear();
       end
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(855, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(861, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(856, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(862, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(857, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(863, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(858, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(864, self, varargin{:});
     end
     function varargout = setPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(859, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(865, self, varargin{:});
     end
     function varargout = getPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(860, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(866, self, varargin{:});
     end
     function varargout = setDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(861, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(867, self, varargin{:});
     end
     function varargout = getDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(862, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(868, 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 dca57516631..6484d0f9c36 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(863, self);
+        iDynTreeMEX(869, self);
         self.SwigClear();
       end
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(864, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(870, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(865, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(871, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(866, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(872, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(867, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(873, self, varargin{:});
     end
     function varargout = setPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(868, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(874, self, varargin{:});
     end
     function varargout = getPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(869, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(875, self, varargin{:});
     end
     function varargout = setDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(870, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(876, self, varargin{:});
     end
     function varargout = getDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(871, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(877, 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 e29f3681dff..0df83e9b8b8 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(872, self);
+        iDynTreeMEX(878, self);
         self.SwigClear();
       end
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(873, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(879, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(874, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(880, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(875, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(881, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(876, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(882, self, varargin{:});
     end
     function varargout = setPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(877, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(883, self, varargin{:});
     end
     function varargout = getPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(878, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(884, self, varargin{:});
     end
     function varargout = setDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(879, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(885, self, varargin{:});
     end
     function varargout = getDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(880, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(886, 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 d6218f45fe3..bdacd3543e9 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(881, self);
+        iDynTreeMEX(887, self);
         self.SwigClear();
       end
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(882, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(888, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(883, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(889, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(884, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(890, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(885, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(891, self, varargin{:});
     end
     function varargout = setPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(886, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(892, self, varargin{:});
     end
     function varargout = getPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(887, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(893, self, varargin{:});
     end
     function varargout = setDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(888, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(894, self, varargin{:});
     end
     function varargout = getDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(889, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(895, 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 27f70b1b6e0..c17145d3ce3 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(890, self);
+        iDynTreeMEX(896, self);
         self.SwigClear();
       end
     end
     function varargout = getNrOfPosCoords(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(891, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(897, self, varargin{:});
     end
     function varargout = getNrOfDOFs(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(892, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(898, self, varargin{:});
     end
     function varargout = setIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(893, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(899, self, varargin{:});
     end
     function varargout = getIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(894, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(900, self, varargin{:});
     end
     function varargout = setPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(895, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(901, self, varargin{:});
     end
     function varargout = getPosCoordsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(896, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(902, self, varargin{:});
     end
     function varargout = setDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(897, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(903, self, varargin{:});
     end
     function varargout = getDOFsOffset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(898, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(904, 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 d0004d02178..a84bfaf710b 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(1217);
+  v = iDynTreeMEX(1231);
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Neighbor.m b/bindings/matlab/autogenerated/+iDynTree/Neighbor.m
index 3db9f5a8b07..b103e2cf933 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(1019, self);
+        varargout{1} = iDynTreeMEX(1033, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1020, self, varargin{1});
+        iDynTreeMEX(1034, self, varargin{1});
       end
     end
     function varargout = neighborJoint(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1021, self);
+        varargout{1} = iDynTreeMEX(1035, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1022, self, varargin{1});
+        iDynTreeMEX(1036, self, varargin{1});
       end
     end
     function self = Neighbor(varargin)
@@ -29,14 +29,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1023, varargin{:});
+        tmp = iDynTreeMEX(1037, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1024, self);
+        iDynTreeMEX(1038, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Polygon.m b/bindings/matlab/autogenerated/+iDynTree/Polygon.m
index 3d837624589..d53586f7d9b 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Polygon.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Polygon.m
@@ -7,10 +7,10 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1880, self);
+        varargout{1} = iDynTreeMEX(1879, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1881, self, varargin{1});
+        iDynTreeMEX(1880, self, varargin{1});
       end
     end
     function self = Polygon(varargin)
@@ -19,36 +19,36 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1882, varargin{:});
+        tmp = iDynTreeMEX(1881, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = setNrOfVertices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1883, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1882, self, varargin{:});
     end
     function varargout = getNrOfVertices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1884, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1883, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1885, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1884, self, varargin{:});
     end
     function varargout = applyTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1886, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1885, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1887, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1886, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1889, self);
+        iDynTreeMEX(1888, self);
         self.SwigClear();
       end
     end
   end
   methods(Static)
     function varargout = XYRectangleFromOffsets(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(1888, varargin{:});
+     [varargout{1:nargout}] = iDynTreeMEX(1887, varargin{:});
     end
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Polygon2D.m b/bindings/matlab/autogenerated/+iDynTree/Polygon2D.m
index 69e2c7028dc..080cde2a9e0 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Polygon2D.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Polygon2D.m
@@ -7,10 +7,10 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1890, self);
+        varargout{1} = iDynTreeMEX(1889, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1891, self, varargin{1});
+        iDynTreeMEX(1890, self, varargin{1});
       end
     end
     function self = Polygon2D(varargin)
@@ -19,26 +19,26 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1892, varargin{:});
+        tmp = iDynTreeMEX(1891, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = setNrOfVertices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1893, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1892, self, varargin{:});
     end
     function varargout = getNrOfVertices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1894, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1893, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1895, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1894, self, varargin{:});
     end
     function varargout = paren(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1896, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1895, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1897, self);
+        iDynTreeMEX(1896, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/PositionSemantics.m b/bindings/matlab/autogenerated/+iDynTree/PositionSemantics.m
deleted file mode 100644
index d66e0b0420b..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/PositionSemantics.m
+++ /dev/null
@@ -1,77 +0,0 @@
-classdef PositionSemantics < SwigRef
-  methods
-    function this = swig_this(self)
-      this = iDynTreeMEX(3, self);
-    end
-    function self = PositionSemantics(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(409, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = setToUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(410, self, varargin{:});
-    end
-    function varargout = getPoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(411, self, varargin{:});
-    end
-    function varargout = getBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(412, self, varargin{:});
-    end
-    function varargout = getReferencePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(413, self, varargin{:});
-    end
-    function varargout = getRefBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(414, self, varargin{:});
-    end
-    function varargout = getCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(415, self, varargin{:});
-    end
-    function varargout = setPoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(416, self, varargin{:});
-    end
-    function varargout = setBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(417, self, varargin{:});
-    end
-    function varargout = setReferencePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(418, self, varargin{:});
-    end
-    function varargout = setRefBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(419, self, varargin{:});
-    end
-    function varargout = setCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(420, self, varargin{:});
-    end
-    function varargout = changePoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(421, self, varargin{:});
-    end
-    function varargout = changeRefPoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(422, self, varargin{:});
-    end
-    function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(425, self, varargin{:});
-    end
-    function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(426, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(427, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-    function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(423, varargin{:});
-    end
-    function varargout = inverse(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(424, varargin{:});
-    end
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/PrismaticJoint.m b/bindings/matlab/autogenerated/+iDynTree/PrismaticJoint.m
index ea775fccde9..b4067654e69 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(924, varargin{:});
+        tmp = iDynTreeMEX(930, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(925, self);
+        iDynTreeMEX(931, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(926, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(932, self, varargin{:});
     end
     function varargout = setAttachedLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(927, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(933, self, varargin{:});
     end
     function varargout = setRestTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(928, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(934, self, varargin{:});
     end
     function varargout = setAxis(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(929, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(935, self, varargin{:});
     end
     function varargout = getFirstAttachedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(930, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(936, self, varargin{:});
     end
     function varargout = getSecondAttachedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(931, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(937, self, varargin{:});
     end
     function varargout = getAxis(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(932, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(938, self, varargin{:});
     end
     function varargout = getRestTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(933, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(939, self, varargin{:});
     end
     function varargout = getTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(934, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(940, self, varargin{:});
     end
     function varargout = getTransformDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(935, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(941, self, varargin{:});
     end
     function varargout = getMotionSubspaceVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(936, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(942, self, varargin{:});
     end
     function varargout = computeChildPosVelAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(937, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(943, self, varargin{:});
     end
     function varargout = computeChildVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(938, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(944, self, varargin{:});
     end
     function varargout = computeChildVelAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(939, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(945, self, varargin{:});
     end
     function varargout = computeChildAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(940, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(946, self, varargin{:});
     end
     function varargout = computeChildBiasAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(941, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(947, self, varargin{:});
     end
     function varargout = computeJointTorque(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(942, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(948, self, varargin{:});
     end
     function varargout = hasPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(943, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(949, self, varargin{:});
     end
     function varargout = enablePosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(944, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(950, self, varargin{:});
     end
     function varargout = getPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(945, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(951, self, varargin{:});
     end
     function varargout = getMinPosLimit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(946, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(952, self, varargin{:});
     end
     function varargout = getMaxPosLimit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(947, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(953, self, varargin{:});
     end
     function varargout = setPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(948, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(954, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/RNEADynamicPhase.m b/bindings/matlab/autogenerated/+iDynTree/RNEADynamicPhase.m
index 9fe8d83e51f..6a04b2ec0cc 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(1191, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1205, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/RevoluteJoint.m b/bindings/matlab/autogenerated/+iDynTree/RevoluteJoint.m
index 8fc254b3c7e..3fe8f05168c 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(899, varargin{:});
+        tmp = iDynTreeMEX(905, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(900, self);
+        iDynTreeMEX(906, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(901, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(907, self, varargin{:});
     end
     function varargout = setAttachedLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(902, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(908, self, varargin{:});
     end
     function varargout = setRestTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(903, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(909, self, varargin{:});
     end
     function varargout = setAxis(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(904, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(910, self, varargin{:});
     end
     function varargout = getFirstAttachedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(905, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(911, self, varargin{:});
     end
     function varargout = getSecondAttachedLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(906, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(912, self, varargin{:});
     end
     function varargout = getAxis(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(907, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(913, self, varargin{:});
     end
     function varargout = getRestTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(908, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(914, self, varargin{:});
     end
     function varargout = getTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(909, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(915, self, varargin{:});
     end
     function varargout = getTransformDerivative(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(910, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(916, self, varargin{:});
     end
     function varargout = getMotionSubspaceVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(911, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(917, self, varargin{:});
     end
     function varargout = computeChildPosVelAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(912, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(918, self, varargin{:});
     end
     function varargout = computeChildVel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(913, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(919, self, varargin{:});
     end
     function varargout = computeChildVelAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(914, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(920, self, varargin{:});
     end
     function varargout = computeChildAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(915, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(921, self, varargin{:});
     end
     function varargout = computeChildBiasAcc(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(916, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(922, self, varargin{:});
     end
     function varargout = computeJointTorque(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(917, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(923, self, varargin{:});
     end
     function varargout = hasPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(918, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(924, self, varargin{:});
     end
     function varargout = enablePosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(919, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(925, self, varargin{:});
     end
     function varargout = getPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(920, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(926, self, varargin{:});
     end
     function varargout = getMinPosLimit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(921, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(927, self, varargin{:});
     end
     function varargout = getMaxPosLimit(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(922, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(928, self, varargin{:});
     end
     function varargout = setPosLimits(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(923, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(929, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/RotationSemantics.m b/bindings/matlab/autogenerated/+iDynTree/RotationSemantics.m
deleted file mode 100644
index 965942ae2cc..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/RotationSemantics.m
+++ /dev/null
@@ -1,80 +0,0 @@
-classdef RotationSemantics < SwigRef
-  methods
-    function this = swig_this(self)
-      this = iDynTreeMEX(3, self);
-    end
-    function self = RotationSemantics(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(780, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = setToUnknown(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(781, self, varargin{:});
-    end
-    function varargout = getOrientationFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(782, self, varargin{:});
-    end
-    function varargout = getBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(783, self, varargin{:});
-    end
-    function varargout = getReferenceOrientationFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(784, self, varargin{:});
-    end
-    function varargout = getRefBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(785, self, varargin{:});
-    end
-    function varargout = getCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(786, self, varargin{:});
-    end
-    function varargout = setOrientationFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(787, self, varargin{:});
-    end
-    function varargout = setBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(788, self, varargin{:});
-    end
-    function varargout = setReferenceOrientationFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(789, self, varargin{:});
-    end
-    function varargout = setRefBody(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(790, self, varargin{:});
-    end
-    function varargout = setCoordinateFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(791, self, varargin{:});
-    end
-    function varargout = changeOrientFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(792, self, varargin{:});
-    end
-    function varargout = changeRefOrientFrame(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(793, self, varargin{:});
-    end
-    function varargout = changeCoordFrameOf(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(794, self, varargin{:});
-    end
-    function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(797, self, varargin{:});
-    end
-    function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(798, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(799, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-    function varargout = compose(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(795, varargin{:});
-    end
-    function varargout = inverse2(varargin)
-     [varargout{1:nargout}] = iDynTreeMEX(796, varargin{:});
-    end
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Sensor.m b/bindings/matlab/autogenerated/+iDynTree/Sensor.m
index c0249ce3286..bafd29b2566 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Sensor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Sensor.m
@@ -5,33 +5,30 @@
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1221, self);
+        iDynTreeMEX(1235, self);
         self.SwigClear();
       end
     end
     function varargout = getName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1222, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1236, self, varargin{:});
     end
     function varargout = getSensorType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1223, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1237, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1224, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1238, self, varargin{:});
     end
     function varargout = setName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1225, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1239, self, varargin{:});
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1226, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1240, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1227, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1241, self, varargin{:});
     end
     function varargout = updateIndices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1228, self, varargin{:});
-    end
-    function varargout = updateIndeces(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1229, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1242, 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 3a981c8aac7..fb39bb48c27 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SensorsList.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SensorsList.m
@@ -9,61 +9,61 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1244, varargin{:});
+        tmp = iDynTreeMEX(1257, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1245, self);
+        iDynTreeMEX(1258, self);
         self.SwigClear();
       end
     end
     function varargout = addSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1246, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1259, self, varargin{:});
     end
     function varargout = setSerialization(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1247, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1260, self, varargin{:});
     end
     function varargout = getSerialization(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1248, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1261, self, varargin{:});
     end
     function varargout = getNrOfSensors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1249, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1262, self, varargin{:});
     end
     function varargout = getSensorIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1250, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1263, self, varargin{:});
     end
     function varargout = getSizeOfAllSensorsMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1251, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1264, self, varargin{:});
     end
     function varargout = getSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1252, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1265, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1253, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1266, self, varargin{:});
     end
     function varargout = removeSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1254, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1267, self, varargin{:});
     end
     function varargout = removeAllSensorsOfType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1255, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1268, self, varargin{:});
     end
     function varargout = getSixAxisForceTorqueSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1256, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1269, self, varargin{:});
     end
     function varargout = getAccelerometerSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1257, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1270, self, varargin{:});
     end
     function varargout = getGyroscopeSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1258, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1271, self, varargin{:});
     end
     function varargout = getThreeAxisAngularAccelerometerSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1259, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1272, self, varargin{:});
     end
     function varargout = getThreeAxisForceTorqueContactSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1260, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1273, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/SensorsMeasurements.m b/bindings/matlab/autogenerated/+iDynTree/SensorsMeasurements.m
index 53caa9fbda8..636010cc314 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(1261, varargin{:});
+        tmp = iDynTreeMEX(1274, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1262, self);
+        iDynTreeMEX(1275, self);
         self.SwigClear();
       end
     end
     function varargout = setNrOfSensors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1263, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1276, self, varargin{:});
     end
     function varargout = getNrOfSensors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1264, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1277, self, varargin{:});
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1265, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1278, self, varargin{:});
     end
     function varargout = toVector(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1266, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1279, self, varargin{:});
     end
     function varargout = setMeasurement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1267, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1280, self, varargin{:});
     end
     function varargout = getMeasurement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1268, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1281, self, varargin{:});
     end
     function varargout = getSizeOfAllSensorsMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1269, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1282, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/SimpleLeggedOdometry.m b/bindings/matlab/autogenerated/+iDynTree/SimpleLeggedOdometry.m
index f2f7a7b3a0c..a501c5fb4b8 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SimpleLeggedOdometry.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SimpleLeggedOdometry.m
@@ -9,24 +9,18 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1483, varargin{:});
+        tmp = iDynTreeMEX(1485, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1484, self);
+        iDynTreeMEX(1486, self);
         self.SwigClear();
       end
     end
     function varargout = setModel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1485, self, varargin{:});
-    end
-    function varargout = loadModelFromFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1486, self, varargin{:});
-    end
-    function varargout = loadModelFromFileWithSpecifiedDOFs(self,varargin)
       [varargout{1:nargout}] = iDynTreeMEX(1487, self, varargin{:});
     end
     function varargout = model(self,varargin)
diff --git a/bindings/matlab/autogenerated/+iDynTree/SixAxisForceTorqueSensor.m b/bindings/matlab/autogenerated/+iDynTree/SixAxisForceTorqueSensor.m
index 5344b2ab861..1537a953514 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SixAxisForceTorqueSensor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SixAxisForceTorqueSensor.m
@@ -7,100 +7,97 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1270, varargin{:});
+        tmp = iDynTreeMEX(1283, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1271, self);
+        iDynTreeMEX(1284, self);
         self.SwigClear();
       end
     end
     function varargout = setName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1272, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1285, self, varargin{:});
     end
     function varargout = setFirstLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1273, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1286, self, varargin{:});
     end
     function varargout = setSecondLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1274, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1287, self, varargin{:});
     end
     function varargout = getFirstLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1275, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1288, self, varargin{:});
     end
     function varargout = getSecondLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1276, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1289, self, varargin{:});
     end
     function varargout = setFirstLinkName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1277, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1290, self, varargin{:});
     end
     function varargout = setSecondLinkName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1278, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1291, self, varargin{:});
     end
     function varargout = getFirstLinkName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1279, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1292, self, varargin{:});
     end
     function varargout = getSecondLinkName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1280, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1293, self, varargin{:});
     end
     function varargout = setParentJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1281, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1294, self, varargin{:});
     end
     function varargout = setParentJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1282, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1295, self, varargin{:});
     end
     function varargout = setAppliedWrenchLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1283, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1296, self, varargin{:});
     end
     function varargout = getName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1284, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1297, self, varargin{:});
     end
     function varargout = getSensorType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1285, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1298, self, varargin{:});
     end
     function varargout = getParentJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1286, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1299, self, varargin{:});
     end
     function varargout = getParentJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1287, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1300, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1288, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1301, self, varargin{:});
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1289, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1302, self, varargin{:});
     end
     function varargout = updateIndices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1290, self, varargin{:});
-    end
-    function varargout = updateIndeces(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1291, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1303, self, varargin{:});
     end
     function varargout = getAppliedWrenchLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1292, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1304, self, varargin{:});
     end
     function varargout = isLinkAttachedToSensor(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1293, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1305, self, varargin{:});
     end
     function varargout = getLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1294, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1306, self, varargin{:});
     end
     function varargout = getWrenchAppliedOnLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1295, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1307, self, varargin{:});
     end
     function varargout = getWrenchAppliedOnLinkMatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1296, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1308, self, varargin{:});
     end
     function varargout = getWrenchAppliedOnLinkInverseMatrix(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1297, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1309, self, varargin{:});
     end
     function varargout = predictMeasurement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1298, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1310, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1299, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1311, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/SolidShape.m b/bindings/matlab/autogenerated/+iDynTree/SolidShape.m
index 950e7177e20..1e5ee97a670 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SolidShape.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SolidShape.m
@@ -5,76 +5,60 @@
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(966, self);
+        iDynTreeMEX(981, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(967, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(982, self, varargin{:});
     end
-    function varargout = name(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(968, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(969, self, varargin{1});
-      end
+    function varargout = getName(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(983, self, varargin{:});
     end
-    function varargout = nameIsValid(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(970, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(971, self, varargin{1});
-      end
+    function varargout = setName(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(984, self, varargin{:});
     end
-    function varargout = link_H_geometry(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(972, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(973, self, varargin{1});
-      end
+    function varargout = isNameValid(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(985, self, varargin{:});
     end
-    function varargout = material(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(974, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(975, self, varargin{1});
-      end
+    function varargout = getLink_H_geometry(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(986, self, varargin{:});
+    end
+    function varargout = setLink_H_geometry(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(987, self, varargin{:});
+    end
+    function varargout = isMaterialSet(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(988, self, varargin{:});
+    end
+    function varargout = getMaterial(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(989, self, varargin{:});
+    end
+    function varargout = setMaterial(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(990, self, varargin{:});
     end
     function varargout = isSphere(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(976, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(991, self, varargin{:});
     end
     function varargout = isBox(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(977, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(992, self, varargin{:});
     end
     function varargout = isCylinder(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(978, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(993, self, varargin{:});
     end
     function varargout = isExternalMesh(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(979, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(994, self, varargin{:});
     end
     function varargout = asSphere(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(980, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(995, self, varargin{:});
     end
     function varargout = asBox(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(981, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(996, self, varargin{:});
     end
     function varargout = asCylinder(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(982, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(997, self, varargin{:});
     end
     function varargout = asExternalMesh(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(983, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(998, self, varargin{:});
     end
     function self = SolidShape(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
diff --git a/bindings/matlab/autogenerated/+iDynTree/SolidShapesVector.m b/bindings/matlab/autogenerated/+iDynTree/SolidShapesVector.m
index 70b11c1f96b..40bd563dc45 100644
--- a/bindings/matlab/autogenerated/+iDynTree/SolidShapesVector.m
+++ b/bindings/matlab/autogenerated/+iDynTree/SolidShapesVector.m
@@ -4,49 +4,49 @@
       this = iDynTreeMEX(3, self);
     end
     function varargout = pop(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1133, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1147, self, varargin{:});
     end
     function varargout = brace(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1134, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1148, self, varargin{:});
     end
     function varargout = setbrace(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1135, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1149, self, varargin{:});
     end
     function varargout = append(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1136, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1150, self, varargin{:});
     end
     function varargout = empty(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1137, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1151, self, varargin{:});
     end
     function varargout = size(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1138, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1152, self, varargin{:});
     end
     function varargout = swap(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1139, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1153, self, varargin{:});
     end
     function varargout = begin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1140, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1154, self, varargin{:});
     end
     function varargout = end(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1141, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1155, self, varargin{:});
     end
     function varargout = rbegin(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1142, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1156, self, varargin{:});
     end
     function varargout = rend(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1143, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1157, self, varargin{:});
     end
     function varargout = clear(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1144, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1158, self, varargin{:});
     end
     function varargout = get_allocator(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1145, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1159, self, varargin{:});
     end
     function varargout = pop_back(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1146, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1160, self, varargin{:});
     end
     function varargout = erase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1147, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1161, self, varargin{:});
     end
     function self = SolidShapesVector(varargin)
       if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
@@ -54,38 +54,38 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1148, varargin{:});
+        tmp = iDynTreeMEX(1162, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = push_back(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1149, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1163, self, varargin{:});
     end
     function varargout = front(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1150, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1164, self, varargin{:});
     end
     function varargout = back(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1151, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1165, self, varargin{:});
     end
     function varargout = assign(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1152, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1166, self, varargin{:});
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1153, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1167, self, varargin{:});
     end
     function varargout = insert(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1154, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1168, self, varargin{:});
     end
     function varargout = reserve(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1155, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1169, self, varargin{:});
     end
     function varargout = capacity(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1156, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1170, self, varargin{:});
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1157, self);
+        iDynTreeMEX(1171, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorSemanticsBase.m b/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorSemanticsBase.m
deleted file mode 100644
index 5a4858ee0a7..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/SpatialForceVectorSemanticsBase.m
+++ /dev/null
@@ -1,35 +0,0 @@
-classdef SpatialForceVectorSemanticsBase < SwigRef
-  methods
-    function this = swig_this(self)
-      this = iDynTreeMEX(3, self);
-    end
-    function self = SpatialForceVectorSemanticsBase(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(582, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = check_linear2angularConsistency(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(583, self, varargin{:});
-    end
-    function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(584, self, varargin{:});
-    end
-    function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(585, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(586, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorSemanticsBase.m b/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorSemanticsBase.m
deleted file mode 100644
index 0018108eaa6..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/SpatialMotionVectorSemanticsBase.m
+++ /dev/null
@@ -1,35 +0,0 @@
-classdef SpatialMotionVectorSemanticsBase < SwigRef
-  methods
-    function this = swig_this(self)
-      this = iDynTreeMEX(3, self);
-    end
-    function self = SpatialMotionVectorSemanticsBase(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(577, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = check_linear2angularConsistency(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(578, self, varargin{:});
-    end
-    function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(579, self, varargin{:});
-    end
-    function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(580, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(581, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Sphere.m b/bindings/matlab/autogenerated/+iDynTree/Sphere.m
index b9670259826..86c52c28866 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Sphere.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Sphere.m
@@ -2,22 +2,18 @@
   methods
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(984, self);
+        iDynTreeMEX(999, self);
         self.SwigClear();
       end
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(985, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1000, self, varargin{:});
     end
-    function varargout = radius(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(986, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(987, self, varargin{1});
-      end
+    function varargout = getRadius(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1001, self, varargin{:});
+    end
+    function varargout = setRadius(self,varargin)
+      [varargout{1:nargout}] = iDynTreeMEX(1002, self, varargin{:});
     end
     function self = Sphere(varargin)
       self@iDynTree.SolidShape(SwigRef.Null);
@@ -26,7 +22,7 @@ function delete(self)
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(988, varargin{:});
+        tmp = iDynTreeMEX(1003, 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 b3766c1d46f..0cfc2777759 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(732);
+    varargout{1} = iDynTreeMEX(738);
   else
     nargoutchk(0,0)
-    iDynTreeMEX(733,varargin{1});
+    iDynTreeMEX(739,varargin{1});
   end
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/ThreeAxisAngularAccelerometerSensor.m b/bindings/matlab/autogenerated/+iDynTree/ThreeAxisAngularAccelerometerSensor.m
index a0b4caf5abf..110ac3cac68 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(1332, varargin{:});
+        tmp = iDynTreeMEX(1342, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1333, self);
+        iDynTreeMEX(1343, self);
         self.SwigClear();
       end
     end
     function varargout = setName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1334, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1344, self, varargin{:});
     end
     function varargout = setLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1335, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1345, self, varargin{:});
     end
     function varargout = setParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1336, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1346, self, varargin{:});
     end
     function varargout = setParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1337, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1347, self, varargin{:});
     end
     function varargout = getName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1338, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1348, self, varargin{:});
     end
     function varargout = getSensorType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1339, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1349, self, varargin{:});
     end
     function varargout = getParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1340, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1350, self, varargin{:});
     end
     function varargout = getParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1341, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1351, self, varargin{:});
     end
     function varargout = getLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1342, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1352, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1343, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1353, self, varargin{:});
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1344, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1354, self, varargin{:});
     end
     function varargout = updateIndices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1345, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1355, self, varargin{:});
     end
     function varargout = predictMeasurement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1346, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1356, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/ThreeAxisForceTorqueContactSensor.m b/bindings/matlab/autogenerated/+iDynTree/ThreeAxisForceTorqueContactSensor.m
index f65d7ec1700..c3ac12bda8e 100644
--- a/bindings/matlab/autogenerated/+iDynTree/ThreeAxisForceTorqueContactSensor.m
+++ b/bindings/matlab/autogenerated/+iDynTree/ThreeAxisForceTorqueContactSensor.m
@@ -7,64 +7,64 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1347, varargin{:});
+        tmp = iDynTreeMEX(1357, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1348, self);
+        iDynTreeMEX(1358, self);
         self.SwigClear();
       end
     end
     function varargout = setName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1349, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1359, self, varargin{:});
     end
     function varargout = setLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1350, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1360, self, varargin{:});
     end
     function varargout = setParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1351, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1361, self, varargin{:});
     end
     function varargout = setParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1352, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1362, self, varargin{:});
     end
     function varargout = getName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1353, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1363, self, varargin{:});
     end
     function varargout = getSensorType(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1354, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1364, self, varargin{:});
     end
     function varargout = getParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1355, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1365, self, varargin{:});
     end
     function varargout = getParentLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1356, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1366, self, varargin{:});
     end
     function varargout = getLinkSensorTransform(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1357, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1367, self, varargin{:});
     end
     function varargout = isValid(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1358, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1368, self, varargin{:});
     end
     function varargout = clone(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1359, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1369, self, varargin{:});
     end
     function varargout = updateIndices(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1360, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1370, self, varargin{:});
     end
     function varargout = setLoadCellLocations(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1361, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1371, self, varargin{:});
     end
     function varargout = getLoadCellLocations(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1362, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1372, self, varargin{:});
     end
     function varargout = computeThreeAxisForceTorqueFromLoadCellMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1363, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1373, self, varargin{:});
     end
     function varargout = computeCenterOfPressureFromLoadCellMeasurements(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1364, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1374, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/TransformSemantics.m b/bindings/matlab/autogenerated/+iDynTree/TransformSemantics.m
deleted file mode 100644
index 7d516147b72..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/TransformSemantics.m
+++ /dev/null
@@ -1,44 +0,0 @@
-classdef TransformSemantics < SwigRef
-  methods
-    function this = swig_this(self)
-      this = iDynTreeMEX(3, self);
-    end
-    function self = TransformSemantics(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(835, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function varargout = getRotationSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(836, self, varargin{:});
-    end
-    function varargout = getPositionSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(837, self, varargin{:});
-    end
-    function varargout = setRotationSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(838, self, varargin{:});
-    end
-    function varargout = setPositionSemantics(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(839, self, varargin{:});
-    end
-    function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(840, self, varargin{:});
-    end
-    function varargout = display(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(841, self, varargin{:});
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(842, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Traversal.m b/bindings/matlab/autogenerated/+iDynTree/Traversal.m
index 3e50248abff..cd9dde5f265 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(949, varargin{:});
+        tmp = iDynTreeMEX(955, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(950, self);
+        iDynTreeMEX(956, self);
         self.SwigClear();
       end
     end
     function varargout = getNrOfVisitedLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(951, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(957, self, varargin{:});
     end
     function varargout = getLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(952, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(958, self, varargin{:});
     end
     function varargout = getBaseLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(953, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(959, self, varargin{:});
     end
     function varargout = getParentLink(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(954, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(960, self, varargin{:});
     end
     function varargout = getParentJoint(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(955, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(961, self, varargin{:});
     end
     function varargout = getParentLinkFromLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(956, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(962, self, varargin{:});
     end
     function varargout = getParentJointFromLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(957, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(963, self, varargin{:});
     end
     function varargout = getTraversalIndexFromLinkIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(958, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(964, self, varargin{:});
     end
     function varargout = reset(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(959, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(965, self, varargin{:});
     end
     function varargout = addTraversalBase(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(960, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(966, self, varargin{:});
     end
     function varargout = addTraversalElement(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(961, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(967, self, varargin{:});
     end
     function varargout = isParentOf(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(962, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(968, self, varargin{:});
     end
     function varargout = getChildLinkIndexFromJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(963, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(969, self, varargin{:});
     end
     function varargout = getParentLinkIndexFromJointIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(964, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(970, self, varargin{:});
     end
     function varargout = toString(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(965, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(971, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/URDFParserOptions.m b/bindings/matlab/autogenerated/+iDynTree/URDFParserOptions.m
deleted file mode 100644
index 5c4a1caa147..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/URDFParserOptions.m
+++ /dev/null
@@ -1,46 +0,0 @@
-classdef URDFParserOptions < 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(1367, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(1368, self, varargin{1});
-      end
-    end
-    function varargout = originalFilename(self, varargin)
-      narginchk(1, 2)
-      if nargin==1
-        nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1369, self);
-      else
-        nargoutchk(0, 0)
-        iDynTreeMEX(1370, self, varargin{1});
-      end
-    end
-    function self = URDFParserOptions(varargin)
-      if nargin==1 && strcmp(class(varargin{1}),'SwigRef')
-        if ~isnull(varargin{1})
-          self.swigPtr = varargin{1}.swigPtr;
-        end
-      else
-        tmp = iDynTreeMEX(1371, varargin{:});
-        self.swigPtr = tmp.swigPtr;
-        tmp.SwigClear();
-      end
-    end
-    function delete(self)
-      if self.swigPtr
-        iDynTreeMEX(1372, self);
-        self.SwigClear();
-      end
-    end
-  end
-  methods(Static)
-  end
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/UnknownWrenchContact.m b/bindings/matlab/autogenerated/+iDynTree/UnknownWrenchContact.m
index 1bda92b2885..918118a5bd0 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(1422, varargin{:});
+        tmp = iDynTreeMEX(1424, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
@@ -18,55 +18,55 @@
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1423, self);
+        varargout{1} = iDynTreeMEX(1425, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1424, self, varargin{1});
+        iDynTreeMEX(1426, self, varargin{1});
       end
     end
     function varargout = contactPoint(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1425, self);
+        varargout{1} = iDynTreeMEX(1427, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1426, self, varargin{1});
+        iDynTreeMEX(1428, self, varargin{1});
       end
     end
     function varargout = forceDirection(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1427, self);
+        varargout{1} = iDynTreeMEX(1429, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1428, self, varargin{1});
+        iDynTreeMEX(1430, self, varargin{1});
       end
     end
     function varargout = knownWrench(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1429, self);
+        varargout{1} = iDynTreeMEX(1431, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1430, self, varargin{1});
+        iDynTreeMEX(1432, self, varargin{1});
       end
     end
     function varargout = contactId(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1431, self);
+        varargout{1} = iDynTreeMEX(1433, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1432, self, varargin{1});
+        iDynTreeMEX(1434, self, varargin{1});
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1433, self);
+        iDynTreeMEX(1435, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/Visualizer.m b/bindings/matlab/autogenerated/+iDynTree/Visualizer.m
index c47c6ae04b6..8f7e810b399 100644
--- a/bindings/matlab/autogenerated/+iDynTree/Visualizer.m
+++ b/bindings/matlab/autogenerated/+iDynTree/Visualizer.m
@@ -9,55 +9,55 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1865, varargin{:});
+        tmp = iDynTreeMEX(1864, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1866, self);
+        iDynTreeMEX(1865, self);
         self.SwigClear();
       end
     end
     function varargout = init(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1867, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1866, self, varargin{:});
     end
     function varargout = getNrOfVisualizedModels(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1868, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1867, self, varargin{:});
     end
     function varargout = getModelInstanceName(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1869, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1868, self, varargin{:});
     end
     function varargout = getModelInstanceIndex(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1870, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1869, self, varargin{:});
     end
     function varargout = addModel(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1871, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1870, self, varargin{:});
     end
     function varargout = modelViz(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1872, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1871, self, varargin{:});
     end
     function varargout = camera(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1873, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1872, self, varargin{:});
     end
     function varargout = enviroment(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1874, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1873, self, varargin{:});
     end
     function varargout = vectors(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1875, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1874, self, varargin{:});
     end
     function varargout = run(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1876, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1875, self, varargin{:});
     end
     function varargout = draw(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1877, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1876, self, varargin{:});
     end
     function varargout = drawToFile(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1878, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1877, self, varargin{:});
     end
     function varargout = close(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1879, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1878, self, varargin{:});
     end
   end
   methods(Static)
diff --git a/bindings/matlab/autogenerated/+iDynTree/VisualizerOptions.m b/bindings/matlab/autogenerated/+iDynTree/VisualizerOptions.m
index 40b5cfc35d7..6a3c7861e2d 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(1855, self);
+        varargout{1} = iDynTreeMEX(1854, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1856, self, varargin{1});
+        iDynTreeMEX(1855, self, varargin{1});
       end
     end
     function varargout = winWidth(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1857, self);
+        varargout{1} = iDynTreeMEX(1856, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1858, self, varargin{1});
+        iDynTreeMEX(1857, self, varargin{1});
       end
     end
     function varargout = winHeight(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1859, self);
+        varargout{1} = iDynTreeMEX(1858, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1860, self, varargin{1});
+        iDynTreeMEX(1859, self, varargin{1});
       end
     end
     function varargout = rootFrameArrowsDimension(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1861, self);
+        varargout{1} = iDynTreeMEX(1860, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1862, self, varargin{1});
+        iDynTreeMEX(1861, self, varargin{1});
       end
     end
     function self = VisualizerOptions(varargin)
@@ -49,14 +49,14 @@
           self.swigPtr = varargin{1}.swigPtr;
         end
       else
-        tmp = iDynTreeMEX(1863, varargin{:});
+        tmp = iDynTreeMEX(1862, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1864, self);
+        iDynTreeMEX(1863, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/computeLinkNetWrenchesWithoutGravity.m b/bindings/matlab/autogenerated/+iDynTree/computeLinkNetWrenchesWithoutGravity.m
index 78d3637a221..d42038a0bdd 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(1467, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1469, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDF.m b/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDF.m
index 72126bd6009..8080f1aa2bf 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(1375, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1377, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDFString.m b/bindings/matlab/autogenerated/+iDynTree/dofsListFromURDFString.m
index 2cc3a23ff59..f893dae73f0 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(1376, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1378, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelAccKinematics.m b/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelAccKinematics.m
index dbbed74e757..9d94d42fa7e 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(1465, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1467, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelKinematics.m b/bindings/matlab/autogenerated/+iDynTree/dynamicsEstimationForwardVelKinematics.m
index c15a98f676e..d30bc6f91a3 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(1466, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1468, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenches.m b/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenches.m
index d5bc645c78e..64681ff904d 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(1464, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1466, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesBuffers.m b/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesBuffers.m
index fb1690afd80..611fd22587f 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(1445, varargin{:});
+        tmp = iDynTreeMEX(1447, varargin{:});
         self.swigPtr = tmp.swigPtr;
         tmp.SwigClear();
       end
     end
     function varargout = resize(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1446, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1448, self, varargin{:});
     end
     function varargout = getNrOfSubModels(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1447, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1449, self, varargin{:});
     end
     function varargout = getNrOfLinks(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1448, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1450, self, varargin{:});
     end
     function varargout = isConsistent(self,varargin)
-      [varargout{1:nargout}] = iDynTreeMEX(1449, self, varargin{:});
+      [varargout{1:nargout}] = iDynTreeMEX(1451, self, varargin{:});
     end
     function varargout = A(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1450, self);
+        varargout{1} = iDynTreeMEX(1452, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1451, self, varargin{1});
+        iDynTreeMEX(1453, self, varargin{1});
       end
     end
     function varargout = x(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1452, self);
+        varargout{1} = iDynTreeMEX(1454, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1453, self, varargin{1});
+        iDynTreeMEX(1455, self, varargin{1});
       end
     end
     function varargout = b(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1454, self);
+        varargout{1} = iDynTreeMEX(1456, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1455, self, varargin{1});
+        iDynTreeMEX(1457, self, varargin{1});
       end
     end
     function varargout = pinvA(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1456, self);
+        varargout{1} = iDynTreeMEX(1458, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1457, self, varargin{1});
+        iDynTreeMEX(1459, self, varargin{1});
       end
     end
     function varargout = b_contacts_subtree(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1458, self);
+        varargout{1} = iDynTreeMEX(1460, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1459, self, varargin{1});
+        iDynTreeMEX(1461, self, varargin{1});
       end
     end
     function varargout = subModelBase_H_link(self, varargin)
       narginchk(1, 2)
       if nargin==1
         nargoutchk(0, 1)
-        varargout{1} = iDynTreeMEX(1460, self);
+        varargout{1} = iDynTreeMEX(1462, self);
       else
         nargoutchk(0, 0)
-        iDynTreeMEX(1461, self, varargin{1});
+        iDynTreeMEX(1463, self, varargin{1});
       end
     end
     function delete(self)
       if self.swigPtr
-        iDynTreeMEX(1462, self);
+        iDynTreeMEX(1464, self);
         self.SwigClear();
       end
     end
diff --git a/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesWithoutInternalFT.m b/bindings/matlab/autogenerated/+iDynTree/estimateExternalWrenchesWithoutInternalFT.m
index 23bb8273ac5..50ff89c3ab9 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(1463, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1465, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/estimateLinkContactWrenchesFromLinkNetExternalWrenches.m b/bindings/matlab/autogenerated/+iDynTree/estimateLinkContactWrenchesFromLinkNetExternalWrenches.m
index 69bfe317ae4..1dc9cc9154e 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(1468, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1470, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/getSensorTypeSize.m b/bindings/matlab/autogenerated/+iDynTree/getSensorTypeSize.m
index e3f66e9cb9f..24eba7c01b0 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(1220, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1234, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/isJointSensor.m b/bindings/matlab/autogenerated/+iDynTree/isJointSensor.m
index d1a98db15b4..4fde1261fab 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(1219, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1233, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/isLinkSensor.m b/bindings/matlab/autogenerated/+iDynTree/isLinkSensor.m
index 08b10cbcce4..87cca8a0b38 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(1218, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1232, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/modelFromURDF.m b/bindings/matlab/autogenerated/+iDynTree/modelFromURDF.m
deleted file mode 100644
index 8630f36b838..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/modelFromURDF.m
+++ /dev/null
@@ -1,3 +0,0 @@
-function varargout = modelFromURDF(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1373, varargin{:});
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/modelFromURDFString.m b/bindings/matlab/autogenerated/+iDynTree/modelFromURDFString.m
deleted file mode 100644
index 0d232874cb5..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/modelFromURDFString.m
+++ /dev/null
@@ -1,3 +0,0 @@
-function varargout = modelFromURDFString(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1374, varargin{:});
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurements.m b/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurements.m
index c17f389a8ae..7a3c13f0cea 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(1365, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1375, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurementsFromRawBuffers.m b/bindings/matlab/autogenerated/+iDynTree/predictSensorsMeasurementsFromRawBuffers.m
index 963fd3dae32..edb2a84b388 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(1366, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1376, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDF.m b/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDF.m
deleted file mode 100644
index 23db70ca3e6..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDF.m
+++ /dev/null
@@ -1,3 +0,0 @@
-function varargout = sensorsFromURDF(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1377, varargin{:});
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDFString.m b/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDFString.m
deleted file mode 100644
index 22738ccefe0..00000000000
--- a/bindings/matlab/autogenerated/+iDynTree/sensorsFromURDFString.m
+++ /dev/null
@@ -1,3 +0,0 @@
-function varargout = sensorsFromURDFString(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1378, varargin{:});
-end
diff --git a/bindings/matlab/autogenerated/+iDynTree/sizeOfRotationParametrization.m b/bindings/matlab/autogenerated/+iDynTree/sizeOfRotationParametrization.m
index 1686409b681..1ea7aad6f65 100644
--- a/bindings/matlab/autogenerated/+iDynTree/sizeOfRotationParametrization.m
+++ b/bindings/matlab/autogenerated/+iDynTree/sizeOfRotationParametrization.m
@@ -1,3 +1,3 @@
 function varargout = sizeOfRotationParametrization(varargin)
-  [varargout{1:nargout}] = iDynTreeMEX(1926, varargin{:});
+  [varargout{1:nargout}] = iDynTreeMEX(1925, varargin{:});
 end
diff --git a/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx b/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx
index 23b353b3fd0..08af064c4ce 100644
--- a/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx
+++ b/bindings/matlab/autogenerated/iDynTreeMATLAB_wrap.cxx
@@ -1283,126 +1283,129 @@ namespace swig {
 #define SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts swig_types[71]
 #define SWIGTYPE_p_iDynTree__LinkVelArray swig_types[72]
 #define SWIGTYPE_p_iDynTree__LinkWrenches swig_types[73]
-#define SWIGTYPE_p_iDynTree__MatrixDynSize swig_types[74]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_10_16_t swig_types[75]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_1_6_t swig_types[76]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_2_3_t swig_types[77]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_3_3_t swig_types[78]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_3_4_t swig_types[79]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_4_3_t swig_types[80]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_4_4_t swig_types[81]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_10_t swig_types[82]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_1_t swig_types[83]
-#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_6_t swig_types[84]
-#define SWIGTYPE_p_iDynTree__Model swig_types[85]
-#define SWIGTYPE_p_iDynTree__ModelCalibrationHelper swig_types[86]
-#define SWIGTYPE_p_iDynTree__ModelExporter swig_types[87]
-#define SWIGTYPE_p_iDynTree__ModelExporterOptions swig_types[88]
-#define SWIGTYPE_p_iDynTree__ModelLoader swig_types[89]
-#define SWIGTYPE_p_iDynTree__ModelParserOptions swig_types[90]
-#define SWIGTYPE_p_iDynTree__ModelSolidShapes swig_types[91]
-#define SWIGTYPE_p_iDynTree__MomentumFreeFloatingJacobian swig_types[92]
-#define SWIGTYPE_p_iDynTree__MovableJointImplT_1_1_t swig_types[93]
-#define SWIGTYPE_p_iDynTree__MovableJointImplT_2_2_t swig_types[94]
-#define SWIGTYPE_p_iDynTree__MovableJointImplT_3_3_t swig_types[95]
-#define SWIGTYPE_p_iDynTree__MovableJointImplT_4_4_t swig_types[96]
-#define SWIGTYPE_p_iDynTree__MovableJointImplT_5_5_t swig_types[97]
-#define SWIGTYPE_p_iDynTree__MovableJointImplT_6_6_t swig_types[98]
-#define SWIGTYPE_p_iDynTree__Neighbor swig_types[99]
-#define SWIGTYPE_p_iDynTree__Polygon swig_types[100]
-#define SWIGTYPE_p_iDynTree__Polygon2D swig_types[101]
-#define SWIGTYPE_p_iDynTree__Position swig_types[102]
-#define SWIGTYPE_p_iDynTree__PositionRaw swig_types[103]
-#define SWIGTYPE_p_iDynTree__PrismaticJoint swig_types[104]
-#define SWIGTYPE_p_iDynTree__RevoluteJoint swig_types[105]
-#define SWIGTYPE_p_iDynTree__RigidBodyInertiaNonLinearParametrization swig_types[106]
-#define SWIGTYPE_p_iDynTree__Rotation swig_types[107]
-#define SWIGTYPE_p_iDynTree__RotationRaw swig_types[108]
-#define SWIGTYPE_p_iDynTree__RotationalInertiaRaw swig_types[109]
-#define SWIGTYPE_p_iDynTree__Sensor swig_types[110]
-#define SWIGTYPE_p_iDynTree__SensorsList swig_types[111]
-#define SWIGTYPE_p_iDynTree__SensorsMeasurements swig_types[112]
-#define SWIGTYPE_p_iDynTree__SimpleLeggedOdometry swig_types[113]
-#define SWIGTYPE_p_iDynTree__SixAxisForceTorqueSensor swig_types[114]
-#define SWIGTYPE_p_iDynTree__SolidShape swig_types[115]
-#define SWIGTYPE_p_iDynTree__SpanT_double__1_t swig_types[116]
-#define SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t swig_types[117]
-#define SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__RowMajor_t swig_types[118]
-#define SWIGTYPE_p_iDynTree__SpatialAcc swig_types[119]
-#define SWIGTYPE_p_iDynTree__SpatialForceVector swig_types[120]
-#define SWIGTYPE_p_iDynTree__SpatialInertia swig_types[121]
-#define SWIGTYPE_p_iDynTree__SpatialInertiaRaw swig_types[122]
-#define SWIGTYPE_p_iDynTree__SpatialMomentum swig_types[123]
-#define SWIGTYPE_p_iDynTree__SpatialMotionForceVectorT_traitsT_iDynTree__SpatialForceVector_t__AngularVector3Type swig_types[124]
-#define SWIGTYPE_p_iDynTree__SpatialMotionForceVectorT_traitsT_iDynTree__SpatialForceVector_t__LinearVector3Type swig_types[125]
-#define SWIGTYPE_p_iDynTree__SpatialMotionForceVectorT_traitsT_iDynTree__SpatialMotionVector_t__AngularVector3Type swig_types[126]
-#define SWIGTYPE_p_iDynTree__SpatialMotionForceVectorT_traitsT_iDynTree__SpatialMotionVector_t__LinearVector3Type swig_types[127]
-#define SWIGTYPE_p_iDynTree__SpatialMotionVector swig_types[128]
-#define SWIGTYPE_p_iDynTree__SpatialVectorT_iDynTree__SpatialForceVector_t swig_types[129]
-#define SWIGTYPE_p_iDynTree__SpatialVectorT_iDynTree__SpatialMotionVector_t swig_types[130]
-#define SWIGTYPE_p_iDynTree__Sphere swig_types[131]
-#define SWIGTYPE_p_iDynTree__SubModelDecomposition swig_types[132]
-#define SWIGTYPE_p_iDynTree__ThreeAxisAngularAccelerometerSensor swig_types[133]
-#define SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor swig_types[134]
-#define SWIGTYPE_p_iDynTree__Transform swig_types[135]
-#define SWIGTYPE_p_iDynTree__TransformDerivative swig_types[136]
-#define SWIGTYPE_p_iDynTree__Traversal swig_types[137]
-#define SWIGTYPE_p_iDynTree__Triplets swig_types[138]
-#define SWIGTYPE_p_iDynTree__Twist swig_types[139]
-#define SWIGTYPE_p_iDynTree__URDFParserOptions swig_types[140]
-#define SWIGTYPE_p_iDynTree__UnknownWrenchContact swig_types[141]
-#define SWIGTYPE_p_iDynTree__VectorDynSize swig_types[142]
-#define SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t swig_types[143]
-#define SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t swig_types[144]
-#define SWIGTYPE_p_iDynTree__VectorFixSizeT_2_t swig_types[145]
-#define SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t swig_types[146]
-#define SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t swig_types[147]
-#define SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t swig_types[148]
-#define SWIGTYPE_p_iDynTree__Visualizer swig_types[149]
-#define SWIGTYPE_p_iDynTree__VisualizerOptions swig_types[150]
-#define SWIGTYPE_p_iDynTree__Wrench swig_types[151]
-#define SWIGTYPE_p_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_false_t swig_types[152]
-#define SWIGTYPE_p_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_true_t swig_types[153]
-#define SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers swig_types[154]
-#define SWIGTYPE_p_index_type swig_types[155]
-#define SWIGTYPE_p_int swig_types[156]
-#define SWIGTYPE_p_iterator swig_types[157]
-#define SWIGTYPE_p_pointer swig_types[158]
-#define SWIGTYPE_p_reference swig_types[159]
-#define SWIGTYPE_p_reverse_iterator swig_types[160]
-#define SWIGTYPE_p_size_type swig_types[161]
-#define SWIGTYPE_p_std__allocatorT_iDynTree__BerdyDynamicVariable_t swig_types[162]
-#define SWIGTYPE_p_std__allocatorT_iDynTree__BerdySensor_t swig_types[163]
-#define SWIGTYPE_p_std__allocatorT_iDynTree__MatrixFixSizeT_4_4_t_t swig_types[164]
-#define SWIGTYPE_p_std__allocatorT_iDynTree__SolidShape_p_t swig_types[165]
-#define SWIGTYPE_p_std__allocatorT_int_t swig_types[166]
-#define SWIGTYPE_p_std__allocatorT_std__string_t swig_types[167]
-#define SWIGTYPE_p_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t swig_types[168]
-#define SWIGTYPE_p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_false_t_t swig_types[169]
-#define SWIGTYPE_p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_true_t_t swig_types[170]
-#define SWIGTYPE_p_std__string swig_types[171]
-#define SWIGTYPE_p_std__vectorT_iDynTree__BerdyDynamicVariable_std__allocatorT_iDynTree__BerdyDynamicVariable_t_t swig_types[172]
-#define SWIGTYPE_p_std__vectorT_iDynTree__BerdySensor_std__allocatorT_iDynTree__BerdySensor_t_t swig_types[173]
-#define SWIGTYPE_p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t swig_types[174]
-#define SWIGTYPE_p_std__vectorT_iDynTree__MatrixFixSizeT_4_4_t_std__allocatorT_iDynTree__MatrixFixSizeT_4_4_t_t_t swig_types[175]
-#define SWIGTYPE_p_std__vectorT_iDynTree__Polygon_std__allocatorT_iDynTree__Polygon_t_t swig_types[176]
-#define SWIGTYPE_p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t swig_types[177]
-#define SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t swig_types[178]
-#define SWIGTYPE_p_std__vectorT_iDynTree__Transform_std__allocatorT_iDynTree__Transform_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_2_t_std__allocatorT_iDynTree__VectorFixSizeT_2_t_t_t swig_types[181]
-#define SWIGTYPE_p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__allocatorT_iDynTree__VectorFixSizeT_6_t_t_t swig_types[182]
-#define SWIGTYPE_p_std__vectorT_int_std__allocatorT_int_t_t swig_types[183]
-#define SWIGTYPE_p_std__vectorT_std__pairT_double_double_t_std__allocatorT_std__pairT_double_double_t_t_t swig_types[184]
-#define SWIGTYPE_p_std__vectorT_std__string_std__allocatorT_std__string_t_t swig_types[185]
-#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[186]
-#define SWIGTYPE_p_swig__MatlabSwigIterator swig_types[187]
-#define SWIGTYPE_p_typed_iterator swig_types[188]
-#define SWIGTYPE_p_unsigned_int swig_types[189]
-#define SWIGTYPE_p_unsigned_long swig_types[190]
-#define SWIGTYPE_p_value_type swig_types[191]
-static swig_type_info *swig_types[193];
-static swig_module_info swig_module = {swig_types, 192, 0, 0, 0, 0};
+#define SWIGTYPE_p_iDynTree__Material swig_types[74]
+#define SWIGTYPE_p_iDynTree__MatrixDynSize swig_types[75]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_10_16_t swig_types[76]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_1_6_t swig_types[77]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_2_3_t swig_types[78]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_3_3_t swig_types[79]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_3_4_t swig_types[80]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_4_3_t swig_types[81]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_4_4_t swig_types[82]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_10_t swig_types[83]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_1_t swig_types[84]
+#define SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_6_t swig_types[85]
+#define SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t swig_types[86]
+#define SWIGTYPE_p_iDynTree__MatrixViewT_double_t swig_types[87]
+#define SWIGTYPE_p_iDynTree__Model swig_types[88]
+#define SWIGTYPE_p_iDynTree__ModelCalibrationHelper swig_types[89]
+#define SWIGTYPE_p_iDynTree__ModelExporter swig_types[90]
+#define SWIGTYPE_p_iDynTree__ModelExporterOptions swig_types[91]
+#define SWIGTYPE_p_iDynTree__ModelLoader swig_types[92]
+#define SWIGTYPE_p_iDynTree__ModelParserOptions swig_types[93]
+#define SWIGTYPE_p_iDynTree__ModelSolidShapes swig_types[94]
+#define SWIGTYPE_p_iDynTree__MomentumFreeFloatingJacobian swig_types[95]
+#define SWIGTYPE_p_iDynTree__MovableJointImplT_1_1_t swig_types[96]
+#define SWIGTYPE_p_iDynTree__MovableJointImplT_2_2_t swig_types[97]
+#define SWIGTYPE_p_iDynTree__MovableJointImplT_3_3_t swig_types[98]
+#define SWIGTYPE_p_iDynTree__MovableJointImplT_4_4_t swig_types[99]
+#define SWIGTYPE_p_iDynTree__MovableJointImplT_5_5_t swig_types[100]
+#define SWIGTYPE_p_iDynTree__MovableJointImplT_6_6_t swig_types[101]
+#define SWIGTYPE_p_iDynTree__Neighbor swig_types[102]
+#define SWIGTYPE_p_iDynTree__Polygon swig_types[103]
+#define SWIGTYPE_p_iDynTree__Polygon2D swig_types[104]
+#define SWIGTYPE_p_iDynTree__Position swig_types[105]
+#define SWIGTYPE_p_iDynTree__PositionRaw swig_types[106]
+#define SWIGTYPE_p_iDynTree__PrismaticJoint swig_types[107]
+#define SWIGTYPE_p_iDynTree__RevoluteJoint swig_types[108]
+#define SWIGTYPE_p_iDynTree__RigidBodyInertiaNonLinearParametrization swig_types[109]
+#define SWIGTYPE_p_iDynTree__Rotation swig_types[110]
+#define SWIGTYPE_p_iDynTree__RotationRaw swig_types[111]
+#define SWIGTYPE_p_iDynTree__RotationalInertiaRaw swig_types[112]
+#define SWIGTYPE_p_iDynTree__Sensor swig_types[113]
+#define SWIGTYPE_p_iDynTree__SensorsList swig_types[114]
+#define SWIGTYPE_p_iDynTree__SensorsMeasurements swig_types[115]
+#define SWIGTYPE_p_iDynTree__SimpleLeggedOdometry swig_types[116]
+#define SWIGTYPE_p_iDynTree__SixAxisForceTorqueSensor swig_types[117]
+#define SWIGTYPE_p_iDynTree__SolidShape swig_types[118]
+#define SWIGTYPE_p_iDynTree__SpanT_double__1_t swig_types[119]
+#define SWIGTYPE_p_iDynTree__SpanT_double_const__1_t swig_types[120]
+#define SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t swig_types[121]
+#define SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__RowMajor_t swig_types[122]
+#define SWIGTYPE_p_iDynTree__SpatialAcc swig_types[123]
+#define SWIGTYPE_p_iDynTree__SpatialForceVector swig_types[124]
+#define SWIGTYPE_p_iDynTree__SpatialInertia swig_types[125]
+#define SWIGTYPE_p_iDynTree__SpatialInertiaRaw swig_types[126]
+#define SWIGTYPE_p_iDynTree__SpatialMomentum swig_types[127]
+#define SWIGTYPE_p_iDynTree__SpatialMotionForceVectorT_traitsT_iDynTree__SpatialForceVector_t__AngularVector3Type swig_types[128]
+#define SWIGTYPE_p_iDynTree__SpatialMotionForceVectorT_traitsT_iDynTree__SpatialForceVector_t__LinearVector3Type swig_types[129]
+#define SWIGTYPE_p_iDynTree__SpatialMotionForceVectorT_traitsT_iDynTree__SpatialMotionVector_t__AngularVector3Type swig_types[130]
+#define SWIGTYPE_p_iDynTree__SpatialMotionForceVectorT_traitsT_iDynTree__SpatialMotionVector_t__LinearVector3Type swig_types[131]
+#define SWIGTYPE_p_iDynTree__SpatialMotionVector swig_types[132]
+#define SWIGTYPE_p_iDynTree__SpatialVectorT_iDynTree__SpatialForceVector_t swig_types[133]
+#define SWIGTYPE_p_iDynTree__SpatialVectorT_iDynTree__SpatialMotionVector_t swig_types[134]
+#define SWIGTYPE_p_iDynTree__Sphere swig_types[135]
+#define SWIGTYPE_p_iDynTree__SubModelDecomposition swig_types[136]
+#define SWIGTYPE_p_iDynTree__ThreeAxisAngularAccelerometerSensor swig_types[137]
+#define SWIGTYPE_p_iDynTree__ThreeAxisForceTorqueContactSensor swig_types[138]
+#define SWIGTYPE_p_iDynTree__Transform swig_types[139]
+#define SWIGTYPE_p_iDynTree__TransformDerivative swig_types[140]
+#define SWIGTYPE_p_iDynTree__Traversal swig_types[141]
+#define SWIGTYPE_p_iDynTree__Triplets swig_types[142]
+#define SWIGTYPE_p_iDynTree__Twist swig_types[143]
+#define SWIGTYPE_p_iDynTree__UnknownWrenchContact swig_types[144]
+#define SWIGTYPE_p_iDynTree__VectorDynSize swig_types[145]
+#define SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t swig_types[146]
+#define SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t swig_types[147]
+#define SWIGTYPE_p_iDynTree__VectorFixSizeT_2_t swig_types[148]
+#define SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t swig_types[149]
+#define SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t swig_types[150]
+#define SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t swig_types[151]
+#define SWIGTYPE_p_iDynTree__Visualizer swig_types[152]
+#define SWIGTYPE_p_iDynTree__VisualizerOptions swig_types[153]
+#define SWIGTYPE_p_iDynTree__Wrench swig_types[154]
+#define SWIGTYPE_p_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_false_t swig_types[155]
+#define SWIGTYPE_p_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_true_t swig_types[156]
+#define SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers swig_types[157]
+#define SWIGTYPE_p_index_type swig_types[158]
+#define SWIGTYPE_p_int swig_types[159]
+#define SWIGTYPE_p_iterator swig_types[160]
+#define SWIGTYPE_p_pointer swig_types[161]
+#define SWIGTYPE_p_reference swig_types[162]
+#define SWIGTYPE_p_reverse_iterator swig_types[163]
+#define SWIGTYPE_p_size_type swig_types[164]
+#define SWIGTYPE_p_std__allocatorT_iDynTree__BerdyDynamicVariable_t swig_types[165]
+#define SWIGTYPE_p_std__allocatorT_iDynTree__BerdySensor_t swig_types[166]
+#define SWIGTYPE_p_std__allocatorT_iDynTree__MatrixFixSizeT_4_4_t_t swig_types[167]
+#define SWIGTYPE_p_std__allocatorT_iDynTree__SolidShape_p_t swig_types[168]
+#define SWIGTYPE_p_std__allocatorT_int_t swig_types[169]
+#define SWIGTYPE_p_std__allocatorT_std__string_t swig_types[170]
+#define SWIGTYPE_p_std__allocatorT_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t_t swig_types[171]
+#define SWIGTYPE_p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_false_t_t swig_types[172]
+#define SWIGTYPE_p_std__reverse_iteratorT_iDynTree__details__span_iteratorT_iDynTree__SpanT_double__1_t_true_t_t swig_types[173]
+#define SWIGTYPE_p_std__string swig_types[174]
+#define SWIGTYPE_p_std__vectorT_iDynTree__BerdyDynamicVariable_std__allocatorT_iDynTree__BerdyDynamicVariable_t_t swig_types[175]
+#define SWIGTYPE_p_std__vectorT_iDynTree__BerdySensor_std__allocatorT_iDynTree__BerdySensor_t_t swig_types[176]
+#define SWIGTYPE_p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t swig_types[177]
+#define SWIGTYPE_p_std__vectorT_iDynTree__MatrixFixSizeT_4_4_t_std__allocatorT_iDynTree__MatrixFixSizeT_4_4_t_t_t swig_types[178]
+#define SWIGTYPE_p_std__vectorT_iDynTree__Polygon_std__allocatorT_iDynTree__Polygon_t_t swig_types[179]
+#define SWIGTYPE_p_std__vectorT_iDynTree__Position_std__allocatorT_iDynTree__Position_t_t swig_types[180]
+#define SWIGTYPE_p_std__vectorT_iDynTree__SolidShape_p_std__allocatorT_iDynTree__SolidShape_p_t_t swig_types[181]
+#define SWIGTYPE_p_std__vectorT_iDynTree__Transform_std__allocatorT_iDynTree__Transform_t_t swig_types[182]
+#define SWIGTYPE_p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t swig_types[183]
+#define SWIGTYPE_p_std__vectorT_iDynTree__VectorFixSizeT_2_t_std__allocatorT_iDynTree__VectorFixSizeT_2_t_t_t swig_types[184]
+#define SWIGTYPE_p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__allocatorT_iDynTree__VectorFixSizeT_6_t_t_t swig_types[185]
+#define SWIGTYPE_p_std__vectorT_int_std__allocatorT_int_t_t swig_types[186]
+#define SWIGTYPE_p_std__vectorT_std__pairT_double_double_t_std__allocatorT_std__pairT_double_double_t_t_t swig_types[187]
+#define SWIGTYPE_p_std__vectorT_std__string_std__allocatorT_std__string_t_t swig_types[188]
+#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[189]
+#define SWIGTYPE_p_swig__MatlabSwigIterator swig_types[190]
+#define SWIGTYPE_p_typed_iterator swig_types[191]
+#define SWIGTYPE_p_unsigned_int swig_types[192]
+#define SWIGTYPE_p_unsigned_long swig_types[193]
+#define SWIGTYPE_p_value_type swig_types[194]
+static swig_type_info *swig_types[196];
+static swig_module_info swig_module = {swig_types, 195, 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)
 
@@ -3030,9 +3033,7 @@ SWIGINTERN void std_vector_Sl_int_Sg__insert__SWIG_1(std::vector< int > *self,st
 #include "iDynTree/Sensors/PredictSensorsMeasurements.h"
 
 // Model loading from external formats
-#include "iDynTree/ModelIO/URDFModelImport.h"
 #include "iDynTree/ModelIO/URDFDofsImport.h"
-#include "iDynTree/ModelIO/URDFGenericSensorsImport.h"
 #include "iDynTree/ModelIO/ModelLoader.h"
 #include "iDynTree/ModelIO/ModelExporter.h"
 #include "iDynTree/ModelIO/ModelCalibrationHelper.h"
@@ -3201,7 +3202,7 @@ SWIGINTERN void iDynTree_MatrixDynSize_fromMatlab(iDynTree::MatrixDynSize *self,
 
         if (mxIsSparse(in))
         {
-            /*@SWIG:/mnt/c/src/idyntree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
+            /*@SWIG:/home/traversaro/idyntree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3467,7 +3468,7 @@ SWIGINTERN void iDynTree_VectorDynSize_fromMatlab(iDynTree::VectorDynSize *self,
 
             if (mxIsSparse(in))
             {
-                /*@SWIG:/mnt/c/src/idyntree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
+                /*@SWIG:/home/traversaro/idyntree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3529,7 +3530,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_1_Sc_6_Sg__fromMatlab(iDynTree::Matrix
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/mnt/c/src/idyntree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
+                /*@SWIG:/home/traversaro/idyntree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3592,7 +3593,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_2_Sc_3_Sg__fromMatlab(iDynTree::Matrix
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/mnt/c/src/idyntree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
+                /*@SWIG:/home/traversaro/idyntree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3655,7 +3656,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_3_Sc_3_Sg__fromMatlab(iDynTree::Matrix
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/mnt/c/src/idyntree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
+                /*@SWIG:/home/traversaro/idyntree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3718,7 +3719,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_4_Sc_4_Sg__fromMatlab(iDynTree::Matrix
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/mnt/c/src/idyntree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
+                /*@SWIG:/home/traversaro/idyntree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3781,7 +3782,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_6_Sc_6_Sg__fromMatlab(iDynTree::Matrix
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/mnt/c/src/idyntree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
+                /*@SWIG:/home/traversaro/idyntree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3844,7 +3845,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_6_Sc_10_Sg__fromMatlab(iDynTree::Matri
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/mnt/c/src/idyntree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
+                /*@SWIG:/home/traversaro/idyntree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3907,7 +3908,7 @@ SWIGINTERN void iDynTree_MatrixFixSize_Sl_10_Sc_16_Sg__fromMatlab(iDynTree::Matr
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/mnt/c/src/idyntree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
+                /*@SWIG:/home/traversaro/idyntree/bindings/./matlab/matlab_matvec.i,43,MATRIXSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -3971,7 +3972,7 @@ SWIGINTERN void iDynTree_VectorFixSize_Sl_3_Sg__fromMatlab(iDynTree::VectorFixSi
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/mnt/c/src/idyntree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
+                /*@SWIG:/home/traversaro/idyntree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -4037,7 +4038,7 @@ SWIGINTERN void iDynTree_VectorFixSize_Sl_4_Sg__fromMatlab(iDynTree::VectorFixSi
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/mnt/c/src/idyntree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
+                /*@SWIG:/home/traversaro/idyntree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -4103,7 +4104,7 @@ SWIGINTERN void iDynTree_VectorFixSize_Sl_6_Sg__fromMatlab(iDynTree::VectorFixSi
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/mnt/c/src/idyntree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
+                /*@SWIG:/home/traversaro/idyntree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -4169,7 +4170,7 @@ SWIGINTERN void iDynTree_VectorFixSize_Sl_10_Sg__fromMatlab(iDynTree::VectorFixS
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/mnt/c/src/idyntree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
+                /*@SWIG:/home/traversaro/idyntree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -4235,7 +4236,7 @@ SWIGINTERN void iDynTree_VectorFixSize_Sl_16_Sg__fromMatlab(iDynTree::VectorFixS
         {
             if (mxIsSparse(in))
             {
-                /*@SWIG:/mnt/c/src/idyntree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
+                /*@SWIG:/home/traversaro/idyntree/bindings/./matlab/matlab_matvec.i,6,VECTORSPARSECOPY@*/
     //getting pointer to sparse structure
     mwIndex* ir = mxGetIr(in);
     mwIndex* jc = mxGetJc(in);
@@ -10568,6 +10569,36 @@ int _wrap_new_MatrixDynSize__SWIG_3(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
+int _wrap_new_MatrixDynSize__SWIG_4(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::MatrixView< double const > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::MatrixDynSize *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_MatrixDynSize",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_MatrixDynSize" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_MatrixDynSize" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::MatrixView< double const > * >(argp1));
+    }
+  }
+  result = (iDynTree::MatrixDynSize *)new iDynTree::MatrixDynSize(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__MatrixDynSize, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_MatrixDynSize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_MatrixDynSize__SWIG_0(resc,resv,argc,argv);
@@ -10581,6 +10612,15 @@ int _wrap_new_MatrixDynSize(int resc, mxArray *resv[], int argc, mxArray *argv[]
       return _wrap_new_MatrixDynSize__SWIG_3(resc,resv,argc,argv);
     }
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_MatrixDynSize__SWIG_4(resc,resv,argc,argv);
+    }
+  }
   if (argc == 2) {
     int _v;
     {
@@ -10624,7 +10664,8 @@ int _wrap_new_MatrixDynSize(int resc, mxArray *resv[], int argc, mxArray *argv[]
     "    iDynTree::MatrixDynSize::MatrixDynSize()\n"
     "    iDynTree::MatrixDynSize::MatrixDynSize(unsigned int,unsigned int)\n"
     "    iDynTree::MatrixDynSize::MatrixDynSize(double const *,unsigned int const,unsigned int const)\n"
-    "    iDynTree::MatrixDynSize::MatrixDynSize(iDynTree::MatrixDynSize const &)\n");
+    "    iDynTree::MatrixDynSize::MatrixDynSize(iDynTree::MatrixDynSize const &)\n"
+    "    iDynTree::MatrixDynSize::MatrixDynSize(iDynTree::MatrixView< double const >)\n");
   return 1;
 }
 
@@ -12775,6 +12816,36 @@ int _wrap_new_VectorDynSize__SWIG_3(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
+int _wrap_new_VectorDynSize__SWIG_4(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::VectorDynSize *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_VectorDynSize",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_VectorDynSize" "', argument " "1"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_VectorDynSize" "', argument " "1"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp1));
+    }
+  }
+  result = (iDynTree::VectorDynSize *)new iDynTree::VectorDynSize(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorDynSize, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_VectorDynSize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_VectorDynSize__SWIG_0(resc,resv,argc,argv);
@@ -12788,6 +12859,15 @@ int _wrap_new_VectorDynSize(int resc, mxArray *resv[], int argc, mxArray *argv[]
       return _wrap_new_VectorDynSize__SWIG_3(resc,resv,argc,argv);
     }
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_VectorDynSize__SWIG_4(resc,resv,argc,argv);
+    }
+  }
   if (argc == 1) {
     int _v;
     {
@@ -12819,7 +12899,8 @@ int _wrap_new_VectorDynSize(int resc, mxArray *resv[], int argc, mxArray *argv[]
     "    iDynTree::VectorDynSize::VectorDynSize()\n"
     "    iDynTree::VectorDynSize::VectorDynSize(unsigned int)\n"
     "    iDynTree::VectorDynSize::VectorDynSize(double const *,unsigned int const)\n"
-    "    iDynTree::VectorDynSize::VectorDynSize(iDynTree::VectorDynSize const &)\n");
+    "    iDynTree::VectorDynSize::VectorDynSize(iDynTree::VectorDynSize const &)\n"
+    "    iDynTree::VectorDynSize::VectorDynSize(iDynTree::Span< double const,-1 >)\n");
   return 1;
 }
 
@@ -13624,10 +13705,49 @@ int _wrap_new_Matrix1x6__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *ar
 }
 
 
+int _wrap_new_Matrix1x6__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::MatrixView< double const > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::MatrixFixSize< 1,6 > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_Matrix1x6",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Matrix1x6" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Matrix1x6" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::MatrixView< double const > * >(argp1));
+    }
+  }
+  result = (iDynTree::MatrixFixSize< 1,6 > *)new iDynTree::MatrixFixSize< 1,6 >(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__MatrixFixSizeT_1_6_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_Matrix1x6(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_Matrix1x6__SWIG_0(resc,resv,argc,argv);
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_Matrix1x6__SWIG_2(resc,resv,argc,argv);
+    }
+  }
   if (argc == 3) {
     int _v;
     void *vptr = 0;
@@ -13653,7 +13773,8 @@ int _wrap_new_Matrix1x6(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_Matrix1x6'."
     "  Possible C/C++ prototypes are:\n"
     "    iDynTree::MatrixFixSize< 1,6 >::MatrixFixSize()\n"
-    "    iDynTree::MatrixFixSize< 1,6 >::MatrixFixSize(double const *,unsigned int const,unsigned int const)\n");
+    "    iDynTree::MatrixFixSize< 1,6 >::MatrixFixSize(double const *,unsigned int const,unsigned int const)\n"
+    "    iDynTree::MatrixFixSize< 1,6 >::MatrixFixSize(iDynTree::MatrixView< double const >)\n");
   return 1;
 }
 
@@ -14124,10 +14245,49 @@ int _wrap_new_Matrix2x3__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *ar
 }
 
 
+int _wrap_new_Matrix2x3__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::MatrixView< double const > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::MatrixFixSize< 2,3 > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_Matrix2x3",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Matrix2x3" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Matrix2x3" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::MatrixView< double const > * >(argp1));
+    }
+  }
+  result = (iDynTree::MatrixFixSize< 2,3 > *)new iDynTree::MatrixFixSize< 2,3 >(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__MatrixFixSizeT_2_3_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_Matrix2x3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_Matrix2x3__SWIG_0(resc,resv,argc,argv);
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_Matrix2x3__SWIG_2(resc,resv,argc,argv);
+    }
+  }
   if (argc == 3) {
     int _v;
     void *vptr = 0;
@@ -14153,7 +14313,8 @@ int _wrap_new_Matrix2x3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_Matrix2x3'."
     "  Possible C/C++ prototypes are:\n"
     "    iDynTree::MatrixFixSize< 2,3 >::MatrixFixSize()\n"
-    "    iDynTree::MatrixFixSize< 2,3 >::MatrixFixSize(double const *,unsigned int const,unsigned int const)\n");
+    "    iDynTree::MatrixFixSize< 2,3 >::MatrixFixSize(double const *,unsigned int const,unsigned int const)\n"
+    "    iDynTree::MatrixFixSize< 2,3 >::MatrixFixSize(iDynTree::MatrixView< double const >)\n");
   return 1;
 }
 
@@ -14624,10 +14785,49 @@ int _wrap_new_Matrix3x3__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *ar
 }
 
 
+int _wrap_new_Matrix3x3__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::MatrixView< double const > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::MatrixFixSize< 3,3 > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_Matrix3x3",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Matrix3x3" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Matrix3x3" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::MatrixView< double const > * >(argp1));
+    }
+  }
+  result = (iDynTree::MatrixFixSize< 3,3 > *)new iDynTree::MatrixFixSize< 3,3 >(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__MatrixFixSizeT_3_3_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_Matrix3x3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_Matrix3x3__SWIG_0(resc,resv,argc,argv);
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_Matrix3x3__SWIG_2(resc,resv,argc,argv);
+    }
+  }
   if (argc == 3) {
     int _v;
     void *vptr = 0;
@@ -14653,7 +14853,8 @@ int _wrap_new_Matrix3x3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_Matrix3x3'."
     "  Possible C/C++ prototypes are:\n"
     "    iDynTree::MatrixFixSize< 3,3 >::MatrixFixSize()\n"
-    "    iDynTree::MatrixFixSize< 3,3 >::MatrixFixSize(double const *,unsigned int const,unsigned int const)\n");
+    "    iDynTree::MatrixFixSize< 3,3 >::MatrixFixSize(double const *,unsigned int const,unsigned int const)\n"
+    "    iDynTree::MatrixFixSize< 3,3 >::MatrixFixSize(iDynTree::MatrixView< double const >)\n");
   return 1;
 }
 
@@ -15124,10 +15325,49 @@ int _wrap_new_Matrix4x4__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *ar
 }
 
 
+int _wrap_new_Matrix4x4__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::MatrixView< double const > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::MatrixFixSize< 4,4 > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_Matrix4x4",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Matrix4x4" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Matrix4x4" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::MatrixView< double const > * >(argp1));
+    }
+  }
+  result = (iDynTree::MatrixFixSize< 4,4 > *)new iDynTree::MatrixFixSize< 4,4 >(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__MatrixFixSizeT_4_4_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_Matrix4x4(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_Matrix4x4__SWIG_0(resc,resv,argc,argv);
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_Matrix4x4__SWIG_2(resc,resv,argc,argv);
+    }
+  }
   if (argc == 3) {
     int _v;
     void *vptr = 0;
@@ -15153,7 +15393,8 @@ int _wrap_new_Matrix4x4(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_Matrix4x4'."
     "  Possible C/C++ prototypes are:\n"
     "    iDynTree::MatrixFixSize< 4,4 >::MatrixFixSize()\n"
-    "    iDynTree::MatrixFixSize< 4,4 >::MatrixFixSize(double const *,unsigned int const,unsigned int const)\n");
+    "    iDynTree::MatrixFixSize< 4,4 >::MatrixFixSize(double const *,unsigned int const,unsigned int const)\n"
+    "    iDynTree::MatrixFixSize< 4,4 >::MatrixFixSize(iDynTree::MatrixView< double const >)\n");
   return 1;
 }
 
@@ -15624,10 +15865,49 @@ int _wrap_new_Matrix6x6__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *ar
 }
 
 
+int _wrap_new_Matrix6x6__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::MatrixView< double const > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::MatrixFixSize< 6,6 > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_Matrix6x6",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Matrix6x6" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Matrix6x6" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::MatrixView< double const > * >(argp1));
+    }
+  }
+  result = (iDynTree::MatrixFixSize< 6,6 > *)new iDynTree::MatrixFixSize< 6,6 >(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_6_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_Matrix6x6(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_Matrix6x6__SWIG_0(resc,resv,argc,argv);
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_Matrix6x6__SWIG_2(resc,resv,argc,argv);
+    }
+  }
   if (argc == 3) {
     int _v;
     void *vptr = 0;
@@ -15653,7 +15933,8 @@ int _wrap_new_Matrix6x6(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_Matrix6x6'."
     "  Possible C/C++ prototypes are:\n"
     "    iDynTree::MatrixFixSize< 6,6 >::MatrixFixSize()\n"
-    "    iDynTree::MatrixFixSize< 6,6 >::MatrixFixSize(double const *,unsigned int const,unsigned int const)\n");
+    "    iDynTree::MatrixFixSize< 6,6 >::MatrixFixSize(double const *,unsigned int const,unsigned int const)\n"
+    "    iDynTree::MatrixFixSize< 6,6 >::MatrixFixSize(iDynTree::MatrixView< double const >)\n");
   return 1;
 }
 
@@ -16124,10 +16405,49 @@ int _wrap_new_Matrix6x10__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *a
 }
 
 
+int _wrap_new_Matrix6x10__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::MatrixView< double const > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::MatrixFixSize< 6,10 > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_Matrix6x10",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Matrix6x10" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Matrix6x10" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::MatrixView< double const > * >(argp1));
+    }
+  }
+  result = (iDynTree::MatrixFixSize< 6,10 > *)new iDynTree::MatrixFixSize< 6,10 >(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__MatrixFixSizeT_6_10_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_Matrix6x10(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_Matrix6x10__SWIG_0(resc,resv,argc,argv);
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_Matrix6x10__SWIG_2(resc,resv,argc,argv);
+    }
+  }
   if (argc == 3) {
     int _v;
     void *vptr = 0;
@@ -16153,7 +16473,8 @@ int _wrap_new_Matrix6x10(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_Matrix6x10'."
     "  Possible C/C++ prototypes are:\n"
     "    iDynTree::MatrixFixSize< 6,10 >::MatrixFixSize()\n"
-    "    iDynTree::MatrixFixSize< 6,10 >::MatrixFixSize(double const *,unsigned int const,unsigned int const)\n");
+    "    iDynTree::MatrixFixSize< 6,10 >::MatrixFixSize(double const *,unsigned int const,unsigned int const)\n"
+    "    iDynTree::MatrixFixSize< 6,10 >::MatrixFixSize(iDynTree::MatrixView< double const >)\n");
   return 1;
 }
 
@@ -16624,10 +16945,49 @@ int _wrap_new_Matrix10x16__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *
 }
 
 
+int _wrap_new_Matrix10x16__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::MatrixView< double const > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::MatrixFixSize< 10,16 > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_Matrix10x16",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Matrix10x16" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Matrix10x16" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::MatrixView< double const > * >(argp1));
+    }
+  }
+  result = (iDynTree::MatrixFixSize< 10,16 > *)new iDynTree::MatrixFixSize< 10,16 >(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__MatrixFixSizeT_10_16_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_Matrix10x16(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_Matrix10x16__SWIG_0(resc,resv,argc,argv);
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_Matrix10x16__SWIG_2(resc,resv,argc,argv);
+    }
+  }
   if (argc == 3) {
     int _v;
     void *vptr = 0;
@@ -16653,7 +17013,8 @@ int _wrap_new_Matrix10x16(int resc, mxArray *resv[], int argc, mxArray *argv[])
   SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_Matrix10x16'."
     "  Possible C/C++ prototypes are:\n"
     "    iDynTree::MatrixFixSize< 10,16 >::MatrixFixSize()\n"
-    "    iDynTree::MatrixFixSize< 10,16 >::MatrixFixSize(double const *,unsigned int const,unsigned int const)\n");
+    "    iDynTree::MatrixFixSize< 10,16 >::MatrixFixSize(double const *,unsigned int const,unsigned int const)\n"
+    "    iDynTree::MatrixFixSize< 10,16 >::MatrixFixSize(iDynTree::MatrixView< double const >)\n");
   return 1;
 }
 
@@ -17116,10 +17477,49 @@ int _wrap_new_Vector3__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv
 }
 
 
+int _wrap_new_Vector3__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::VectorFixSize< 3 > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_Vector3",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Vector3" "', argument " "1"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Vector3" "', argument " "1"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp1));
+    }
+  }
+  result = (iDynTree::VectorFixSize< 3 > *)new iDynTree::VectorFixSize< 3 >(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_Vector3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_Vector3__SWIG_0(resc,resv,argc,argv);
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_Vector3__SWIG_2(resc,resv,argc,argv);
+    }
+  }
   if (argc == 2) {
     int _v;
     void *vptr = 0;
@@ -17139,7 +17539,8 @@ int _wrap_new_Vector3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_Vector3'."
     "  Possible C/C++ prototypes are:\n"
     "    iDynTree::VectorFixSize< 3 >::VectorFixSize()\n"
-    "    iDynTree::VectorFixSize< 3 >::VectorFixSize(double const *,unsigned int const)\n");
+    "    iDynTree::VectorFixSize< 3 >::VectorFixSize(double const *,unsigned int const)\n"
+    "    iDynTree::VectorFixSize< 3 >::VectorFixSize(iDynTree::Span< double const,-1 >)\n");
   return 1;
 }
 
@@ -17827,10 +18228,49 @@ int _wrap_new_Vector4__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv
 }
 
 
+int _wrap_new_Vector4__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::VectorFixSize< 4 > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_Vector4",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Vector4" "', argument " "1"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Vector4" "', argument " "1"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp1));
+    }
+  }
+  result = (iDynTree::VectorFixSize< 4 > *)new iDynTree::VectorFixSize< 4 >(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_Vector4(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_Vector4__SWIG_0(resc,resv,argc,argv);
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_Vector4__SWIG_2(resc,resv,argc,argv);
+    }
+  }
   if (argc == 2) {
     int _v;
     void *vptr = 0;
@@ -17850,7 +18290,8 @@ int _wrap_new_Vector4(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_Vector4'."
     "  Possible C/C++ prototypes are:\n"
     "    iDynTree::VectorFixSize< 4 >::VectorFixSize()\n"
-    "    iDynTree::VectorFixSize< 4 >::VectorFixSize(double const *,unsigned int const)\n");
+    "    iDynTree::VectorFixSize< 4 >::VectorFixSize(double const *,unsigned int const)\n"
+    "    iDynTree::VectorFixSize< 4 >::VectorFixSize(iDynTree::Span< double const,-1 >)\n");
   return 1;
 }
 
@@ -18538,10 +18979,49 @@ int _wrap_new_Vector6__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv
 }
 
 
+int _wrap_new_Vector6__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::VectorFixSize< 6 > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_Vector6",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Vector6" "', argument " "1"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Vector6" "', argument " "1"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp1));
+    }
+  }
+  result = (iDynTree::VectorFixSize< 6 > *)new iDynTree::VectorFixSize< 6 >(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_Vector6(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_Vector6__SWIG_0(resc,resv,argc,argv);
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_Vector6__SWIG_2(resc,resv,argc,argv);
+    }
+  }
   if (argc == 2) {
     int _v;
     void *vptr = 0;
@@ -18561,7 +19041,8 @@ int _wrap_new_Vector6(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_Vector6'."
     "  Possible C/C++ prototypes are:\n"
     "    iDynTree::VectorFixSize< 6 >::VectorFixSize()\n"
-    "    iDynTree::VectorFixSize< 6 >::VectorFixSize(double const *,unsigned int const)\n");
+    "    iDynTree::VectorFixSize< 6 >::VectorFixSize(double const *,unsigned int const)\n"
+    "    iDynTree::VectorFixSize< 6 >::VectorFixSize(iDynTree::Span< double const,-1 >)\n");
   return 1;
 }
 
@@ -19249,10 +19730,49 @@ int _wrap_new_Vector10__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *arg
 }
 
 
+int _wrap_new_Vector10__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::VectorFixSize< 10 > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_Vector10",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Vector10" "', argument " "1"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Vector10" "', argument " "1"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp1));
+    }
+  }
+  result = (iDynTree::VectorFixSize< 10 > *)new iDynTree::VectorFixSize< 10 >(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorFixSizeT_10_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_Vector10(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_Vector10__SWIG_0(resc,resv,argc,argv);
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_Vector10__SWIG_2(resc,resv,argc,argv);
+    }
+  }
   if (argc == 2) {
     int _v;
     void *vptr = 0;
@@ -19272,7 +19792,8 @@ int _wrap_new_Vector10(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_Vector10'."
     "  Possible C/C++ prototypes are:\n"
     "    iDynTree::VectorFixSize< 10 >::VectorFixSize()\n"
-    "    iDynTree::VectorFixSize< 10 >::VectorFixSize(double const *,unsigned int const)\n");
+    "    iDynTree::VectorFixSize< 10 >::VectorFixSize(double const *,unsigned int const)\n"
+    "    iDynTree::VectorFixSize< 10 >::VectorFixSize(iDynTree::Span< double const,-1 >)\n");
   return 1;
 }
 
@@ -19960,10 +20481,49 @@ int _wrap_new_Vector16__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *arg
 }
 
 
+int _wrap_new_Vector16__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::VectorFixSize< 16 > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_Vector16",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Vector16" "', argument " "1"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Vector16" "', argument " "1"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp1));
+    }
+  }
+  result = (iDynTree::VectorFixSize< 16 > *)new iDynTree::VectorFixSize< 16 >(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorFixSizeT_16_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_Vector16(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_Vector16__SWIG_0(resc,resv,argc,argv);
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_Vector16__SWIG_2(resc,resv,argc,argv);
+    }
+  }
   if (argc == 2) {
     int _v;
     void *vptr = 0;
@@ -19983,7 +20543,8 @@ int _wrap_new_Vector16(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_Vector16'."
     "  Possible C/C++ prototypes are:\n"
     "    iDynTree::VectorFixSize< 16 >::VectorFixSize()\n"
-    "    iDynTree::VectorFixSize< 16 >::VectorFixSize(double const *,unsigned int const)\n");
+    "    iDynTree::VectorFixSize< 16 >::VectorFixSize(double const *,unsigned int const)\n"
+    "    iDynTree::VectorFixSize< 16 >::VectorFixSize(iDynTree::Span< double const,-1 >)\n");
   return 1;
 }
 
@@ -20738,6 +21299,36 @@ int _wrap_new_PositionRaw__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *
 }
 
 
+int _wrap_new_PositionRaw__SWIG_4(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::PositionRaw *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_PositionRaw",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_PositionRaw" "', argument " "1"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_PositionRaw" "', argument " "1"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp1));
+    }
+  }
+  result = (iDynTree::PositionRaw *)new iDynTree::PositionRaw(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__PositionRaw, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_PositionRaw(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_PositionRaw__SWIG_0(resc,resv,argc,argv);
@@ -20751,6 +21342,15 @@ int _wrap_new_PositionRaw(int resc, mxArray *resv[], int argc, mxArray *argv[])
       return _wrap_new_PositionRaw__SWIG_3(resc,resv,argc,argv);
     }
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_PositionRaw__SWIG_4(resc,resv,argc,argv);
+    }
+  }
   if (argc == 2) {
     int _v;
     void *vptr = 0;
@@ -20794,7 +21394,8 @@ int _wrap_new_PositionRaw(int resc, mxArray *resv[], int argc, mxArray *argv[])
     "    iDynTree::PositionRaw::PositionRaw()\n"
     "    iDynTree::PositionRaw::PositionRaw(double,double,double)\n"
     "    iDynTree::PositionRaw::PositionRaw(double const *,unsigned int const)\n"
-    "    iDynTree::PositionRaw::PositionRaw(iDynTree::PositionRaw const &)\n");
+    "    iDynTree::PositionRaw::PositionRaw(iDynTree::PositionRaw const &)\n"
+    "    iDynTree::PositionRaw::PositionRaw(iDynTree::Span< double const,-1 >)\n");
   return 1;
 }
 
@@ -21228,6 +21829,36 @@ int _wrap_new_Position__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *arg
 }
 
 
+int _wrap_new_Position__SWIG_4(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::Position *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_Position",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Position" "', argument " "1"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Position" "', argument " "1"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp1));
+    }
+  }
+  result = (iDynTree::Position *)new iDynTree::Position(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Position, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_Position(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_Position__SWIG_0(resc,resv,argc,argv);
@@ -21250,6 +21881,15 @@ int _wrap_new_Position(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
       return _wrap_new_Position__SWIG_3(resc,resv,argc,argv);
     }
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_Position__SWIG_4(resc,resv,argc,argv);
+    }
+  }
   if (argc == 3) {
     int _v;
     {
@@ -21278,7 +21918,8 @@ int _wrap_new_Position(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
     "    iDynTree::Position::Position()\n"
     "    iDynTree::Position::Position(double,double,double)\n"
     "    iDynTree::Position::Position(iDynTree::Position const &)\n"
-    "    iDynTree::Position::Position(iDynTree::PositionRaw const &)\n");
+    "    iDynTree::Position::Position(iDynTree::PositionRaw const &)\n"
+    "    iDynTree::Position::Position(iDynTree::Span< double const,-1 >)\n");
   return 1;
 }
 
@@ -30433,6 +31074,36 @@ int _wrap_new_RotationRaw__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *
 
 
 int _wrap_new_RotationRaw__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::MatrixView< double const > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::RotationRaw *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_RotationRaw",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_RotationRaw" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_RotationRaw" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::MatrixView< double const > * >(argp1));
+    }
+  }
+  result = (iDynTree::RotationRaw *)new iDynTree::RotationRaw(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__RotationRaw, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_RotationRaw__SWIG_4(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::RotationRaw *arg1 = 0 ;
   void *argp1 ;
   int res1 = 0 ;
@@ -30466,12 +31137,21 @@ int _wrap_new_RotationRaw(int resc, mxArray *resv[], int argc, mxArray *argv[])
   if (argc == 1) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__RotationRaw, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       return _wrap_new_RotationRaw__SWIG_3(resc,resv,argc,argv);
     }
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__RotationRaw, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_RotationRaw__SWIG_4(resc,resv,argc,argv);
+    }
+  }
   if (argc == 3) {
     int _v;
     void *vptr = 0;
@@ -30557,6 +31237,7 @@ int _wrap_new_RotationRaw(int resc, mxArray *resv[], int argc, mxArray *argv[])
     "    iDynTree::RotationRaw::RotationRaw()\n"
     "    iDynTree::RotationRaw::RotationRaw(double,double,double,double,double,double,double,double,double)\n"
     "    iDynTree::RotationRaw::RotationRaw(double const *,unsigned int const,unsigned int const)\n"
+    "    iDynTree::RotationRaw::RotationRaw(iDynTree::MatrixView< double const >)\n"
     "    iDynTree::RotationRaw::RotationRaw(iDynTree::RotationRaw const &)\n");
   return 1;
 }
@@ -31218,6 +31899,36 @@ int _wrap_new_Rotation__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *arg
 }
 
 
+int _wrap_new_Rotation__SWIG_4(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  SwigValueWrapper< iDynTree::MatrixView< double const > > arg1 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::Rotation *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_Rotation",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t,  0 );
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Rotation" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'"); 
+    }  
+    if (!argp1) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Rotation" "', argument " "1"" of type '" "iDynTree::MatrixView< double const >""'");
+    } else {
+      arg1 = *(reinterpret_cast< iDynTree::MatrixView< double const > * >(argp1));
+    }
+  }
+  result = (iDynTree::Rotation *)new iDynTree::Rotation(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Rotation, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_Rotation(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 0) {
     return _wrap_new_Rotation__SWIG_0(resc,resv,argc,argv);
@@ -31240,6 +31951,15 @@ int _wrap_new_Rotation(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
       return _wrap_new_Rotation__SWIG_2(resc,resv,argc,argv);
     }
   }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_Rotation__SWIG_4(resc,resv,argc,argv);
+    }
+  }
   if (argc == 9) {
     int _v;
     {
@@ -31304,7 +32024,8 @@ int _wrap_new_Rotation(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
     "    iDynTree::Rotation::Rotation()\n"
     "    iDynTree::Rotation::Rotation(double,double,double,double,double,double,double,double,double)\n"
     "    iDynTree::Rotation::Rotation(iDynTree::RotationRaw const &)\n"
-    "    iDynTree::Rotation::Rotation(iDynTree::Rotation const &)\n");
+    "    iDynTree::Rotation::Rotation(iDynTree::Rotation const &)\n"
+    "    iDynTree::Rotation::Rotation(iDynTree::MatrixView< double const >)\n");
   return 1;
 }
 
@@ -36204,6 +36925,352 @@ int _wrap_DynamicSpan_crend(int resc, mxArray *resv[], int argc, mxArray *argv[]
 }
 
 
+int _wrap_new_DynamicMatrixView__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  mxArray * _out;
+  iDynTree::MatrixView< double > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_DynamicMatrixView",argc,0,0,0)) {
+    SWIG_fail;
+  }
+  (void)argv;
+  result = (iDynTree::MatrixView< double > *)new iDynTree::MatrixView< double >();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_DynamicMatrixView__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::MatrixView< double > *arg1 = 0 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::MatrixView< double > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_DynamicMatrixView",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_DynamicMatrixView" "', argument " "1"" of type '" "iDynTree::MatrixView< double > const &""'"); 
+  }
+  if (!argp1) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_DynamicMatrixView" "', argument " "1"" of type '" "iDynTree::MatrixView< double > const &""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::MatrixView< double > * >(argp1);
+  result = (iDynTree::MatrixView< double > *)new iDynTree::MatrixView< double >((iDynTree::MatrixView< double > const &)*arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_DynamicMatrixView__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::MatrixView< double >::pointer arg1 = (iDynTree::MatrixView< double >::pointer) 0 ;
+  iDynTree::MatrixView< double >::index_type arg2 ;
+  iDynTree::MatrixView< double >::index_type arg3 ;
+  iDynTree::MatrixStorageOrdering *arg4 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  ptrdiff_t val2 ;
+  int ecode2 = 0 ;
+  ptrdiff_t val3 ;
+  int ecode3 = 0 ;
+  int val4 ;
+  int ecode4 ;
+  iDynTree::MatrixStorageOrdering temp4 ;
+  mxArray * _out;
+  iDynTree::MatrixView< double > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_DynamicMatrixView",argc,4,4,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_double, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_DynamicMatrixView" "', argument " "1"" of type '" "iDynTree::MatrixView< double >::pointer""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::MatrixView< double >::pointer >(argp1);
+  ecode2 = SWIG_AsVal_ptrdiff_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "new_DynamicMatrixView" "', argument " "2"" of type '" "iDynTree::MatrixView< double >::index_type""'");
+  } 
+  arg2 = static_cast< iDynTree::MatrixView< double >::index_type >(val2);
+  ecode3 = SWIG_AsVal_ptrdiff_t(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "new_DynamicMatrixView" "', argument " "3"" of type '" "iDynTree::MatrixView< double >::index_type""'");
+  } 
+  arg3 = static_cast< iDynTree::MatrixView< double >::index_type >(val3);
+  ecode4 = SWIG_AsVal_int (argv[3], &val4);
+  if (!SWIG_IsOK(ecode4)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "new_DynamicMatrixView" "', argument " "4"" of type '" "iDynTree::MatrixStorageOrdering const &""'");
+  } else {
+    temp4 = static_cast< iDynTree::MatrixStorageOrdering >(val4);
+    arg4 = &temp4;
+  }
+  result = (iDynTree::MatrixView< double > *)new iDynTree::MatrixView< double >(arg1,arg2,arg3,(iDynTree::MatrixStorageOrdering const &)*arg4);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_DynamicMatrixView__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::MatrixView< double >::pointer arg1 = (iDynTree::MatrixView< double >::pointer) 0 ;
+  iDynTree::MatrixView< double >::index_type arg2 ;
+  iDynTree::MatrixView< double >::index_type arg3 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  ptrdiff_t val2 ;
+  int ecode2 = 0 ;
+  ptrdiff_t val3 ;
+  int ecode3 = 0 ;
+  mxArray * _out;
+  iDynTree::MatrixView< double > *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_DynamicMatrixView",argc,3,3,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_double, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_DynamicMatrixView" "', argument " "1"" of type '" "iDynTree::MatrixView< double >::pointer""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::MatrixView< double >::pointer >(argp1);
+  ecode2 = SWIG_AsVal_ptrdiff_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "new_DynamicMatrixView" "', argument " "2"" of type '" "iDynTree::MatrixView< double >::index_type""'");
+  } 
+  arg2 = static_cast< iDynTree::MatrixView< double >::index_type >(val2);
+  ecode3 = SWIG_AsVal_ptrdiff_t(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "new_DynamicMatrixView" "', argument " "3"" of type '" "iDynTree::MatrixView< double >::index_type""'");
+  } 
+  arg3 = static_cast< iDynTree::MatrixView< double >::index_type >(val3);
+  result = (iDynTree::MatrixView< double > *)new iDynTree::MatrixView< double >(arg1,arg2,arg3);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_DynamicMatrixView(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 0) {
+    return _wrap_new_DynamicMatrixView__SWIG_0(resc,resv,argc,argv);
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_DynamicMatrixView__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_double, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_ptrdiff_t(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_ptrdiff_t(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          return _wrap_new_DynamicMatrixView__SWIG_3(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_double, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_ptrdiff_t(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_ptrdiff_t(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          {
+            int res = SWIG_AsVal_int(argv[3], NULL);
+            _v = SWIG_CheckState(res);
+          }
+          if (_v) {
+            return _wrap_new_DynamicMatrixView__SWIG_2(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_DynamicMatrixView'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::MatrixView< double >::MatrixView()\n"
+    "    iDynTree::MatrixView< double >::MatrixView(iDynTree::MatrixView< double > const &)\n"
+    "    iDynTree::MatrixView< double >::MatrixView(iDynTree::MatrixView< double >::pointer,iDynTree::MatrixView< double >::index_type,iDynTree::MatrixView< double >::index_type,iDynTree::MatrixStorageOrdering const &)\n"
+    "    iDynTree::MatrixView< double >::MatrixView(iDynTree::MatrixView< double >::pointer,iDynTree::MatrixView< double >::index_type,iDynTree::MatrixView< double >::index_type)\n");
+  return 1;
+}
+
+
+int _wrap_DynamicMatrixView_storageOrder(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::MatrixView< double > *arg1 = (iDynTree::MatrixView< double > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::MatrixStorageOrdering *result = 0 ;
+  
+  if (!SWIG_check_num_args("DynamicMatrixView_storageOrder",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DynamicMatrixView_storageOrder" "', argument " "1"" of type '" "iDynTree::MatrixView< double > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::MatrixView< double > * >(argp1);
+  result = (iDynTree::MatrixStorageOrdering *) &((iDynTree::MatrixView< double > const *)arg1)->storageOrder();
+  _out = SWIG_From_int(static_cast< int >(*result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_DynamicMatrixView_paren(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::MatrixView< double > *arg1 = (iDynTree::MatrixView< double > *) 0 ;
+  iDynTree::MatrixView< double >::index_type arg2 ;
+  iDynTree::MatrixView< double >::index_type arg3 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  ptrdiff_t val2 ;
+  int ecode2 = 0 ;
+  ptrdiff_t val3 ;
+  int ecode3 = 0 ;
+  mxArray * _out;
+  iDynTree::MatrixView< double >::element_type *result = 0 ;
+  
+  if (!SWIG_check_num_args("DynamicMatrixView_paren",argc,3,3,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DynamicMatrixView_paren" "', argument " "1"" of type '" "iDynTree::MatrixView< double > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::MatrixView< double > * >(argp1);
+  ecode2 = SWIG_AsVal_ptrdiff_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "DynamicMatrixView_paren" "', argument " "2"" of type '" "iDynTree::MatrixView< double >::index_type""'");
+  } 
+  arg2 = static_cast< iDynTree::MatrixView< double >::index_type >(val2);
+  ecode3 = SWIG_AsVal_ptrdiff_t(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "DynamicMatrixView_paren" "', argument " "3"" of type '" "iDynTree::MatrixView< double >::index_type""'");
+  } 
+  arg3 = static_cast< iDynTree::MatrixView< double >::index_type >(val3);
+  result = (iDynTree::MatrixView< double >::element_type *) &((iDynTree::MatrixView< double > const *)arg1)->operator ()(arg2,arg3);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_double, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_DynamicMatrixView_rows(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::MatrixView< double > *arg1 = (iDynTree::MatrixView< double > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::MatrixView< double >::index_type result;
+  
+  if (!SWIG_check_num_args("DynamicMatrixView_rows",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DynamicMatrixView_rows" "', argument " "1"" of type '" "iDynTree::MatrixView< double > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::MatrixView< double > * >(argp1);
+  result = ((iDynTree::MatrixView< double > const *)arg1)->rows();
+  _out = SWIG_From_ptrdiff_t(static_cast< ptrdiff_t >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_DynamicMatrixView_cols(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::MatrixView< double > *arg1 = (iDynTree::MatrixView< double > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::MatrixView< double >::index_type result;
+  
+  if (!SWIG_check_num_args("DynamicMatrixView_cols",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DynamicMatrixView_cols" "', argument " "1"" of type '" "iDynTree::MatrixView< double > const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::MatrixView< double > * >(argp1);
+  result = ((iDynTree::MatrixView< double > const *)arg1)->cols();
+  _out = SWIG_From_ptrdiff_t(static_cast< ptrdiff_t >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_delete_DynamicMatrixView(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::MatrixView< double > *arg1 = (iDynTree::MatrixView< double > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  
+  int is_owned;
+  if (!SWIG_check_num_args("delete_DynamicMatrixView",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__MatrixViewT_double_t, SWIG_POINTER_DISOWN |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_DynamicMatrixView" "', argument " "1"" of type '" "iDynTree::MatrixView< double > *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::MatrixView< double > * >(argp1);
+  if (is_owned) {
+    delete arg1;
+  }
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 SWIGINTERN int _wrap_LINK_INVALID_INDEX_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   resv[0] = SWIG_From_int(static_cast< int >(iDynTree::LINK_INVALID_INDEX));
   return 0;
@@ -47527,6 +48594,294 @@ int _wrap_Traversal_toString(int resc, mxArray *resv[], int argc, mxArray *argv[
 }
 
 
+int _wrap_new_Material__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  mxArray * _out;
+  iDynTree::Material *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_Material",argc,0,0,0)) {
+    SWIG_fail;
+  }
+  (void)argv;
+  result = (iDynTree::Material *)new iDynTree::Material();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Material, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_Material__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::string *arg1 = 0 ;
+  int res1 = SWIG_OLDOBJ ;
+  mxArray * _out;
+  iDynTree::Material *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_Material",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  {
+    std::string *ptr = (std::string *)0;
+    res1 = SWIG_AsPtr_std_string(argv[0], &ptr);
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_Material" "', argument " "1"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_Material" "', argument " "1"" of type '" "std::string const &""'"); 
+    }
+    arg1 = ptr;
+  }
+  result = (iDynTree::Material *)new iDynTree::Material((std::string const &)*arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Material, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res1)) delete arg1;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res1)) delete arg1;
+  return 1;
+}
+
+
+int _wrap_new_Material(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 0) {
+    return _wrap_new_Material__SWIG_0(resc,resv,argc,argv);
+  }
+  if (argc == 1) {
+    int _v;
+    int res = SWIG_AsPtr_std_string(argv[0], (std::string**)(0));
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_Material__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_Material'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::Material::Material()\n"
+    "    iDynTree::Material::Material(std::string const &)\n");
+  return 1;
+}
+
+
+int _wrap_Material_name(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Material *arg1 = (iDynTree::Material *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::string result;
+  
+  if (!SWIG_check_num_args("Material_name",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Material, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Material_name" "', argument " "1"" of type '" "iDynTree::Material const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Material * >(argp1);
+  result = ((iDynTree::Material const *)arg1)->name();
+  _out = SWIG_From_std_string(static_cast< std::string >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Material_hasColor(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Material *arg1 = (iDynTree::Material *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("Material_hasColor",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Material, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Material_hasColor" "', argument " "1"" of type '" "iDynTree::Material const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Material * >(argp1);
+  result = (bool)((iDynTree::Material const *)arg1)->hasColor();
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Material_color(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Material *arg1 = (iDynTree::Material *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::Vector4 result;
+  
+  if (!SWIG_check_num_args("Material_color",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Material, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Material_color" "', argument " "1"" of type '" "iDynTree::Material const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Material * >(argp1);
+  result = ((iDynTree::Material const *)arg1)->color();
+  _out = SWIG_NewPointerObj((new iDynTree::Vector4(static_cast< const iDynTree::Vector4& >(result))), SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, SWIG_POINTER_OWN |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Material_setColor(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Material *arg1 = (iDynTree::Material *) 0 ;
+  iDynTree::Vector4 *arg2 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("Material_setColor",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Material, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Material_setColor" "', argument " "1"" of type '" "iDynTree::Material *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Material * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Material_setColor" "', argument " "2"" of type '" "iDynTree::Vector4 const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Material_setColor" "', argument " "2"" of type '" "iDynTree::Vector4 const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Vector4 * >(argp2);
+  (arg1)->setColor((iDynTree::Vector4 const &)*arg2);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Material_hasTexture(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Material *arg1 = (iDynTree::Material *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("Material_hasTexture",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Material, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Material_hasTexture" "', argument " "1"" of type '" "iDynTree::Material const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Material * >(argp1);
+  result = (bool)((iDynTree::Material const *)arg1)->hasTexture();
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Material_texture(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Material *arg1 = (iDynTree::Material *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::string result;
+  
+  if (!SWIG_check_num_args("Material_texture",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Material, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Material_texture" "', argument " "1"" of type '" "iDynTree::Material const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Material * >(argp1);
+  result = ((iDynTree::Material const *)arg1)->texture();
+  _out = SWIG_From_std_string(static_cast< std::string >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Material_setTexture(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Material *arg1 = (iDynTree::Material *) 0 ;
+  std::string *arg2 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("Material_setTexture",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Material, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Material_setTexture" "', argument " "1"" of type '" "iDynTree::Material *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Material * >(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 '" "Material_setTexture" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Material_setTexture" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
+  }
+  (arg1)->setTexture((std::string const &)*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_delete_Material(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Material *arg1 = (iDynTree::Material *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  
+  int is_owned;
+  if (!SWIG_check_num_args("delete_Material",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Material, SWIG_POINTER_DISOWN |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_Material" "', argument " "1"" of type '" "iDynTree::Material *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Material * >(argp1);
+  if (is_owned) {
+    delete arg1;
+  }
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_delete_SolidShape(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::SolidShape *arg1 = (iDynTree::SolidShape *) 0 ;
   void *argp1 = 0 ;
@@ -47578,92 +48933,85 @@ int _wrap_SolidShape_clone(int resc, mxArray *resv[], int argc, mxArray *argv[])
 }
 
 
-int _wrap_SolidShape_name_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_SolidShape_getName(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::SolidShape *arg1 = (iDynTree::SolidShape *) 0 ;
-  std::string *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
+  std::string *result = 0 ;
   
-  if (!SWIG_check_num_args("SolidShape_name_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("SolidShape_getName",argc,1,1,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidShape_name_set" "', argument " "1"" of type '" "iDynTree::SolidShape *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidShape_getName" "', argument " "1"" of type '" "iDynTree::SolidShape const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::SolidShape * >(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 '" "SolidShape_name_set" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SolidShape_name_set" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
-  }
-  if (arg1) (arg1)->name = *arg2;
-  _out = (mxArray*)0;
+  result = (std::string *) &((iDynTree::SolidShape const *)arg1)->getName();
+  _out = SWIG_From_std_string(static_cast< std::string >(*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_SolidShape_name_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_SolidShape_setName(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::SolidShape *arg1 = (iDynTree::SolidShape *) 0 ;
+  std::string *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
-  std::string *result = 0 ;
   
-  if (!SWIG_check_num_args("SolidShape_name_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("SolidShape_setName",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidShape_name_get" "', argument " "1"" of type '" "iDynTree::SolidShape *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidShape_setName" "', argument " "1"" of type '" "iDynTree::SolidShape *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::SolidShape * >(argp1);
-  result = (std::string *) & ((arg1)->name);
-  _out = SWIG_From_std_string(static_cast< std::string >(*result));
+  {
+    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 '" "SolidShape_setName" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SolidShape_setName" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
+  }
+  (arg1)->setName((std::string const &)*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_SolidShape_nameIsValid_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_SolidShape_isNameValid(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::SolidShape *arg1 = (iDynTree::SolidShape *) 0 ;
-  bool arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  bool val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("SolidShape_nameIsValid_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("SolidShape_isNameValid",argc,1,1,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidShape_nameIsValid_set" "', argument " "1"" of type '" "iDynTree::SolidShape *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidShape_isNameValid" "', argument " "1"" of type '" "iDynTree::SolidShape const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::SolidShape * >(argp1);
-  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SolidShape_nameIsValid_set" "', argument " "2"" of type '" "bool""'");
-  } 
-  arg2 = static_cast< bool >(val2);
-  if (arg1) (arg1)->nameIsValid = arg2;
-  _out = (mxArray*)0;
+  result = (bool)((iDynTree::SolidShape const *)arg1)->isNameValid();
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -47671,23 +49019,23 @@ int _wrap_SolidShape_nameIsValid_set(int resc, mxArray *resv[], int argc, mxArra
 }
 
 
-int _wrap_SolidShape_nameIsValid_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_SolidShape_getLink_H_geometry(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::SolidShape *arg1 = (iDynTree::SolidShape *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::Transform *result = 0 ;
   
-  if (!SWIG_check_num_args("SolidShape_nameIsValid_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("SolidShape_getLink_H_geometry",argc,1,1,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidShape_nameIsValid_get" "', argument " "1"" of type '" "iDynTree::SolidShape *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidShape_getLink_H_geometry" "', argument " "1"" of type '" "iDynTree::SolidShape const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::SolidShape * >(argp1);
-  result = (bool) ((arg1)->nameIsValid);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  result = (iDynTree::Transform *) &((iDynTree::SolidShape const *)arg1)->getLink_H_geometry();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -47695,29 +49043,32 @@ int _wrap_SolidShape_nameIsValid_get(int resc, mxArray *resv[], int argc, mxArra
 }
 
 
-int _wrap_SolidShape_link_H_geometry_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_SolidShape_setLink_H_geometry(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::SolidShape *arg1 = (iDynTree::SolidShape *) 0 ;
-  iDynTree::Transform *arg2 = (iDynTree::Transform *) 0 ;
+  iDynTree::Transform *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("SolidShape_link_H_geometry_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("SolidShape_setLink_H_geometry",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidShape_link_H_geometry_set" "', argument " "1"" of type '" "iDynTree::SolidShape *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidShape_setLink_H_geometry" "', argument " "1"" of type '" "iDynTree::SolidShape *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::SolidShape * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Transform,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "SolidShape_link_H_geometry_set" "', argument " "2"" of type '" "iDynTree::Transform *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "SolidShape_setLink_H_geometry" "', argument " "2"" of type '" "iDynTree::Transform const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SolidShape_setLink_H_geometry" "', argument " "2"" of type '" "iDynTree::Transform const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::Transform * >(argp2);
-  if (arg1) (arg1)->link_H_geometry = *arg2;
+  (arg1)->setLink_H_geometry((iDynTree::Transform const &)*arg2);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -47726,23 +49077,23 @@ int _wrap_SolidShape_link_H_geometry_set(int resc, mxArray *resv[], int argc, mx
 }
 
 
-int _wrap_SolidShape_link_H_geometry_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_SolidShape_isMaterialSet(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::SolidShape *arg1 = (iDynTree::SolidShape *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::Transform *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("SolidShape_link_H_geometry_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("SolidShape_isMaterialSet",argc,1,1,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidShape_link_H_geometry_get" "', argument " "1"" of type '" "iDynTree::SolidShape *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidShape_isMaterialSet" "', argument " "1"" of type '" "iDynTree::SolidShape const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::SolidShape * >(argp1);
-  result = (iDynTree::Transform *)& ((arg1)->link_H_geometry);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
+  result = (bool)((iDynTree::SolidShape const *)arg1)->isMaterialSet();
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -47750,30 +49101,23 @@ int _wrap_SolidShape_link_H_geometry_get(int resc, mxArray *resv[], int argc, mx
 }
 
 
-int _wrap_SolidShape_material_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_SolidShape_getMaterial(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::SolidShape *arg1 = (iDynTree::SolidShape *) 0 ;
-  iDynTree::Vector4 *arg2 = (iDynTree::Vector4 *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
   mxArray * _out;
+  iDynTree::Material *result = 0 ;
   
-  if (!SWIG_check_num_args("SolidShape_material_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("SolidShape_getMaterial",argc,1,1,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidShape_material_set" "', argument " "1"" of type '" "iDynTree::SolidShape *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidShape_getMaterial" "', argument " "1"" of type '" "iDynTree::SolidShape const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::SolidShape * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 0 |  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "SolidShape_material_set" "', argument " "2"" of type '" "iDynTree::Vector4 *""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Vector4 * >(argp2);
-  if (arg1) (arg1)->material = *arg2;
-  _out = (mxArray*)0;
+  result = (iDynTree::Material *) &((iDynTree::SolidShape const *)arg1)->getMaterial();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Material, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -47781,23 +49125,33 @@ int _wrap_SolidShape_material_set(int resc, mxArray *resv[], int argc, mxArray *
 }
 
 
-int _wrap_SolidShape_material_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_SolidShape_setMaterial(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::SolidShape *arg1 = (iDynTree::SolidShape *) 0 ;
+  iDynTree::Material *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::Vector4 *result = 0 ;
   
-  if (!SWIG_check_num_args("SolidShape_material_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("SolidShape_setMaterial",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SolidShape, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidShape_material_get" "', argument " "1"" of type '" "iDynTree::SolidShape *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SolidShape_setMaterial" "', argument " "1"" of type '" "iDynTree::SolidShape *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::SolidShape * >(argp1);
-  result = (iDynTree::Vector4 *)& ((arg1)->material);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 0 |  0 );
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Material,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "SolidShape_setMaterial" "', argument " "2"" of type '" "iDynTree::Material const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SolidShape_setMaterial" "', argument " "2"" of type '" "iDynTree::Material const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Material * >(argp2);
+  (arg1)->setMaterial((iDynTree::Material const &)*arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -48256,30 +49610,23 @@ int _wrap_Sphere_clone(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
 }
 
 
-int _wrap_Sphere_radius_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Sphere_getRadius(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Sphere *arg1 = (iDynTree::Sphere *) 0 ;
-  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
+  double result;
   
-  if (!SWIG_check_num_args("Sphere_radius_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Sphere_getRadius",argc,1,1,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Sphere, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Sphere_radius_set" "', argument " "1"" of type '" "iDynTree::Sphere *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Sphere_getRadius" "', argument " "1"" of type '" "iDynTree::Sphere const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Sphere * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "Sphere_radius_set" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->radius = arg2;
-  _out = (mxArray*)0;
+  result = (double)((iDynTree::Sphere const *)arg1)->getRadius();
+  _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -48287,23 +49634,30 @@ int _wrap_Sphere_radius_set(int resc, mxArray *resv[], int argc, mxArray *argv[]
 }
 
 
-int _wrap_Sphere_radius_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Sphere_setRadius(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Sphere *arg1 = (iDynTree::Sphere *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  double result;
   
-  if (!SWIG_check_num_args("Sphere_radius_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("Sphere_setRadius",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Sphere, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Sphere_radius_get" "', argument " "1"" of type '" "iDynTree::Sphere *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Sphere_setRadius" "', argument " "1"" of type '" "iDynTree::Sphere *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Sphere * >(argp1);
-  result = (double) ((arg1)->radius);
-  _out = SWIG_From_double(static_cast< double >(result));
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "Sphere_setRadius" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  (arg1)->setRadius(arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -48379,7 +49733,31 @@ int _wrap_Box_clone(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
 }
 
 
-int _wrap_Box_x_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Box_getX(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Box *arg1 = (iDynTree::Box *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  double result;
+  
+  if (!SWIG_check_num_args("Box_getX",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Box, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Box_getX" "', argument " "1"" of type '" "iDynTree::Box const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Box * >(argp1);
+  result = (double)((iDynTree::Box const *)arg1)->getX();
+  _out = SWIG_From_double(static_cast< double >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_Box_setX(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Box *arg1 = (iDynTree::Box *) 0 ;
   double arg2 ;
   void *argp1 = 0 ;
@@ -48388,20 +49766,20 @@ int _wrap_Box_x_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   int ecode2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("Box_x_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Box_setX",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Box, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Box_x_set" "', argument " "1"" of type '" "iDynTree::Box *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Box_setX" "', argument " "1"" of type '" "iDynTree::Box *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Box * >(argp1);
   ecode2 = SWIG_AsVal_double(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "Box_x_set" "', argument " "2"" of type '" "double""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "Box_setX" "', argument " "2"" of type '" "double""'");
   } 
   arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->x = arg2;
+  (arg1)->setX(arg2);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -48410,22 +49788,22 @@ int _wrap_Box_x_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
 }
 
 
-int _wrap_Box_x_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Box_getY(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Box *arg1 = (iDynTree::Box *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
   double result;
   
-  if (!SWIG_check_num_args("Box_x_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("Box_getY",argc,1,1,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Box, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Box_x_get" "', argument " "1"" of type '" "iDynTree::Box *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Box_getY" "', argument " "1"" of type '" "iDynTree::Box const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Box * >(argp1);
-  result = (double) ((arg1)->x);
+  result = (double)((iDynTree::Box const *)arg1)->getY();
   _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -48434,7 +49812,7 @@ int _wrap_Box_x_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
 }
 
 
-int _wrap_Box_y_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Box_setY(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Box *arg1 = (iDynTree::Box *) 0 ;
   double arg2 ;
   void *argp1 = 0 ;
@@ -48443,20 +49821,20 @@ int _wrap_Box_y_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   int ecode2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("Box_y_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Box_setY",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Box, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Box_y_set" "', argument " "1"" of type '" "iDynTree::Box *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Box_setY" "', argument " "1"" of type '" "iDynTree::Box *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Box * >(argp1);
   ecode2 = SWIG_AsVal_double(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "Box_y_set" "', argument " "2"" of type '" "double""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "Box_setY" "', argument " "2"" of type '" "double""'");
   } 
   arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->y = arg2;
+  (arg1)->setY(arg2);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -48465,22 +49843,22 @@ int _wrap_Box_y_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
 }
 
 
-int _wrap_Box_y_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Box_getZ(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Box *arg1 = (iDynTree::Box *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
   double result;
   
-  if (!SWIG_check_num_args("Box_y_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("Box_getZ",argc,1,1,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Box, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Box_y_get" "', argument " "1"" of type '" "iDynTree::Box *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Box_getZ" "', argument " "1"" of type '" "iDynTree::Box const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Box * >(argp1);
-  result = (double) ((arg1)->y);
+  result = (double)((iDynTree::Box const *)arg1)->getZ();
   _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -48489,7 +49867,7 @@ int _wrap_Box_y_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
 }
 
 
-int _wrap_Box_z_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Box_setZ(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Box *arg1 = (iDynTree::Box *) 0 ;
   double arg2 ;
   void *argp1 = 0 ;
@@ -48498,20 +49876,20 @@ int _wrap_Box_z_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   int ecode2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("Box_z_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Box_setZ",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Box, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Box_z_set" "', argument " "1"" of type '" "iDynTree::Box *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Box_setZ" "', argument " "1"" of type '" "iDynTree::Box *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Box * >(argp1);
   ecode2 = SWIG_AsVal_double(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "Box_z_set" "', argument " "2"" of type '" "double""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "Box_setZ" "', argument " "2"" of type '" "double""'");
   } 
   arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->z = arg2;
+  (arg1)->setZ(arg2);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -48520,30 +49898,6 @@ int _wrap_Box_z_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
 }
 
 
-int _wrap_Box_z_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Box *arg1 = (iDynTree::Box *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  double result;
-  
-  if (!SWIG_check_num_args("Box_z_get",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Box, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Box_z_get" "', argument " "1"" of type '" "iDynTree::Box *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Box * >(argp1);
-  result = (double) ((arg1)->z);
-  _out = SWIG_From_double(static_cast< double >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
 int _wrap_new_Box(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
   iDynTree::Box *result = 0 ;
@@ -48612,30 +49966,23 @@ int _wrap_Cylinder_clone(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
 }
 
 
-int _wrap_Cylinder_length_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Cylinder_getLength(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Cylinder *arg1 = (iDynTree::Cylinder *) 0 ;
-  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
+  double result;
   
-  if (!SWIG_check_num_args("Cylinder_length_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Cylinder_getLength",argc,1,1,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Cylinder, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Cylinder_length_set" "', argument " "1"" of type '" "iDynTree::Cylinder *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Cylinder_getLength" "', argument " "1"" of type '" "iDynTree::Cylinder const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Cylinder * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "Cylinder_length_set" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->length = arg2;
-  _out = (mxArray*)0;
+  result = (double)((iDynTree::Cylinder const *)arg1)->getLength();
+  _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -48643,23 +49990,30 @@ int _wrap_Cylinder_length_set(int resc, mxArray *resv[], int argc, mxArray *argv
 }
 
 
-int _wrap_Cylinder_length_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Cylinder_setLength(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Cylinder *arg1 = (iDynTree::Cylinder *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  double result;
   
-  if (!SWIG_check_num_args("Cylinder_length_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("Cylinder_setLength",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Cylinder, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Cylinder_length_get" "', argument " "1"" of type '" "iDynTree::Cylinder *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Cylinder_setLength" "', argument " "1"" of type '" "iDynTree::Cylinder *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Cylinder * >(argp1);
-  result = (double) ((arg1)->length);
-  _out = SWIG_From_double(static_cast< double >(result));
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "Cylinder_setLength" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  (arg1)->setLength(arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -48667,30 +50021,23 @@ int _wrap_Cylinder_length_get(int resc, mxArray *resv[], int argc, mxArray *argv
 }
 
 
-int _wrap_Cylinder_radius_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Cylinder_getRadius(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Cylinder *arg1 = (iDynTree::Cylinder *) 0 ;
-  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
+  double result;
   
-  if (!SWIG_check_num_args("Cylinder_radius_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("Cylinder_getRadius",argc,1,1,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Cylinder, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Cylinder_radius_set" "', argument " "1"" of type '" "iDynTree::Cylinder *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Cylinder_getRadius" "', argument " "1"" of type '" "iDynTree::Cylinder const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Cylinder * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "Cylinder_radius_set" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->radius = arg2;
-  _out = (mxArray*)0;
+  result = (double)((iDynTree::Cylinder const *)arg1)->getRadius();
+  _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -48698,23 +50045,30 @@ int _wrap_Cylinder_radius_set(int resc, mxArray *resv[], int argc, mxArray *argv
 }
 
 
-int _wrap_Cylinder_radius_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_Cylinder_setRadius(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Cylinder *arg1 = (iDynTree::Cylinder *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  double result;
   
-  if (!SWIG_check_num_args("Cylinder_radius_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("Cylinder_setRadius",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Cylinder, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Cylinder_radius_get" "', argument " "1"" of type '" "iDynTree::Cylinder *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Cylinder_setRadius" "', argument " "1"" of type '" "iDynTree::Cylinder *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::Cylinder * >(argp1);
-  result = (double) ((arg1)->radius);
-  _out = SWIG_From_double(static_cast< double >(result));
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "Cylinder_setRadius" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  (arg1)->setRadius(arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -48790,7 +50144,31 @@ int _wrap_ExternalMesh_clone(int resc, mxArray *resv[], int argc, mxArray *argv[
 }
 
 
-int _wrap_ExternalMesh_filename_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_ExternalMesh_getFilename(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ExternalMesh *arg1 = (iDynTree::ExternalMesh *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::string *result = 0 ;
+  
+  if (!SWIG_check_num_args("ExternalMesh_getFilename",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExternalMesh, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExternalMesh_getFilename" "', argument " "1"" of type '" "iDynTree::ExternalMesh const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ExternalMesh * >(argp1);
+  result = (std::string *) &((iDynTree::ExternalMesh const *)arg1)->getFilename();
+  _out = SWIG_From_std_string(static_cast< std::string >(*result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ExternalMesh_setFilename(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::ExternalMesh *arg1 = (iDynTree::ExternalMesh *) 0 ;
   std::string *arg2 = 0 ;
   void *argp1 = 0 ;
@@ -48798,26 +50176,26 @@ int _wrap_ExternalMesh_filename_set(int resc, mxArray *resv[], int argc, mxArray
   int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("ExternalMesh_filename_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("ExternalMesh_setFilename",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExternalMesh, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExternalMesh_filename_set" "', argument " "1"" of type '" "iDynTree::ExternalMesh *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExternalMesh_setFilename" "', argument " "1"" of type '" "iDynTree::ExternalMesh *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::ExternalMesh * >(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 '" "ExternalMesh_filename_set" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ExternalMesh_setFilename" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExternalMesh_filename_set" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExternalMesh_setFilename" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     arg2 = ptr;
   }
-  if (arg1) (arg1)->filename = *arg2;
+  (arg1)->setFilename((std::string const &)*arg2);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   if (SWIG_IsNewObj(res2)) delete arg2;
@@ -48828,23 +50206,23 @@ int _wrap_ExternalMesh_filename_set(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_ExternalMesh_filename_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_ExternalMesh_getScale(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::ExternalMesh *arg1 = (iDynTree::ExternalMesh *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  std::string *result = 0 ;
+  iDynTree::Vector3 *result = 0 ;
   
-  if (!SWIG_check_num_args("ExternalMesh_filename_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("ExternalMesh_getScale",argc,1,1,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExternalMesh, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExternalMesh_filename_get" "', argument " "1"" of type '" "iDynTree::ExternalMesh *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExternalMesh_getScale" "', argument " "1"" of type '" "iDynTree::ExternalMesh const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::ExternalMesh * >(argp1);
-  result = (std::string *) & ((arg1)->filename);
-  _out = SWIG_From_std_string(static_cast< std::string >(*result));
+  result = (iDynTree::Vector3 *) &((iDynTree::ExternalMesh const *)arg1)->getScale();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -48852,29 +50230,32 @@ int _wrap_ExternalMesh_filename_get(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_ExternalMesh_scale_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_ExternalMesh_setScale(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::ExternalMesh *arg1 = (iDynTree::ExternalMesh *) 0 ;
-  iDynTree::Vector3 *arg2 = (iDynTree::Vector3 *) 0 ;
+  iDynTree::Vector3 *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("ExternalMesh_scale_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("ExternalMesh_setScale",argc,2,2,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExternalMesh, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExternalMesh_scale_set" "', argument " "1"" of type '" "iDynTree::ExternalMesh *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExternalMesh_setScale" "', argument " "1"" of type '" "iDynTree::ExternalMesh *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::ExternalMesh * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ExternalMesh_scale_set" "', argument " "2"" of type '" "iDynTree::Vector3 *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ExternalMesh_setScale" "', argument " "2"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExternalMesh_setScale" "', argument " "2"" of type '" "iDynTree::Vector3 const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::Vector3 * >(argp2);
-  if (arg1) (arg1)->scale = *arg2;
+  (arg1)->setScale((iDynTree::Vector3 const &)*arg2);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -48883,30 +50264,6 @@ int _wrap_ExternalMesh_scale_set(int resc, mxArray *resv[], int argc, mxArray *a
 }
 
 
-int _wrap_ExternalMesh_scale_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ExternalMesh *arg1 = (iDynTree::ExternalMesh *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::Vector3 *result = 0 ;
-  
-  if (!SWIG_check_num_args("ExternalMesh_scale_get",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExternalMesh, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExternalMesh_scale_get" "', argument " "1"" of type '" "iDynTree::ExternalMesh *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ExternalMesh * >(argp1);
-  result = (iDynTree::Vector3 *)& ((arg1)->scale);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
 int _wrap_new_ExternalMesh(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
   iDynTree::ExternalMesh *result = 0 ;
@@ -48941,6 +50298,33 @@ int _wrap_new_ModelSolidShapes__SWIG_0(int resc, mxArray *resv[], int argc, mxAr
 }
 
 
+int _wrap_delete_ModelSolidShapes(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelSolidShapes *arg1 = (iDynTree::ModelSolidShapes *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  
+  int is_owned;
+  if (!SWIG_check_num_args("delete_ModelSolidShapes",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelSolidShapes, SWIG_POINTER_DISOWN |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ModelSolidShapes" "', argument " "1"" of type '" "iDynTree::ModelSolidShapes *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelSolidShapes * >(argp1);
+  if (is_owned) {
+    delete arg1;
+  }
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
 int _wrap_new_ModelSolidShapes__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::ModelSolidShapes *arg1 = 0 ;
   void *argp1 ;
@@ -49013,33 +50397,6 @@ int _wrap_ModelSolidShapes_clear(int resc, mxArray *resv[], int argc, mxArray *a
 }
 
 
-int _wrap_delete_ModelSolidShapes(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelSolidShapes *arg1 = (iDynTree::ModelSolidShapes *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  
-  int is_owned;
-  if (!SWIG_check_num_args("delete_ModelSolidShapes",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelSolidShapes, SWIG_POINTER_DISOWN |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ModelSolidShapes" "', argument " "1"" of type '" "iDynTree::ModelSolidShapes *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelSolidShapes * >(argp1);
-  if (is_owned) {
-    delete arg1;
-  }
-  _out = (mxArray*)0;
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
 int _wrap_ModelSolidShapes_resize__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::ModelSolidShapes *arg1 = (iDynTree::ModelSolidShapes *) 0 ;
   size_t arg2 ;
@@ -49179,30 +50536,23 @@ int _wrap_ModelSolidShapes_isConsistent(int resc, mxArray *resv[], int argc, mxA
 }
 
 
-int _wrap_ModelSolidShapes_linkSolidShapes_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_ModelSolidShapes_getLinkSolidShapes__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::ModelSolidShapes *arg1 = (iDynTree::ModelSolidShapes *) 0 ;
-  std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > > *arg2 = (std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > > *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
   mxArray * _out;
+  std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > > *result = 0 ;
   
-  if (!SWIG_check_num_args("ModelSolidShapes_linkSolidShapes_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("ModelSolidShapes_getLinkSolidShapes",argc,1,1,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelSolidShapes, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelSolidShapes_linkSolidShapes_set" "', argument " "1"" of type '" "iDynTree::ModelSolidShapes *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelSolidShapes_getLinkSolidShapes" "', argument " "1"" of type '" "iDynTree::ModelSolidShapes *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::ModelSolidShapes * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,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, 0 |  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelSolidShapes_linkSolidShapes_set" "', argument " "2"" of type '" "std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > > *""'"); 
-  }
-  arg2 = reinterpret_cast< std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > > * >(argp2);
-  if (arg1) (arg1)->linkSolidShapes = *arg2;
-  _out = (mxArray*)0;
+  result = (std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > > *) &(arg1)->getLinkSolidShapes();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), 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, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -49210,22 +50560,22 @@ int _wrap_ModelSolidShapes_linkSolidShapes_set(int resc, mxArray *resv[], int ar
 }
 
 
-int _wrap_ModelSolidShapes_linkSolidShapes_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_ModelSolidShapes_getLinkSolidShapes__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::ModelSolidShapes *arg1 = (iDynTree::ModelSolidShapes *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
   std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > > *result = 0 ;
   
-  if (!SWIG_check_num_args("ModelSolidShapes_linkSolidShapes_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("ModelSolidShapes_getLinkSolidShapes",argc,1,1,0)) {
     SWIG_fail;
   }
   res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelSolidShapes, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelSolidShapes_linkSolidShapes_get" "', argument " "1"" of type '" "iDynTree::ModelSolidShapes *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelSolidShapes_getLinkSolidShapes" "', argument " "1"" of type '" "iDynTree::ModelSolidShapes const *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::ModelSolidShapes * >(argp1);
-  result = (std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > > *)& ((arg1)->linkSolidShapes);
+  result = (std::vector< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > >,std::allocator< std::vector< iDynTree::SolidShape *,std::allocator< iDynTree::SolidShape * > > > > *) &((iDynTree::ModelSolidShapes const *)arg1)->getLinkSolidShapes();
   _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), 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, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -49234,6 +50584,34 @@ int _wrap_ModelSolidShapes_linkSolidShapes_get(int resc, mxArray *resv[], int ar
 }
 
 
+int _wrap_ModelSolidShapes_getLinkSolidShapes(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelSolidShapes, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_ModelSolidShapes_getLinkSolidShapes__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelSolidShapes, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_ModelSolidShapes_getLinkSolidShapes__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelSolidShapes_getLinkSolidShapes'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::ModelSolidShapes::getLinkSolidShapes()\n"
+    "    iDynTree::ModelSolidShapes::getLinkSolidShapes() const\n");
+  return 1;
+}
+
+
 int _wrap_Neighbor_neighborLink_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::Neighbor *arg1 = (iDynTree::Neighbor *) 0 ;
   iDynTree::LinkIndex arg2 ;
@@ -59779,41 +61157,6 @@ int _wrap_Sensor_updateIndices(int resc, mxArray *resv[], int argc, mxArray *arg
 }
 
 
-int _wrap_Sensor_updateIndeces(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Sensor *arg1 = (iDynTree::Sensor *) 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("Sensor_updateIndeces",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__Sensor, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "Sensor_updateIndeces" "', argument " "1"" of type '" "iDynTree::Sensor *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Sensor * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "Sensor_updateIndeces" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "Sensor_updateIndeces" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  result = (bool)(arg1)->updateIndeces((iDynTree::Model const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
 int _wrap_delete_JointSensor(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::JointSensor *arg1 = (iDynTree::JointSensor *) 0 ;
   void *argp1 = 0 ;
@@ -62428,41 +63771,6 @@ int _wrap_SixAxisForceTorqueSensor_updateIndices(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_SixAxisForceTorqueSensor_updateIndeces(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SixAxisForceTorqueSensor *arg1 = (iDynTree::SixAxisForceTorqueSensor *) 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("SixAxisForceTorqueSensor_updateIndeces",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SixAxisForceTorqueSensor, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SixAxisForceTorqueSensor_updateIndeces" "', argument " "1"" of type '" "iDynTree::SixAxisForceTorqueSensor *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::SixAxisForceTorqueSensor * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "SixAxisForceTorqueSensor_updateIndeces" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SixAxisForceTorqueSensor_updateIndeces" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  result = (bool)(arg1)->updateIndeces((iDynTree::Model const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
 int _wrap_SixAxisForceTorqueSensor_getAppliedWrenchLink(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::SixAxisForceTorqueSensor *arg1 = (iDynTree::SixAxisForceTorqueSensor *) 0 ;
   void *argp1 = 0 ;
@@ -63226,41 +64534,6 @@ int _wrap_AccelerometerSensor_updateIndices(int resc, mxArray *resv[], int argc,
 }
 
 
-int _wrap_AccelerometerSensor_updateIndeces(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AccelerometerSensor *arg1 = (iDynTree::AccelerometerSensor *) 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("AccelerometerSensor_updateIndeces",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AccelerometerSensor, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AccelerometerSensor_updateIndeces" "', argument " "1"" of type '" "iDynTree::AccelerometerSensor *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AccelerometerSensor * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AccelerometerSensor_updateIndeces" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AccelerometerSensor_updateIndeces" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  result = (bool)(arg1)->updateIndeces((iDynTree::Model const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
 int _wrap_AccelerometerSensor_predictMeasurement(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::AccelerometerSensor *arg1 = (iDynTree::AccelerometerSensor *) 0 ;
   iDynTree::SpatialAcc *arg2 = 0 ;
@@ -63750,41 +65023,6 @@ int _wrap_GyroscopeSensor_updateIndices(int resc, mxArray *resv[], int argc, mxA
 }
 
 
-int _wrap_GyroscopeSensor_updateIndeces(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::GyroscopeSensor *arg1 = (iDynTree::GyroscopeSensor *) 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("GyroscopeSensor_updateIndeces",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__GyroscopeSensor, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "GyroscopeSensor_updateIndeces" "', argument " "1"" of type '" "iDynTree::GyroscopeSensor *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::GyroscopeSensor * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "GyroscopeSensor_updateIndeces" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "GyroscopeSensor_updateIndeces" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  result = (bool)(arg1)->updateIndeces((iDynTree::Model const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
 int _wrap_GyroscopeSensor_predictMeasurement(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::GyroscopeSensor *arg1 = (iDynTree::GyroscopeSensor *) 0 ;
   iDynTree::Twist *arg2 = 0 ;
@@ -64263,7 +65501,7 @@ int _wrap_ThreeAxisAngularAccelerometerSensor_updateIndices(int resc, mxArray *r
 }
 
 
-int _wrap_ThreeAxisAngularAccelerometerSensor_predictMeasurement__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_ThreeAxisAngularAccelerometerSensor_predictMeasurement(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::ThreeAxisAngularAccelerometerSensor *arg1 = (iDynTree::ThreeAxisAngularAccelerometerSensor *) 0 ;
   iDynTree::SpatialAcc *arg2 = 0 ;
   void *argp1 = 0 ;
@@ -64298,95 +65536,6 @@ int _wrap_ThreeAxisAngularAccelerometerSensor_predictMeasurement__SWIG_0(int res
 }
 
 
-int _wrap_ThreeAxisAngularAccelerometerSensor_predictMeasurement__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ThreeAxisAngularAccelerometerSensor *arg1 = (iDynTree::ThreeAxisAngularAccelerometerSensor *) 0 ;
-  iDynTree::SpatialAcc *arg2 = 0 ;
-  iDynTree::Twist *arg3 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  mxArray * _out;
-  iDynTree::Vector3 result;
-  
-  if (!SWIG_check_num_args("ThreeAxisAngularAccelerometerSensor_predictMeasurement",argc,3,3,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ThreeAxisAngularAccelerometerSensor, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ThreeAxisAngularAccelerometerSensor_predictMeasurement" "', argument " "1"" of type '" "iDynTree::ThreeAxisAngularAccelerometerSensor *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ThreeAxisAngularAccelerometerSensor * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpatialAcc,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ThreeAxisAngularAccelerometerSensor_predictMeasurement" "', argument " "2"" of type '" "iDynTree::SpatialAcc const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ThreeAxisAngularAccelerometerSensor_predictMeasurement" "', argument " "2"" of type '" "iDynTree::SpatialAcc const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::SpatialAcc * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Twist,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ThreeAxisAngularAccelerometerSensor_predictMeasurement" "', argument " "3"" of type '" "iDynTree::Twist const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ThreeAxisAngularAccelerometerSensor_predictMeasurement" "', argument " "3"" of type '" "iDynTree::Twist const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::Twist * >(argp3);
-  result = (arg1)->predictMeasurement((iDynTree::SpatialAcc const &)*arg2,(iDynTree::Twist const &)*arg3);
-  _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_ThreeAxisAngularAccelerometerSensor_predictMeasurement(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ThreeAxisAngularAccelerometerSensor, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpatialAcc, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_ThreeAxisAngularAccelerometerSensor_predictMeasurement__SWIG_0(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ThreeAxisAngularAccelerometerSensor, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpatialAcc, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__Twist, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_ThreeAxisAngularAccelerometerSensor_predictMeasurement__SWIG_1(resc,resv,argc,argv);
-        }
-      }
-    }
-  }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ThreeAxisAngularAccelerometerSensor_predictMeasurement'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::ThreeAxisAngularAccelerometerSensor::predictMeasurement(iDynTree::SpatialAcc const &)\n"
-    "    iDynTree::ThreeAxisAngularAccelerometerSensor::predictMeasurement(iDynTree::SpatialAcc const &,iDynTree::Twist const &)\n");
-  return 1;
-}
-
-
 int _wrap_new_ThreeAxisForceTorqueContactSensor__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
   iDynTree::ThreeAxisForceTorqueContactSensor *result = 0 ;
@@ -65232,8 +66381,92 @@ int _wrap_predictSensorsMeasurementsFromRawBuffers(int resc, mxArray *resv[], in
 }
 
 
-int _wrap_URDFParserOptions_addSensorFramesAsAdditionalFrames_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::URDFParserOptions *arg1 = (iDynTree::URDFParserOptions *) 0 ;
+int _wrap_dofsListFromURDF(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::string *arg1 = 0 ;
+  std::vector< std::string,std::allocator< std::string > > *arg2 = 0 ;
+  int res1 = SWIG_OLDOBJ ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("dofsListFromURDF",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  {
+    std::string *ptr = (std::string *)0;
+    res1 = SWIG_AsPtr_std_string(argv[0], &ptr);
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "dofsListFromURDF" "', argument " "1"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dofsListFromURDF" "', argument " "1"" of type '" "std::string const &""'"); 
+    }
+    arg1 = ptr;
+  }
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__vectorT_std__string_std__allocatorT_std__string_t_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "dofsListFromURDF" "', argument " "2"" of type '" "std::vector< std::string,std::allocator< std::string > > &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dofsListFromURDF" "', argument " "2"" of type '" "std::vector< std::string,std::allocator< std::string > > &""'"); 
+  }
+  arg2 = reinterpret_cast< std::vector< std::string,std::allocator< std::string > > * >(argp2);
+  result = (bool)iDynTree::dofsListFromURDF((std::string const &)*arg1,*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res1)) delete arg1;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res1)) delete arg1;
+  return 1;
+}
+
+
+int _wrap_dofsListFromURDFString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  std::string *arg1 = 0 ;
+  std::vector< std::string,std::allocator< std::string > > *arg2 = 0 ;
+  int res1 = SWIG_OLDOBJ ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("dofsListFromURDFString",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  {
+    std::string *ptr = (std::string *)0;
+    res1 = SWIG_AsPtr_std_string(argv[0], &ptr);
+    if (!SWIG_IsOK(res1)) {
+      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "dofsListFromURDFString" "', argument " "1"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dofsListFromURDFString" "', argument " "1"" of type '" "std::string const &""'"); 
+    }
+    arg1 = ptr;
+  }
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__vectorT_std__string_std__allocatorT_std__string_t_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "dofsListFromURDFString" "', argument " "2"" of type '" "std::vector< std::string,std::allocator< std::string > > &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dofsListFromURDFString" "', argument " "2"" of type '" "std::vector< std::string,std::allocator< std::string > > &""'"); 
+  }
+  arg2 = reinterpret_cast< std::vector< std::string,std::allocator< std::string > > * >(argp2);
+  result = (bool)iDynTree::dofsListFromURDFString((std::string const &)*arg1,*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res1)) delete arg1;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res1)) delete arg1;
+  return 1;
+}
+
+
+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 ;
@@ -65241,17 +66474,17 @@ int _wrap_URDFParserOptions_addSensorFramesAsAdditionalFrames_set(int resc, mxAr
   int ecode2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("URDFParserOptions_addSensorFramesAsAdditionalFrames_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("ModelParserOptions_addSensorFramesAsAdditionalFrames_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__URDFParserOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelParserOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "URDFParserOptions_addSensorFramesAsAdditionalFrames_set" "', argument " "1"" of type '" "iDynTree::URDFParserOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelParserOptions_addSensorFramesAsAdditionalFrames_set" "', argument " "1"" of type '" "iDynTree::ModelParserOptions *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::URDFParserOptions * >(argp1);
+  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 '" "URDFParserOptions_addSensorFramesAsAdditionalFrames_set" "', argument " "2"" of type '" "bool""'");
+    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;
@@ -65263,21 +66496,21 @@ int _wrap_URDFParserOptions_addSensorFramesAsAdditionalFrames_set(int resc, mxAr
 }
 
 
-int _wrap_URDFParserOptions_addSensorFramesAsAdditionalFrames_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::URDFParserOptions *arg1 = (iDynTree::URDFParserOptions *) 0 ;
+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("URDFParserOptions_addSensorFramesAsAdditionalFrames_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("ModelParserOptions_addSensorFramesAsAdditionalFrames_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__URDFParserOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelParserOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "URDFParserOptions_addSensorFramesAsAdditionalFrames_get" "', argument " "1"" of type '" "iDynTree::URDFParserOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelParserOptions_addSensorFramesAsAdditionalFrames_get" "', argument " "1"" of type '" "iDynTree::ModelParserOptions *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::URDFParserOptions * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::ModelParserOptions * >(argp1);
   result = (bool) ((arg1)->addSensorFramesAsAdditionalFrames);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
@@ -65287,30 +66520,30 @@ int _wrap_URDFParserOptions_addSensorFramesAsAdditionalFrames_get(int resc, mxAr
 }
 
 
-int _wrap_URDFParserOptions_originalFilename_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::URDFParserOptions *arg1 = (iDynTree::URDFParserOptions *) 0 ;
+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("URDFParserOptions_originalFilename_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("ModelParserOptions_originalFilename_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__URDFParserOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelParserOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "URDFParserOptions_originalFilename_set" "', argument " "1"" of type '" "iDynTree::URDFParserOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelParserOptions_originalFilename_set" "', argument " "1"" of type '" "iDynTree::ModelParserOptions *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::URDFParserOptions * >(argp1);
+  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 '" "URDFParserOptions_originalFilename_set" "', argument " "2"" of type '" "std::string const &""'"); 
+      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 '" "URDFParserOptions_originalFilename_set" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelParserOptions_originalFilename_set" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     arg2 = ptr;
   }
@@ -65325,21 +66558,21 @@ int _wrap_URDFParserOptions_originalFilename_set(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_URDFParserOptions_originalFilename_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::URDFParserOptions *arg1 = (iDynTree::URDFParserOptions *) 0 ;
+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("URDFParserOptions_originalFilename_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("ModelParserOptions_originalFilename_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__URDFParserOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelParserOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "URDFParserOptions_originalFilename_get" "', argument " "1"" of type '" "iDynTree::URDFParserOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelParserOptions_originalFilename_get" "', argument " "1"" of type '" "iDynTree::ModelParserOptions *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::URDFParserOptions * >(argp1);
+  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;
@@ -65349,16 +66582,16 @@ int _wrap_URDFParserOptions_originalFilename_get(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_new_URDFParserOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_new_ModelParserOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
-  iDynTree::URDFParserOptions *result = 0 ;
+  iDynTree::ModelParserOptions *result = 0 ;
   
-  if (!SWIG_check_num_args("new_URDFParserOptions",argc,0,0,0)) {
+  if (!SWIG_check_num_args("new_ModelParserOptions",argc,0,0,0)) {
     SWIG_fail;
   }
   (void)argv;
-  result = (iDynTree::URDFParserOptions *)new iDynTree::URDFParserOptions();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__URDFParserOptions, 1 |  0 );
+  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:
@@ -65366,22 +66599,22 @@ int _wrap_new_URDFParserOptions(int resc, mxArray *resv[], int argc, mxArray *ar
 }
 
 
-int _wrap_delete_URDFParserOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::URDFParserOptions *arg1 = (iDynTree::URDFParserOptions *) 0 ;
+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_URDFParserOptions",argc,1,1,0)) {
+  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__URDFParserOptions, SWIG_POINTER_DISOWN |  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_URDFParserOptions" "', argument " "1"" of type '" "iDynTree::URDFParserOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ModelParserOptions" "', argument " "1"" of type '" "iDynTree::ModelParserOptions *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::URDFParserOptions * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::ModelParserOptions * >(argp1);
   if (is_owned) {
     delete arg1;
   }
@@ -65393,642 +66626,982 @@ int _wrap_delete_URDFParserOptions(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_modelFromURDF__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  std::string *arg1 = 0 ;
-  iDynTree::Model *arg2 = 0 ;
-  iDynTree::URDFParserOptions arg3 ;
-  int res1 = SWIG_OLDOBJ ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
+int _wrap_new_ModelLoader(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
-  bool result;
+  iDynTree::ModelLoader *result = 0 ;
   
-  if (!SWIG_check_num_args("modelFromURDF",argc,3,3,0)) {
+  if (!SWIG_check_num_args("new_ModelLoader",argc,0,0,0)) {
     SWIG_fail;
   }
-  {
-    std::string *ptr = (std::string *)0;
-    res1 = SWIG_AsPtr_std_string(argv[0], &ptr);
-    if (!SWIG_IsOK(res1)) {
-      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "modelFromURDF" "', argument " "1"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "modelFromURDF" "', argument " "1"" of type '" "std::string const &""'"); 
-    }
-    arg1 = ptr;
-  }
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "modelFromURDF" "', argument " "2"" of type '" "iDynTree::Model &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "modelFromURDF" "', argument " "2"" of type '" "iDynTree::Model &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  {
-    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__URDFParserOptions,  0 );
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "modelFromURDF" "', argument " "3"" of type '" "iDynTree::URDFParserOptions const""'"); 
-    }  
-    if (!argp3) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "modelFromURDF" "', argument " "3"" of type '" "iDynTree::URDFParserOptions const""'");
-    } else {
-      arg3 = *(reinterpret_cast< iDynTree::URDFParserOptions * >(argp3));
-    }
-  }
-  result = (bool)iDynTree::modelFromURDF((std::string const &)*arg1,*arg2,arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  (void)argv;
+  result = (iDynTree::ModelLoader *)new iDynTree::ModelLoader();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ModelLoader, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res1)) delete arg1;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res1)) delete arg1;
   return 1;
 }
 
 
-int _wrap_modelFromURDF__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  std::string *arg1 = 0 ;
-  iDynTree::Model *arg2 = 0 ;
-  int res1 = SWIG_OLDOBJ ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+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;
-  bool result;
   
-  if (!SWIG_check_num_args("modelFromURDF",argc,2,2,0)) {
+  int is_owned;
+  if (!SWIG_check_num_args("delete_ModelLoader",argc,1,1,0)) {
     SWIG_fail;
   }
-  {
-    std::string *ptr = (std::string *)0;
-    res1 = SWIG_AsPtr_std_string(argv[0], &ptr);
-    if (!SWIG_IsOK(res1)) {
-      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "modelFromURDF" "', argument " "1"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "modelFromURDF" "', argument " "1"" of type '" "std::string const &""'"); 
-    }
-    arg1 = ptr;
-  }
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "modelFromURDF" "', argument " "2"" of type '" "iDynTree::Model &""'"); 
+  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 *""'"); 
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "modelFromURDF" "', argument " "2"" of type '" "iDynTree::Model &""'"); 
+  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
+  if (is_owned) {
+    delete arg1;
   }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  result = (bool)iDynTree::modelFromURDF((std::string const &)*arg1,*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res1)) delete arg1;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res1)) delete arg1;
   return 1;
 }
 
 
-int _wrap_modelFromURDF(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    int res = SWIG_AsPtr_std_string(argv[0], (std::string**)(0));
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_modelFromURDF__SWIG_1(resc,resv,argc,argv);
-      }
-    }
+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;
   }
-  if (argc == 3) {
-    int _v;
-    int res = SWIG_AsPtr_std_string(argv[0], (std::string**)(0));
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__URDFParserOptions, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_modelFromURDF__SWIG_0(resc,resv,argc,argv);
-        }
-      }
-    }
+  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 *""'"); 
   }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'modelFromURDF'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::modelFromURDF(std::string const &,iDynTree::Model &,iDynTree::URDFParserOptions const)\n"
-    "    iDynTree::modelFromURDF(std::string const &,iDynTree::Model &)\n");
+  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_modelFromURDFString__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  std::string *arg1 = 0 ;
-  iDynTree::Model *arg2 = 0 ;
-  iDynTree::URDFParserOptions arg3 ;
-  int res1 = SWIG_OLDOBJ ;
-  void *argp2 = 0 ;
+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 ;
-  void *argp3 ;
-  int res3 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("modelFromURDFString",argc,3,3,0)) {
+  if (!SWIG_check_num_args("ModelLoader_setParsingOptions",argc,2,2,0)) {
     SWIG_fail;
   }
-  {
-    std::string *ptr = (std::string *)0;
-    res1 = SWIG_AsPtr_std_string(argv[0], &ptr);
-    if (!SWIG_IsOK(res1)) {
-      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "modelFromURDFString" "', argument " "1"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "modelFromURDFString" "', argument " "1"" of type '" "std::string const &""'"); 
-    }
-    arg1 = ptr;
+  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 *""'"); 
   }
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  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 '" "modelFromURDFString" "', argument " "2"" of type '" "iDynTree::Model &""'"); 
+    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 '" "modelFromURDFString" "', argument " "2"" of type '" "iDynTree::Model &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  {
-    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__URDFParserOptions,  0 );
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "modelFromURDFString" "', argument " "3"" of type '" "iDynTree::URDFParserOptions const""'"); 
-    }  
-    if (!argp3) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "modelFromURDFString" "', argument " "3"" of type '" "iDynTree::URDFParserOptions const""'");
-    } else {
-      arg3 = *(reinterpret_cast< iDynTree::URDFParserOptions * >(argp3));
-    }
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_setParsingOptions" "', argument " "2"" of type '" "iDynTree::ModelParserOptions const &""'"); 
   }
-  result = (bool)iDynTree::modelFromURDFString((std::string const &)*arg1,*arg2,arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg2 = reinterpret_cast< iDynTree::ModelParserOptions * >(argp2);
+  (arg1)->setParsingOptions((iDynTree::ModelParserOptions const &)*arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res1)) delete arg1;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res1)) delete arg1;
   return 1;
 }
 
 
-int _wrap_modelFromURDFString__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  std::string *arg1 = 0 ;
-  iDynTree::Model *arg2 = 0 ;
-  int res1 = SWIG_OLDOBJ ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+int _wrap_ModelLoader_loadModelFromString__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
+  std::string *arg2 = 0 ;
+  std::string *arg3 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  int res3 = SWIG_OLDOBJ ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("modelFromURDFString",argc,2,2,0)) {
+  if (!SWIG_check_num_args("ModelLoader_loadModelFromString",argc,3,3,0)) {
     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_loadModelFromString" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
   {
     std::string *ptr = (std::string *)0;
-    res1 = SWIG_AsPtr_std_string(argv[0], &ptr);
-    if (!SWIG_IsOK(res1)) {
-      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "modelFromURDFString" "', argument " "1"" of type '" "std::string const &""'"); 
+    res2 = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelLoader_loadModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "modelFromURDFString" "', argument " "1"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
     }
-    arg1 = ptr;
+    arg2 = ptr;
   }
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "modelFromURDFString" "', argument " "2"" of type '" "iDynTree::Model &""'"); 
+  {
+    std::string *ptr = (std::string *)0;
+    res3 = SWIG_AsPtr_std_string(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelLoader_loadModelFromString" "', argument " "3"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadModelFromString" "', argument " "3"" of type '" "std::string const &""'"); 
+    }
+    arg3 = ptr;
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "modelFromURDFString" "', argument " "2"" of type '" "iDynTree::Model &""'"); 
+  result = (bool)(arg1)->loadModelFromString((std::string const &)*arg2,(std::string const &)*arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res2)) delete arg2;
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res2)) delete arg2;
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 1;
+}
+
+
+int _wrap_ModelLoader_loadModelFromString__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
+  std::string *arg2 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("ModelLoader_loadModelFromString",argc,2,2,0)) {
+    SWIG_fail;
   }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  result = (bool)iDynTree::modelFromURDFString((std::string const &)*arg1,*arg2);
+  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_loadModelFromString" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(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 '" "ModelLoader_loadModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
+  }
+  result = (bool)(arg1)->loadModelFromString((std::string const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res1)) delete arg1;
+  if (SWIG_IsNewObj(res2)) delete arg2;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res1)) delete arg1;
+  if (SWIG_IsNewObj(res2)) delete arg2;
   return 1;
 }
 
 
-int _wrap_modelFromURDFString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_ModelLoader_loadModelFromString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 2) {
     int _v;
-    int res = SWIG_AsPtr_std_string(argv[0], (std::string**)(0));
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_modelFromURDFString__SWIG_1(resc,resv,argc,argv);
+        return _wrap_ModelLoader_loadModelFromString__SWIG_1(resc,resv,argc,argv);
       }
     }
   }
   if (argc == 3) {
     int _v;
-    int res = SWIG_AsPtr_std_string(argv[0], (std::string**)(0));
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
       _v = SWIG_CheckState(res);
       if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__URDFParserOptions, 0);
+        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
         _v = SWIG_CheckState(res);
         if (_v) {
-          return _wrap_modelFromURDFString__SWIG_0(resc,resv,argc,argv);
+          return _wrap_ModelLoader_loadModelFromString__SWIG_0(resc,resv,argc,argv);
         }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'modelFromURDFString'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelLoader_loadModelFromString'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::modelFromURDFString(std::string const &,iDynTree::Model &,iDynTree::URDFParserOptions const)\n"
-    "    iDynTree::modelFromURDFString(std::string const &,iDynTree::Model &)\n");
+    "    iDynTree::ModelLoader::loadModelFromString(std::string const &,std::string const &)\n"
+    "    iDynTree::ModelLoader::loadModelFromString(std::string const &)\n");
   return 1;
 }
 
 
-int _wrap_dofsListFromURDF(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  std::string *arg1 = 0 ;
-  std::vector< std::string,std::allocator< std::string > > *arg2 = 0 ;
-  int res1 = SWIG_OLDOBJ ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+int _wrap_ModelLoader_loadModelFromFile__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
+  std::string *arg2 = 0 ;
+  std::string *arg3 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  int res3 = SWIG_OLDOBJ ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("dofsListFromURDF",argc,2,2,0)) {
+  if (!SWIG_check_num_args("ModelLoader_loadModelFromFile",argc,3,3,0)) {
     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_loadModelFromFile" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
   {
     std::string *ptr = (std::string *)0;
-    res1 = SWIG_AsPtr_std_string(argv[0], &ptr);
-    if (!SWIG_IsOK(res1)) {
-      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "dofsListFromURDF" "', argument " "1"" of type '" "std::string const &""'"); 
+    res2 = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelLoader_loadModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dofsListFromURDF" "', argument " "1"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
     }
-    arg1 = ptr;
-  }
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__vectorT_std__string_std__allocatorT_std__string_t_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "dofsListFromURDF" "', argument " "2"" of type '" "std::vector< std::string,std::allocator< std::string > > &""'"); 
+    arg2 = ptr;
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dofsListFromURDF" "', argument " "2"" of type '" "std::vector< std::string,std::allocator< std::string > > &""'"); 
+  {
+    std::string *ptr = (std::string *)0;
+    res3 = SWIG_AsPtr_std_string(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelLoader_loadModelFromFile" "', argument " "3"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadModelFromFile" "', argument " "3"" of type '" "std::string const &""'"); 
+    }
+    arg3 = ptr;
   }
-  arg2 = reinterpret_cast< std::vector< std::string,std::allocator< std::string > > * >(argp2);
-  result = (bool)iDynTree::dofsListFromURDF((std::string const &)*arg1,*arg2);
+  result = (bool)(arg1)->loadModelFromFile((std::string const &)*arg2,(std::string const &)*arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res1)) delete arg1;
+  if (SWIG_IsNewObj(res2)) delete arg2;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res1)) delete arg1;
+  if (SWIG_IsNewObj(res2)) delete arg2;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_dofsListFromURDFString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  std::string *arg1 = 0 ;
-  std::vector< std::string,std::allocator< std::string > > *arg2 = 0 ;
-  int res1 = SWIG_OLDOBJ ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+int _wrap_ModelLoader_loadModelFromFile__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
+  std::string *arg2 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("dofsListFromURDFString",argc,2,2,0)) {
+  if (!SWIG_check_num_args("ModelLoader_loadModelFromFile",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_loadModelFromFile" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
   {
     std::string *ptr = (std::string *)0;
-    res1 = SWIG_AsPtr_std_string(argv[0], &ptr);
-    if (!SWIG_IsOK(res1)) {
-      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "dofsListFromURDFString" "', argument " "1"" of type '" "std::string const &""'"); 
+    res2 = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelLoader_loadModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dofsListFromURDFString" "', argument " "1"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
     }
-    arg1 = ptr;
-  }
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__vectorT_std__string_std__allocatorT_std__string_t_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "dofsListFromURDFString" "', argument " "2"" of type '" "std::vector< std::string,std::allocator< std::string > > &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dofsListFromURDFString" "', argument " "2"" of type '" "std::vector< std::string,std::allocator< std::string > > &""'"); 
+    arg2 = ptr;
   }
-  arg2 = reinterpret_cast< std::vector< std::string,std::allocator< std::string > > * >(argp2);
-  result = (bool)iDynTree::dofsListFromURDFString((std::string const &)*arg1,*arg2);
+  result = (bool)(arg1)->loadModelFromFile((std::string const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res1)) delete arg1;
+  if (SWIG_IsNewObj(res2)) delete arg2;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res1)) delete arg1;
+  if (SWIG_IsNewObj(res2)) delete arg2;
   return 1;
 }
 
 
-int _wrap_sensorsFromURDF__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  std::string *arg1 = 0 ;
-  iDynTree::SensorsList *arg2 = 0 ;
-  int res1 = SWIG_OLDOBJ ;
-  void *argp2 = 0 ;
+int _wrap_ModelLoader_loadModelFromFile(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_ModelLoader_loadModelFromFile__SWIG_1(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_ModelLoader_loadModelFromFile__SWIG_0(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelLoader_loadModelFromFile'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::ModelLoader::loadModelFromFile(std::string const &,std::string const &)\n"
+    "    iDynTree::ModelLoader::loadModelFromFile(std::string const &)\n");
+  return 1;
+}
+
+
+int _wrap_ModelLoader_loadReducedModelFromFullModel__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
+  iDynTree::Model *arg2 = 0 ;
+  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
+  std::string arg4 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
+  int res3 = SWIG_OLDOBJ ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("sensorsFromURDF",argc,2,2,0)) {
+  if (!SWIG_check_num_args("ModelLoader_loadReducedModelFromFullModel",argc,4,4,0)) {
     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_loadReducedModelFromFullModel" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
   {
-    std::string *ptr = (std::string *)0;
-    res1 = SWIG_AsPtr_std_string(argv[0], &ptr);
-    if (!SWIG_IsOK(res1)) {
-      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "sensorsFromURDF" "', argument " "1"" of type '" "std::string const &""'"); 
+    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
+    res3 = swig::asptr(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "sensorsFromURDF" "', argument " "1"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
     }
-    arg1 = ptr;
-  }
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SensorsList,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "sensorsFromURDF" "', argument " "2"" of type '" "iDynTree::SensorsList &""'"); 
+    arg3 = ptr;
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "sensorsFromURDF" "', argument " "2"" of type '" "iDynTree::SensorsList &""'"); 
+  {
+    std::string *ptr = (std::string *)0;
+    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "4"" of type '" "std::string const""'"); 
+    }
+    arg4 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
   }
-  arg2 = reinterpret_cast< iDynTree::SensorsList * >(argp2);
-  result = (bool)iDynTree::sensorsFromURDF((std::string const &)*arg1,*arg2);
+  result = (bool)(arg1)->loadReducedModelFromFullModel((iDynTree::Model const &)*arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3,arg4);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res1)) delete arg1;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res1)) delete arg1;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_sensorsFromURDF__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  std::string *arg1 = 0 ;
+int _wrap_ModelLoader_loadReducedModelFromFullModel__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
   iDynTree::Model *arg2 = 0 ;
-  iDynTree::SensorsList *arg3 = 0 ;
-  int res1 = SWIG_OLDOBJ ;
+  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
+  int res3 = SWIG_OLDOBJ ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("sensorsFromURDF",argc,3,3,0)) {
+  if (!SWIG_check_num_args("ModelLoader_loadReducedModelFromFullModel",argc,3,3,0)) {
     SWIG_fail;
   }
-  {
-    std::string *ptr = (std::string *)0;
-    res1 = SWIG_AsPtr_std_string(argv[0], &ptr);
-    if (!SWIG_IsOK(res1)) {
-      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "sensorsFromURDF" "', argument " "1"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "sensorsFromURDF" "', argument " "1"" of type '" "std::string const &""'"); 
-    }
-    arg1 = ptr;
+  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_loadReducedModelFromFullModel" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
   }
+  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "sensorsFromURDF" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "sensorsFromURDF" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsList,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "sensorsFromURDF" "', argument " "3"" of type '" "iDynTree::SensorsList &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "sensorsFromURDF" "', argument " "3"" of type '" "iDynTree::SensorsList &""'"); 
+  {
+    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
+    res3 = swig::asptr(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+    }
+    arg3 = ptr;
   }
-  arg3 = reinterpret_cast< iDynTree::SensorsList * >(argp3);
-  result = (bool)iDynTree::sensorsFromURDF((std::string const &)*arg1,(iDynTree::Model const &)*arg2,*arg3);
+  result = (bool)(arg1)->loadReducedModelFromFullModel((iDynTree::Model const &)*arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res1)) delete arg1;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res1)) delete arg1;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_sensorsFromURDF(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
+int _wrap_ModelLoader_loadReducedModelFromFullModel(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 3) {
     int _v;
-    int res = SWIG_AsPtr_std_string(argv[0], (std::string**)(0));
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SensorsList, 0);
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_sensorsFromURDF__SWIG_0(resc,resv,argc,argv);
+        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_ModelLoader_loadReducedModelFromFullModel__SWIG_1(resc,resv,argc,argv);
+        }
       }
     }
   }
-  if (argc == 3) {
+  if (argc == 4) {
     int _v;
-    int res = SWIG_AsPtr_std_string(argv[0], (std::string**)(0));
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       void *vptr = 0;
       int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SensorsList, 0);
+        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
         _v = SWIG_CheckState(res);
         if (_v) {
-          return _wrap_sensorsFromURDF__SWIG_1(resc,resv,argc,argv);
+          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_ModelLoader_loadReducedModelFromFullModel__SWIG_0(resc,resv,argc,argv);
+          }
         }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'sensorsFromURDF'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelLoader_loadReducedModelFromFullModel'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::sensorsFromURDF(std::string const &,iDynTree::SensorsList &)\n"
-    "    iDynTree::sensorsFromURDF(std::string const &,iDynTree::Model const &,iDynTree::SensorsList &)\n");
+    "    iDynTree::ModelLoader::loadReducedModelFromFullModel(iDynTree::Model const &,std::vector< std::string,std::allocator< std::string > > const &,std::string const)\n"
+    "    iDynTree::ModelLoader::loadReducedModelFromFullModel(iDynTree::Model const &,std::vector< std::string,std::allocator< std::string > > const &)\n");
   return 1;
 }
 
 
-int _wrap_sensorsFromURDFString__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  std::string *arg1 = 0 ;
-  iDynTree::SensorsList *arg2 = 0 ;
-  int res1 = SWIG_OLDOBJ ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+int _wrap_ModelLoader_loadReducedModelFromString__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
+  std::string arg2 ;
+  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
+  std::string arg4 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int res3 = SWIG_OLDOBJ ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("sensorsFromURDFString",argc,2,2,0)) {
+  if (!SWIG_check_num_args("ModelLoader_loadReducedModelFromString",argc,4,4,0)) {
     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_loadReducedModelFromString" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
   {
     std::string *ptr = (std::string *)0;
-    res1 = SWIG_AsPtr_std_string(argv[0], &ptr);
-    if (!SWIG_IsOK(res1)) {
-      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "sensorsFromURDFString" "', argument " "1"" of type '" "std::string const &""'"); 
+    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelLoader_loadReducedModelFromString" "', argument " "2"" of type '" "std::string const""'"); 
+    }
+    arg2 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  {
+    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
+    res3 = swig::asptr(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelLoader_loadReducedModelFromString" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "sensorsFromURDFString" "', argument " "1"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadReducedModelFromString" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
     }
-    arg1 = ptr;
-  }
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SensorsList,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "sensorsFromURDFString" "', argument " "2"" of type '" "iDynTree::SensorsList &""'"); 
+    arg3 = ptr;
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "sensorsFromURDFString" "', argument " "2"" of type '" "iDynTree::SensorsList &""'"); 
+  {
+    std::string *ptr = (std::string *)0;
+    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelLoader_loadReducedModelFromString" "', argument " "4"" of type '" "std::string const""'"); 
+    }
+    arg4 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
   }
-  arg2 = reinterpret_cast< iDynTree::SensorsList * >(argp2);
-  result = (bool)iDynTree::sensorsFromURDFString((std::string const &)*arg1,*arg2);
+  result = (bool)(arg1)->loadReducedModelFromString(arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3,arg4);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res1)) delete arg1;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res1)) delete arg1;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_sensorsFromURDFString__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  std::string *arg1 = 0 ;
-  iDynTree::Model *arg2 = 0 ;
-  iDynTree::SensorsList *arg3 = 0 ;
-  int res1 = SWIG_OLDOBJ ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
+int _wrap_ModelLoader_loadReducedModelFromString__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
+  std::string arg2 ;
+  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int res3 = SWIG_OLDOBJ ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("sensorsFromURDFString",argc,3,3,0)) {
+  if (!SWIG_check_num_args("ModelLoader_loadReducedModelFromString",argc,3,3,0)) {
     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_loadReducedModelFromString" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
   {
     std::string *ptr = (std::string *)0;
-    res1 = SWIG_AsPtr_std_string(argv[0], &ptr);
-    if (!SWIG_IsOK(res1)) {
-      SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "sensorsFromURDFString" "', argument " "1"" of type '" "std::string const &""'"); 
+    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelLoader_loadReducedModelFromString" "', argument " "2"" of type '" "std::string const""'"); 
+    }
+    arg2 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  {
+    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
+    res3 = swig::asptr(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelLoader_loadReducedModelFromString" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "sensorsFromURDFString" "', argument " "1"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadReducedModelFromString" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
     }
-    arg1 = ptr;
-  }
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "sensorsFromURDFString" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "sensorsFromURDFString" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsList,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "sensorsFromURDFString" "', argument " "3"" of type '" "iDynTree::SensorsList &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "sensorsFromURDFString" "', argument " "3"" of type '" "iDynTree::SensorsList &""'"); 
+    arg3 = ptr;
   }
-  arg3 = reinterpret_cast< iDynTree::SensorsList * >(argp3);
-  result = (bool)iDynTree::sensorsFromURDFString((std::string const &)*arg1,(iDynTree::Model const &)*arg2,*arg3);
+  result = (bool)(arg1)->loadReducedModelFromString(arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res1)) delete arg1;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res1)) delete arg1;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_sensorsFromURDFString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
+int _wrap_ModelLoader_loadReducedModelFromString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 3) {
     int _v;
-    int res = SWIG_AsPtr_std_string(argv[0], (std::string**)(0));
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SensorsList, 0);
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_sensorsFromURDFString__SWIG_0(resc,resv,argc,argv);
+        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_ModelLoader_loadReducedModelFromString__SWIG_1(resc,resv,argc,argv);
+        }
       }
     }
   }
-  if (argc == 3) {
+  if (argc == 4) {
     int _v;
-    int res = SWIG_AsPtr_std_string(argv[0], (std::string**)(0));
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
       _v = SWIG_CheckState(res);
       if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SensorsList, 0);
+        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
         _v = SWIG_CheckState(res);
         if (_v) {
-          return _wrap_sensorsFromURDFString__SWIG_1(resc,resv,argc,argv);
+          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_ModelLoader_loadReducedModelFromString__SWIG_0(resc,resv,argc,argv);
+          }
         }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'sensorsFromURDFString'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelLoader_loadReducedModelFromString'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::sensorsFromURDFString(std::string const &,iDynTree::SensorsList &)\n"
-    "    iDynTree::sensorsFromURDFString(std::string const &,iDynTree::Model const &,iDynTree::SensorsList &)\n");
+    "    iDynTree::ModelLoader::loadReducedModelFromString(std::string const,std::vector< std::string,std::allocator< std::string > > const &,std::string const)\n"
+    "    iDynTree::ModelLoader::loadReducedModelFromString(std::string const,std::vector< std::string,std::allocator< std::string > > const &)\n");
   return 1;
 }
 
 
-int _wrap_ModelParserOptions_addSensorFramesAsAdditionalFrames_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelParserOptions *arg1 = (iDynTree::ModelParserOptions *) 0 ;
+int _wrap_ModelLoader_loadReducedModelFromFile__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
+  std::string arg2 ;
+  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
+  std::string arg4 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int res3 = SWIG_OLDOBJ ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("ModelLoader_loadReducedModelFromFile",argc,4,4,0)) {
+    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_loadReducedModelFromFile" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
+  {
+    std::string *ptr = (std::string *)0;
+    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelLoader_loadReducedModelFromFile" "', argument " "2"" of type '" "std::string const""'"); 
+    }
+    arg2 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  {
+    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
+    res3 = swig::asptr(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelLoader_loadReducedModelFromFile" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadReducedModelFromFile" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+    }
+    arg3 = ptr;
+  }
+  {
+    std::string *ptr = (std::string *)0;
+    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelLoader_loadReducedModelFromFile" "', argument " "4"" of type '" "std::string const""'"); 
+    }
+    arg4 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  result = (bool)(arg1)->loadReducedModelFromFile(arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3,arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 1;
+}
+
+
+int _wrap_ModelLoader_loadReducedModelFromFile__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
+  std::string arg2 ;
+  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int res3 = SWIG_OLDOBJ ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("ModelLoader_loadReducedModelFromFile",argc,3,3,0)) {
+    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_loadReducedModelFromFile" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
+  {
+    std::string *ptr = (std::string *)0;
+    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelLoader_loadReducedModelFromFile" "', argument " "2"" of type '" "std::string const""'"); 
+    }
+    arg2 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  {
+    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
+    res3 = swig::asptr(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelLoader_loadReducedModelFromFile" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadReducedModelFromFile" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+    }
+    arg3 = ptr;
+  }
+  result = (bool)(arg1)->loadReducedModelFromFile(arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 1;
+}
+
+
+int _wrap_ModelLoader_loadReducedModelFromFile(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_ModelLoader_loadReducedModelFromFile__SWIG_1(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_ModelLoader_loadReducedModelFromFile__SWIG_0(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelLoader_loadReducedModelFromFile'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::ModelLoader::loadReducedModelFromFile(std::string const,std::vector< std::string,std::allocator< std::string > > const &,std::string const)\n"
+    "    iDynTree::ModelLoader::loadReducedModelFromFile(std::string const,std::vector< std::string,std::allocator< std::string > > const &)\n");
+  return 1;
+}
+
+
+int _wrap_ModelLoader_model(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::Model *result = 0 ;
+  
+  if (!SWIG_check_num_args("ModelLoader_model",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_model" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
+  result = (iDynTree::Model *) &(arg1)->model();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ModelLoader_sensors(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::SensorsList *result = 0 ;
+  
+  if (!SWIG_check_num_args("ModelLoader_sensors",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_sensors" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
+  result = (iDynTree::SensorsList *) &(arg1)->sensors();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SensorsList, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ModelLoader_isValid(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("ModelLoader_isValid",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_isValid" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
+  result = (bool)(arg1)->isValid();
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ModelExporterOptions_baseLink_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporterOptions *arg1 = (iDynTree::ModelExporterOptions *) 0 ;
+  std::string *arg2 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("ModelExporterOptions_baseLink_set",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporterOptions, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporterOptions_baseLink_set" "', argument " "1"" of type '" "iDynTree::ModelExporterOptions *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelExporterOptions * >(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 '" "ModelExporterOptions_baseLink_set" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporterOptions_baseLink_set" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
+  }
+  if (arg1) (arg1)->baseLink = *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_ModelExporterOptions_baseLink_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporterOptions *arg1 = (iDynTree::ModelExporterOptions *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::string *result = 0 ;
+  
+  if (!SWIG_check_num_args("ModelExporterOptions_baseLink_get",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporterOptions, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporterOptions_baseLink_get" "', argument " "1"" of type '" "iDynTree::ModelExporterOptions *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelExporterOptions * >(argp1);
+  result = (std::string *) & ((arg1)->baseLink);
+  _out = SWIG_From_std_string(static_cast< std::string >(*result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporterOptions *arg1 = (iDynTree::ModelExporterOptions *) 0 ;
   bool arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
@@ -66036,20 +67609,20 @@ int _wrap_ModelParserOptions_addSensorFramesAsAdditionalFrames_set(int resc, mxA
   int ecode2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("ModelParserOptions_addSensorFramesAsAdditionalFrames_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelParserOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporterOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelParserOptions_addSensorFramesAsAdditionalFrames_set" "', argument " "1"" of type '" "iDynTree::ModelParserOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_set" "', argument " "1"" of type '" "iDynTree::ModelExporterOptions *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelParserOptions * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::ModelExporterOptions * >(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""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_set" "', argument " "2"" of type '" "bool""'");
   } 
   arg2 = static_cast< bool >(val2);
-  if (arg1) (arg1)->addSensorFramesAsAdditionalFrames = arg2;
+  if (arg1) (arg1)->exportFirstBaseLinkAdditionalFrameAsFakeURDFBase = arg2;
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -66058,22 +67631,22 @@ int _wrap_ModelParserOptions_addSensorFramesAsAdditionalFrames_set(int resc, mxA
 }
 
 
-int _wrap_ModelParserOptions_addSensorFramesAsAdditionalFrames_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelParserOptions *arg1 = (iDynTree::ModelParserOptions *) 0 ;
+int _wrap_ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporterOptions *arg1 = (iDynTree::ModelExporterOptions *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ModelParserOptions_addSensorFramesAsAdditionalFrames_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelParserOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporterOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelParserOptions_addSensorFramesAsAdditionalFrames_get" "', argument " "1"" of type '" "iDynTree::ModelParserOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_get" "', argument " "1"" of type '" "iDynTree::ModelExporterOptions *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelParserOptions * >(argp1);
-  result = (bool) ((arg1)->addSensorFramesAsAdditionalFrames);
+  arg1 = reinterpret_cast< iDynTree::ModelExporterOptions * >(argp1);
+  result = (bool) ((arg1)->exportFirstBaseLinkAdditionalFrameAsFakeURDFBase);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -66082,34 +67655,34 @@ int _wrap_ModelParserOptions_addSensorFramesAsAdditionalFrames_get(int resc, mxA
 }
 
 
-int _wrap_ModelParserOptions_originalFilename_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelParserOptions *arg1 = (iDynTree::ModelParserOptions *) 0 ;
+int _wrap_ModelExporterOptions_robotExportedName_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporterOptions *arg1 = (iDynTree::ModelExporterOptions *) 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)) {
+  if (!SWIG_check_num_args("ModelExporterOptions_robotExportedName_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelParserOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporterOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelParserOptions_originalFilename_set" "', argument " "1"" of type '" "iDynTree::ModelParserOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporterOptions_robotExportedName_set" "', argument " "1"" of type '" "iDynTree::ModelExporterOptions *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelParserOptions * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::ModelExporterOptions * >(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 &""'"); 
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelExporterOptions_robotExportedName_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 &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporterOptions_robotExportedName_set" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     arg2 = ptr;
   }
-  if (arg1) (arg1)->originalFilename = *arg2;
+  if (arg1) (arg1)->robotExportedName = *arg2;
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   if (SWIG_IsNewObj(res2)) delete arg2;
@@ -66120,22 +67693,22 @@ int _wrap_ModelParserOptions_originalFilename_set(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_ModelParserOptions_originalFilename_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelParserOptions *arg1 = (iDynTree::ModelParserOptions *) 0 ;
+int _wrap_ModelExporterOptions_robotExportedName_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporterOptions *arg1 = (iDynTree::ModelExporterOptions *) 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)) {
+  if (!SWIG_check_num_args("ModelExporterOptions_robotExportedName_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelParserOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporterOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelParserOptions_originalFilename_get" "', argument " "1"" of type '" "iDynTree::ModelParserOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporterOptions_robotExportedName_get" "', argument " "1"" of type '" "iDynTree::ModelExporterOptions *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelParserOptions * >(argp1);
-  result = (std::string *) & ((arg1)->originalFilename);
+  arg1 = reinterpret_cast< iDynTree::ModelExporterOptions * >(argp1);
+  result = (std::string *) & ((arg1)->robotExportedName);
   _out = SWIG_From_std_string(static_cast< std::string >(*result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -66144,16 +67717,16 @@ int _wrap_ModelParserOptions_originalFilename_get(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_new_ModelParserOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_new_ModelExporterOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
-  iDynTree::ModelParserOptions *result = 0 ;
+  iDynTree::ModelExporterOptions *result = 0 ;
   
-  if (!SWIG_check_num_args("new_ModelParserOptions",argc,0,0,0)) {
+  if (!SWIG_check_num_args("new_ModelExporterOptions",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 );
+  result = (iDynTree::ModelExporterOptions *)new iDynTree::ModelExporterOptions();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ModelExporterOptions, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -66161,22 +67734,22 @@ int _wrap_new_ModelParserOptions(int resc, mxArray *resv[], int argc, mxArray *a
 }
 
 
-int _wrap_delete_ModelParserOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelParserOptions *arg1 = (iDynTree::ModelParserOptions *) 0 ;
+int _wrap_delete_ModelExporterOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporterOptions *arg1 = (iDynTree::ModelExporterOptions *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
   
   int is_owned;
-  if (!SWIG_check_num_args("delete_ModelParserOptions",argc,1,1,0)) {
+  if (!SWIG_check_num_args("delete_ModelExporterOptions",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 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporterOptions, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ModelParserOptions" "', argument " "1"" of type '" "iDynTree::ModelParserOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ModelExporterOptions" "', argument " "1"" of type '" "iDynTree::ModelExporterOptions *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelParserOptions * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::ModelExporterOptions * >(argp1);
   if (is_owned) {
     delete arg1;
   }
@@ -66188,16 +67761,16 @@ int _wrap_delete_ModelParserOptions(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_new_ModelLoader(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_new_ModelExporter(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
-  iDynTree::ModelLoader *result = 0 ;
+  iDynTree::ModelExporter *result = 0 ;
   
-  if (!SWIG_check_num_args("new_ModelLoader",argc,0,0,0)) {
+  if (!SWIG_check_num_args("new_ModelExporter",argc,0,0,0)) {
     SWIG_fail;
   }
   (void)argv;
-  result = (iDynTree::ModelLoader *)new iDynTree::ModelLoader();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ModelLoader, 1 |  0 );
+  result = (iDynTree::ModelExporter *)new iDynTree::ModelExporter();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ModelExporter, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -66205,22 +67778,22 @@ 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 ;
+int _wrap_delete_ModelExporter(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
   
   int is_owned;
-  if (!SWIG_check_num_args("delete_ModelLoader",argc,1,1,0)) {
+  if (!SWIG_check_num_args("delete_ModelExporter",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 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ModelLoader" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ModelExporter" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
   if (is_owned) {
     delete arg1;
   }
@@ -66232,23 +67805,23 @@ int _wrap_delete_ModelLoader(int resc, mxArray *resv[], int argc, mxArray *argv[
 }
 
 
-int _wrap_ModelLoader_parsingOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
+int _wrap_ModelExporter_exportingOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::ModelParserOptions *result = 0 ;
+  iDynTree::ModelExporterOptions *result = 0 ;
   
-  if (!SWIG_check_num_args("ModelLoader_parsingOptions",argc,1,1,0)) {
+  if (!SWIG_check_num_args("ModelExporter_exportingOptions",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelLoader_parsingOptions" "', argument " "1"" of type '" "iDynTree::ModelLoader const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_exportingOptions" "', argument " "1"" of type '" "iDynTree::ModelExporter 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 );
+  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
+  result = (iDynTree::ModelExporterOptions *) &((iDynTree::ModelExporter const *)arg1)->exportingOptions();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ModelExporterOptions, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -66256,32 +67829,32 @@ int _wrap_ModelLoader_parsingOptions(int resc, mxArray *resv[], int argc, mxArra
 }
 
 
-int _wrap_ModelLoader_setParsingOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
-  iDynTree::ModelParserOptions *arg2 = 0 ;
+int _wrap_ModelExporter_setExportingOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
+  iDynTree::ModelExporterOptions *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)) {
+  if (!SWIG_check_num_args("ModelExporter_setExportingOptions",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelLoader_setParsingOptions" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_setExportingOptions" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__ModelParserOptions,  0 );
+  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__ModelExporterOptions,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelLoader_setParsingOptions" "', argument " "2"" of type '" "iDynTree::ModelParserOptions const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelExporter_setExportingOptions" "', argument " "2"" of type '" "iDynTree::ModelExporterOptions const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_setParsingOptions" "', argument " "2"" of type '" "iDynTree::ModelParserOptions const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_setExportingOptions" "', argument " "2"" of type '" "iDynTree::ModelExporterOptions const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::ModelParserOptions * >(argp2);
-  (arg1)->setParsingOptions((iDynTree::ModelParserOptions const &)*arg2);
+  arg2 = reinterpret_cast< iDynTree::ModelExporterOptions * >(argp2);
+  (arg1)->setExportingOptions((iDynTree::ModelExporterOptions const &)*arg2);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -66290,845 +67863,798 @@ int _wrap_ModelLoader_setParsingOptions(int resc, mxArray *resv[], int argc, mxA
 }
 
 
-int _wrap_ModelLoader_loadModelFromString__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
-  std::string *arg2 = 0 ;
-  std::string *arg3 = 0 ;
+int _wrap_ModelExporter_init__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
+  iDynTree::Model *arg2 = 0 ;
+  iDynTree::SensorsList *arg3 = 0 ;
+  iDynTree::ModelExporterOptions arg4 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
-  int res3 = SWIG_OLDOBJ ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ModelLoader_loadModelFromString",argc,3,3,0)) {
+  if (!SWIG_check_num_args("ModelExporter_init",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelLoader_loadModelFromString" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_init" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(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 '" "ModelLoader_loadModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelExporter_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsList,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelExporter_init" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_init" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
   }
+  arg3 = reinterpret_cast< iDynTree::SensorsList * >(argp3);
   {
-    std::string *ptr = (std::string *)0;
-    res3 = SWIG_AsPtr_std_string(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelLoader_loadModelFromString" "', argument " "3"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadModelFromString" "', argument " "3"" of type '" "std::string const &""'"); 
+    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__ModelExporterOptions,  0 );
+    if (!SWIG_IsOK(res4)) {
+      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "ModelExporter_init" "', argument " "4"" of type '" "iDynTree::ModelExporterOptions const""'"); 
+    }  
+    if (!argp4) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_init" "', argument " "4"" of type '" "iDynTree::ModelExporterOptions const""'");
+    } else {
+      arg4 = *(reinterpret_cast< iDynTree::ModelExporterOptions * >(argp4));
     }
-    arg3 = ptr;
   }
-  result = (bool)(arg1)->loadModelFromString((std::string const &)*arg2,(std::string const &)*arg3);
+  result = (bool)(arg1)->init((iDynTree::Model const &)*arg2,(iDynTree::SensorsList const &)*arg3,arg4);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res2)) delete arg2;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res2)) delete arg2;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_ModelLoader_loadModelFromString__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
-  std::string *arg2 = 0 ;
+int _wrap_ModelExporter_init__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
+  iDynTree::Model *arg2 = 0 ;
+  iDynTree::SensorsList *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
-  mxArray * _out;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ModelLoader_loadModelFromString",argc,2,2,0)) {
+  if (!SWIG_check_num_args("ModelExporter_init",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelLoader_loadModelFromString" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_init" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(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 '" "ModelLoader_loadModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelExporter_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
   }
-  result = (bool)(arg1)->loadModelFromString((std::string const &)*arg2);
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsList,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelExporter_init" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_init" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::SensorsList * >(argp3);
+  result = (bool)(arg1)->init((iDynTree::Model const &)*arg2,(iDynTree::SensorsList const &)*arg3);
   _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_ModelLoader_loadModelFromString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_ModelExporter_init__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 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("ModelExporter_init",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_init" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelExporter_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
+  result = (bool)(arg1)->init((iDynTree::Model const &)*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ModelExporter_init(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 2) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelExporter, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_ModelLoader_loadModelFromString__SWIG_1(resc,resv,argc,argv);
+        return _wrap_ModelExporter_init__SWIG_2(resc,resv,argc,argv);
       }
     }
   }
   if (argc == 3) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelExporter, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SensorsList, 0);
         _v = SWIG_CheckState(res);
         if (_v) {
-          return _wrap_ModelLoader_loadModelFromString__SWIG_0(resc,resv,argc,argv);
+          return _wrap_ModelExporter_init__SWIG_1(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelExporter, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SensorsList, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__ModelExporterOptions, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_ModelExporter_init__SWIG_0(resc,resv,argc,argv);
+          }
         }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelLoader_loadModelFromString'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelExporter_init'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::ModelLoader::loadModelFromString(std::string const &,std::string const &)\n"
-    "    iDynTree::ModelLoader::loadModelFromString(std::string const &)\n");
+    "    iDynTree::ModelExporter::init(iDynTree::Model const &,iDynTree::SensorsList const &,iDynTree::ModelExporterOptions const)\n"
+    "    iDynTree::ModelExporter::init(iDynTree::Model const &,iDynTree::SensorsList const &)\n"
+    "    iDynTree::ModelExporter::init(iDynTree::Model const &)\n");
   return 1;
 }
 
 
-int _wrap_ModelLoader_loadModelFromFile__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
-  std::string *arg2 = 0 ;
-  std::string *arg3 = 0 ;
+int _wrap_ModelExporter_model(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
-  int res3 = SWIG_OLDOBJ ;
   mxArray * _out;
-  bool result;
+  iDynTree::Model *result = 0 ;
   
-  if (!SWIG_check_num_args("ModelLoader_loadModelFromFile",argc,3,3,0)) {
+  if (!SWIG_check_num_args("ModelExporter_model",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelLoader_loadModelFromFile" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(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 '" "ModelLoader_loadModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
-  }
-  {
-    std::string *ptr = (std::string *)0;
-    res3 = SWIG_AsPtr_std_string(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelLoader_loadModelFromFile" "', argument " "3"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadModelFromFile" "', argument " "3"" of type '" "std::string const &""'"); 
-    }
-    arg3 = ptr;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_model" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
   }
-  result = (bool)(arg1)->loadModelFromFile((std::string const &)*arg2,(std::string const &)*arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
+  result = (iDynTree::Model *) &(arg1)->model();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res2)) delete arg2;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res2)) delete arg2;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_ModelLoader_loadModelFromFile__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
-  std::string *arg2 = 0 ;
+int _wrap_ModelExporter_sensors(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
-  bool result;
+  iDynTree::SensorsList *result = 0 ;
   
-  if (!SWIG_check_num_args("ModelLoader_loadModelFromFile",argc,2,2,0)) {
+  if (!SWIG_check_num_args("ModelExporter_sensors",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelLoader_loadModelFromFile" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(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 '" "ModelLoader_loadModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_sensors" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
   }
-  result = (bool)(arg1)->loadModelFromFile((std::string const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
+  result = (iDynTree::SensorsList *) &(arg1)->sensors();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SensorsList, 0 |  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_ModelLoader_loadModelFromFile(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_ModelLoader_loadModelFromFile__SWIG_1(resc,resv,argc,argv);
-      }
-    }
+int _wrap_ModelExporter_isValid(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("ModelExporter_isValid",argc,1,1,0)) {
+    SWIG_fail;
   }
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_ModelLoader_loadModelFromFile__SWIG_0(resc,resv,argc,argv);
-        }
-      }
-    }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_isValid" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
   }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelLoader_loadModelFromFile'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::ModelLoader::loadModelFromFile(std::string const &,std::string const &)\n"
-    "    iDynTree::ModelLoader::loadModelFromFile(std::string const &)\n");
+  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
+  result = (bool)(arg1)->isValid();
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
   return 1;
 }
 
 
-int _wrap_ModelLoader_loadReducedModelFromFullModel__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
-  iDynTree::Model *arg2 = 0 ;
-  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
-  std::string arg4 ;
+int _wrap_ModelExporter_exportModelToString__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
+  std::string *arg2 = 0 ;
+  std::string arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
+  void *argp2 = 0 ;
   int res2 = 0 ;
-  int res3 = SWIG_OLDOBJ ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ModelLoader_loadReducedModelFromFullModel",argc,4,4,0)) {
+  if (!SWIG_check_num_args("ModelExporter_exportModelToString",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_exportModelToString" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__string,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelExporter_exportModelToString" "', argument " "2"" of type '" "std::string &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  {
-    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
-    res3 = swig::asptr(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
-    }
-    arg3 = ptr;
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_exportModelToString" "', argument " "2"" of type '" "std::string &""'"); 
   }
+  arg2 = reinterpret_cast< std::string * >(argp2);
   {
     std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
+    int res = SWIG_AsPtr_std_string(argv[2], &ptr);
     if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "4"" of type '" "std::string const""'"); 
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelExporter_exportModelToString" "', argument " "3"" of type '" "std::string const""'"); 
     }
-    arg4 = *ptr;
+    arg3 = *ptr;
     if (SWIG_IsNewObj(res)) delete ptr;
   }
-  result = (bool)(arg1)->loadReducedModelFromFullModel((iDynTree::Model const &)*arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3,arg4);
+  result = (bool)(arg1)->exportModelToString(*arg2,arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_ModelLoader_loadReducedModelFromFullModel__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
-  iDynTree::Model *arg2 = 0 ;
-  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
+int _wrap_ModelExporter_exportModelToString__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
+  std::string *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
+  void *argp2 = 0 ;
   int res2 = 0 ;
-  int res3 = SWIG_OLDOBJ ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ModelLoader_loadReducedModelFromFullModel",argc,3,3,0)) {
+  if (!SWIG_check_num_args("ModelExporter_exportModelToString",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_exportModelToString" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__string,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelExporter_exportModelToString" "', argument " "2"" of type '" "std::string &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  {
-    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
-    res3 = swig::asptr(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadReducedModelFromFullModel" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
-    }
-    arg3 = ptr;
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_exportModelToString" "', argument " "2"" of type '" "std::string &""'"); 
   }
-  result = (bool)(arg1)->loadReducedModelFromFullModel((iDynTree::Model const &)*arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3);
+  arg2 = reinterpret_cast< std::string * >(argp2);
+  result = (bool)(arg1)->exportModelToString(*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_ModelLoader_loadReducedModelFromFullModel(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 3) {
+int _wrap_ModelExporter_exportModelToString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelExporter, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_std__string, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_ModelLoader_loadReducedModelFromFullModel__SWIG_1(resc,resv,argc,argv);
-        }
+        return _wrap_ModelExporter_exportModelToString__SWIG_1(resc,resv,argc,argv);
       }
     }
   }
-  if (argc == 4) {
+  if (argc == 3) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelExporter, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_std__string, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
+        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
         _v = SWIG_CheckState(res);
         if (_v) {
-          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            return _wrap_ModelLoader_loadReducedModelFromFullModel__SWIG_0(resc,resv,argc,argv);
-          }
+          return _wrap_ModelExporter_exportModelToString__SWIG_0(resc,resv,argc,argv);
         }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelLoader_loadReducedModelFromFullModel'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelExporter_exportModelToString'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::ModelLoader::loadReducedModelFromFullModel(iDynTree::Model const &,std::vector< std::string,std::allocator< std::string > > const &,std::string const)\n"
-    "    iDynTree::ModelLoader::loadReducedModelFromFullModel(iDynTree::Model const &,std::vector< std::string,std::allocator< std::string > > const &)\n");
+    "    iDynTree::ModelExporter::exportModelToString(std::string &,std::string const)\n"
+    "    iDynTree::ModelExporter::exportModelToString(std::string &)\n");
   return 1;
 }
 
 
-int _wrap_ModelLoader_loadReducedModelFromString__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
-  std::string arg2 ;
-  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
-  std::string arg4 ;
+int _wrap_ModelExporter_exportModelToFile__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
+  std::string *arg2 = 0 ;
+  std::string arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res3 = SWIG_OLDOBJ ;
+  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ModelLoader_loadReducedModelFromString",argc,4,4,0)) {
+  if (!SWIG_check_num_args("ModelExporter_exportModelToFile",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelLoader_loadReducedModelFromString" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_exportModelToFile" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
   {
     std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelLoader_loadReducedModelFromString" "', argument " "2"" of type '" "std::string const""'"); 
-    }
-    arg2 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
-  }
-  {
-    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
-    res3 = swig::asptr(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelLoader_loadReducedModelFromString" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+    res2 = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelExporter_exportModelToFile" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadReducedModelFromString" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_exportModelToFile" "', argument " "2"" of type '" "std::string const &""'"); 
     }
-    arg3 = ptr;
+    arg2 = ptr;
   }
   {
     std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
+    int res = SWIG_AsPtr_std_string(argv[2], &ptr);
     if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelLoader_loadReducedModelFromString" "', argument " "4"" of type '" "std::string const""'"); 
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelExporter_exportModelToFile" "', argument " "3"" of type '" "std::string const""'"); 
     }
-    arg4 = *ptr;
+    arg3 = *ptr;
     if (SWIG_IsNewObj(res)) delete ptr;
   }
-  result = (bool)(arg1)->loadReducedModelFromString(arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3,arg4);
+  result = (bool)(arg1)->exportModelToFile((std::string const &)*arg2,arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res3)) delete arg3;
+  if (SWIG_IsNewObj(res2)) delete arg2;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res3)) delete arg3;
+  if (SWIG_IsNewObj(res2)) delete arg2;
   return 1;
 }
 
 
-int _wrap_ModelLoader_loadReducedModelFromString__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
-  std::string arg2 ;
-  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
+int _wrap_ModelExporter_exportModelToFile__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
+  std::string *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res3 = SWIG_OLDOBJ ;
+  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ModelLoader_loadReducedModelFromString",argc,3,3,0)) {
+  if (!SWIG_check_num_args("ModelExporter_exportModelToFile",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelLoader_loadReducedModelFromString" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_exportModelToFile" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
   {
     std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelLoader_loadReducedModelFromString" "', argument " "2"" of type '" "std::string const""'"); 
-    }
-    arg2 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
-  }
-  {
-    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
-    res3 = swig::asptr(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelLoader_loadReducedModelFromString" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+    res2 = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelExporter_exportModelToFile" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadReducedModelFromString" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_exportModelToFile" "', argument " "2"" of type '" "std::string const &""'"); 
     }
-    arg3 = ptr;
+    arg2 = ptr;
   }
-  result = (bool)(arg1)->loadReducedModelFromString(arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3);
+  result = (bool)(arg1)->exportModelToFile((std::string const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res3)) delete arg3;
+  if (SWIG_IsNewObj(res2)) delete arg2;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res3)) delete arg3;
+  if (SWIG_IsNewObj(res2)) delete arg2;
   return 1;
 }
 
 
-int _wrap_ModelLoader_loadReducedModelFromString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 3) {
+int _wrap_ModelExporter_exportModelToFile(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelExporter, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
       _v = SWIG_CheckState(res);
       if (_v) {
-        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_ModelLoader_loadReducedModelFromString__SWIG_1(resc,resv,argc,argv);
-        }
+        return _wrap_ModelExporter_exportModelToFile__SWIG_1(resc,resv,argc,argv);
       }
     }
   }
-  if (argc == 4) {
+  if (argc == 3) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelExporter, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
       _v = SWIG_CheckState(res);
       if (_v) {
-        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
+        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
         _v = SWIG_CheckState(res);
         if (_v) {
-          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            return _wrap_ModelLoader_loadReducedModelFromString__SWIG_0(resc,resv,argc,argv);
-          }
+          return _wrap_ModelExporter_exportModelToFile__SWIG_0(resc,resv,argc,argv);
         }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelLoader_loadReducedModelFromString'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelExporter_exportModelToFile'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::ModelLoader::loadReducedModelFromString(std::string const,std::vector< std::string,std::allocator< std::string > > const &,std::string const)\n"
-    "    iDynTree::ModelLoader::loadReducedModelFromString(std::string const,std::vector< std::string,std::allocator< std::string > > const &)\n");
+    "    iDynTree::ModelExporter::exportModelToFile(std::string const &,std::string const)\n"
+    "    iDynTree::ModelExporter::exportModelToFile(std::string const &)\n");
   return 1;
 }
 
 
-int _wrap_ModelLoader_loadReducedModelFromFile__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
-  std::string arg2 ;
-  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
-  std::string arg4 ;
-  void *argp1 = 0 ;
+int _wrap_new_ModelCalibrationHelper(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  mxArray * _out;
+  iDynTree::ModelCalibrationHelper *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_ModelCalibrationHelper",argc,0,0,0)) {
+    SWIG_fail;
+  }
+  (void)argv;
+  result = (iDynTree::ModelCalibrationHelper *)new iDynTree::ModelCalibrationHelper();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_delete_ModelCalibrationHelper(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  
+  int is_owned;
+  if (!SWIG_check_num_args("delete_ModelCalibrationHelper",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, SWIG_POINTER_DISOWN |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ModelCalibrationHelper" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(argp1);
+  if (is_owned) {
+    delete arg1;
+  }
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ModelCalibrationHelper_loadModelFromString__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
+  std::string *arg2 = 0 ;
+  std::string *arg3 = 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
   int res3 = SWIG_OLDOBJ ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ModelLoader_loadReducedModelFromFile",argc,4,4,0)) {
+  if (!SWIG_check_num_args("ModelCalibrationHelper_loadModelFromString",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelLoader_loadReducedModelFromFile" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_loadModelFromString" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(argp1);
   {
     std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelLoader_loadReducedModelFromFile" "', argument " "2"" of type '" "std::string const""'"); 
+    res2 = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelCalibrationHelper_loadModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
     }
-    arg2 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_loadModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
   }
   {
-    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
-    res3 = swig::asptr(argv[2], &ptr);
+    std::string *ptr = (std::string *)0;
+    res3 = SWIG_AsPtr_std_string(argv[2], &ptr);
     if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelLoader_loadReducedModelFromFile" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelCalibrationHelper_loadModelFromString" "', argument " "3"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadReducedModelFromFile" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_loadModelFromString" "', argument " "3"" of type '" "std::string const &""'"); 
     }
     arg3 = ptr;
   }
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelLoader_loadReducedModelFromFile" "', argument " "4"" of type '" "std::string const""'"); 
-    }
-    arg4 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
-  }
-  result = (bool)(arg1)->loadReducedModelFromFile(arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3,arg4);
+  result = (bool)(arg1)->loadModelFromString((std::string const &)*arg2,(std::string const &)*arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res2)) delete arg2;
   if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
+  if (SWIG_IsNewObj(res2)) delete arg2;
   if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_ModelLoader_loadReducedModelFromFile__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
-  std::string arg2 ;
-  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
+int _wrap_ModelCalibrationHelper_loadModelFromString__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
+  std::string *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res3 = SWIG_OLDOBJ ;
+  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ModelLoader_loadReducedModelFromFile",argc,3,3,0)) {
+  if (!SWIG_check_num_args("ModelCalibrationHelper_loadModelFromString",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelLoader_loadReducedModelFromFile" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_loadModelFromString" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(argp1);
   {
     std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelLoader_loadReducedModelFromFile" "', argument " "2"" of type '" "std::string const""'"); 
-    }
-    arg2 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
-  }
-  {
-    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
-    res3 = swig::asptr(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelLoader_loadReducedModelFromFile" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+    res2 = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelCalibrationHelper_loadModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelLoader_loadReducedModelFromFile" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_loadModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
     }
-    arg3 = ptr;
+    arg2 = ptr;
   }
-  result = (bool)(arg1)->loadReducedModelFromFile(arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3);
+  result = (bool)(arg1)->loadModelFromString((std::string const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res3)) delete arg3;
+  if (SWIG_IsNewObj(res2)) delete arg2;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res3)) delete arg3;
+  if (SWIG_IsNewObj(res2)) delete arg2;
   return 1;
 }
 
 
-int _wrap_ModelLoader_loadReducedModelFromFile(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 3) {
+int _wrap_ModelCalibrationHelper_loadModelFromString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
       _v = SWIG_CheckState(res);
       if (_v) {
-        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_ModelLoader_loadReducedModelFromFile__SWIG_1(resc,resv,argc,argv);
-        }
+        return _wrap_ModelCalibrationHelper_loadModelFromString__SWIG_1(resc,resv,argc,argv);
       }
     }
   }
-  if (argc == 4) {
+  if (argc == 3) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelLoader, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
       _v = SWIG_CheckState(res);
       if (_v) {
-        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
+        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
         _v = SWIG_CheckState(res);
         if (_v) {
-          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            return _wrap_ModelLoader_loadReducedModelFromFile__SWIG_0(resc,resv,argc,argv);
-          }
+          return _wrap_ModelCalibrationHelper_loadModelFromString__SWIG_0(resc,resv,argc,argv);
         }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelLoader_loadReducedModelFromFile'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelCalibrationHelper_loadModelFromString'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::ModelLoader::loadReducedModelFromFile(std::string const,std::vector< std::string,std::allocator< std::string > > const &,std::string const)\n"
-    "    iDynTree::ModelLoader::loadReducedModelFromFile(std::string const,std::vector< std::string,std::allocator< std::string > > const &)\n");
-  return 1;
-}
-
-
-int _wrap_ModelLoader_model(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::Model *result = 0 ;
-  
-  if (!SWIG_check_num_args("ModelLoader_model",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_model" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
-  result = (iDynTree::Model *) &(arg1)->model();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+    "    iDynTree::ModelCalibrationHelper::loadModelFromString(std::string const &,std::string const &)\n"
+    "    iDynTree::ModelCalibrationHelper::loadModelFromString(std::string const &)\n");
   return 1;
 }
 
 
-int _wrap_ModelLoader_sensors(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
+int _wrap_ModelCalibrationHelper_loadModelFromFile__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
+  std::string *arg2 = 0 ;
+  std::string *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  int res3 = SWIG_OLDOBJ ;
   mxArray * _out;
-  iDynTree::SensorsList *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("ModelLoader_sensors",argc,1,1,0)) {
+  if (!SWIG_check_num_args("ModelCalibrationHelper_loadModelFromFile",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelLoader, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelLoader_sensors" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_loadModelFromFile" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
-  result = (iDynTree::SensorsList *) &(arg1)->sensors();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SensorsList, 0 |  0 );
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_ModelLoader_isValid(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelLoader *arg1 = (iDynTree::ModelLoader *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("ModelLoader_isValid",argc,1,1,0)) {
-    SWIG_fail;
+  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(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 '" "ModelCalibrationHelper_loadModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_loadModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
   }
-  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_isValid" "', argument " "1"" of type '" "iDynTree::ModelLoader *""'"); 
+  {
+    std::string *ptr = (std::string *)0;
+    res3 = SWIG_AsPtr_std_string(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelCalibrationHelper_loadModelFromFile" "', argument " "3"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_loadModelFromFile" "', argument " "3"" of type '" "std::string const &""'"); 
+    }
+    arg3 = ptr;
   }
-  arg1 = reinterpret_cast< iDynTree::ModelLoader * >(argp1);
-  result = (bool)(arg1)->isValid();
+  result = (bool)(arg1)->loadModelFromFile((std::string const &)*arg2,(std::string const &)*arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res2)) delete arg2;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
+  if (SWIG_IsNewObj(res2)) delete arg2;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_ModelExporterOptions_baseLink_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporterOptions *arg1 = (iDynTree::ModelExporterOptions *) 0 ;
+int _wrap_ModelCalibrationHelper_loadModelFromFile__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
   std::string *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("ModelExporterOptions_baseLink_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("ModelCalibrationHelper_loadModelFromFile",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporterOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporterOptions_baseLink_set" "', argument " "1"" of type '" "iDynTree::ModelExporterOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_loadModelFromFile" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelExporterOptions * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(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 '" "ModelExporterOptions_baseLink_set" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelCalibrationHelper_loadModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporterOptions_baseLink_set" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_loadModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     arg2 = ptr;
   }
-  if (arg1) (arg1)->baseLink = *arg2;
-  _out = (mxArray*)0;
+  result = (bool)(arg1)->loadModelFromFile((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;
@@ -67138,54 +68664,109 @@ int _wrap_ModelExporterOptions_baseLink_set(int resc, mxArray *resv[], int argc,
 }
 
 
-int _wrap_ModelExporterOptions_baseLink_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporterOptions *arg1 = (iDynTree::ModelExporterOptions *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  std::string *result = 0 ;
-  
-  if (!SWIG_check_num_args("ModelExporterOptions_baseLink_get",argc,1,1,0)) {
-    SWIG_fail;
+int _wrap_ModelCalibrationHelper_loadModelFromFile(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_ModelCalibrationHelper_loadModelFromFile__SWIG_1(resc,resv,argc,argv);
+      }
+    }
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporterOptions, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporterOptions_baseLink_get" "', argument " "1"" of type '" "iDynTree::ModelExporterOptions *""'"); 
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_ModelCalibrationHelper_loadModelFromFile__SWIG_0(resc,resv,argc,argv);
+        }
+      }
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::ModelExporterOptions * >(argp1);
-  result = (std::string *) & ((arg1)->baseLink);
-  _out = SWIG_From_std_string(static_cast< std::string >(*result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelCalibrationHelper_loadModelFromFile'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::ModelCalibrationHelper::loadModelFromFile(std::string const &,std::string const &)\n"
+    "    iDynTree::ModelCalibrationHelper::loadModelFromFile(std::string const &)\n");
   return 1;
 }
 
 
-int _wrap_ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporterOptions *arg1 = (iDynTree::ModelExporterOptions *) 0 ;
-  bool arg2 ;
+int _wrap_ModelCalibrationHelper_updateModelInertialParametersToString__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
+  std::string *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  std::string arg4 ;
+  iDynTree::ModelExporterOptions arg5 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  bool val2 ;
-  int ecode2 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp5 ;
+  int res5 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("ModelCalibrationHelper_updateModelInertialParametersToString",argc,5,5,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporterOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_set" "', argument " "1"" of type '" "iDynTree::ModelExporterOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelExporterOptions * >(argp1);
-  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_set" "', argument " "2"" of type '" "bool""'");
-  } 
-  arg2 = static_cast< bool >(val2);
-  if (arg1) (arg1)->exportFirstBaseLinkAdditionalFrameAsFakeURDFBase = arg2;
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__string,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "2"" of type '" "std::string &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "2"" of type '" "std::string &""'"); 
+  }
+  arg2 = reinterpret_cast< std::string * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  {
+    std::string *ptr = (std::string *)0;
+    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "4"" of type '" "std::string const""'"); 
+    }
+    arg4 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  {
+    res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__ModelExporterOptions,  0 );
+    if (!SWIG_IsOK(res5)) {
+      SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "5"" of type '" "iDynTree::ModelExporterOptions const""'"); 
+    }  
+    if (!argp5) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "5"" of type '" "iDynTree::ModelExporterOptions const""'");
+    } else {
+      arg5 = *(reinterpret_cast< iDynTree::ModelExporterOptions * >(argp5));
+    }
+  }
+  result = (bool)(arg1)->updateModelInertialParametersToString(*arg2,(iDynTree::VectorDynSize const &)*arg3,arg4,arg5);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -67193,40 +68774,55 @@ int _wrap_ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_
 }
 
 
-int _wrap_ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporterOptions *arg1 = (iDynTree::ModelExporterOptions *) 0 ;
+int _wrap_ModelCalibrationHelper_updateModelInertialParametersToString__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
+  std::string *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  std::string arg4 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("ModelCalibrationHelper_updateModelInertialParametersToString",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporterOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_get" "', argument " "1"" of type '" "iDynTree::ModelExporterOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelExporterOptions * >(argp1);
-  result = (bool) ((arg1)->exportFirstBaseLinkAdditionalFrameAsFakeURDFBase);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_new_ModelExporterOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  mxArray * _out;
-  iDynTree::ModelExporterOptions *result = 0 ;
-  
-  if (!SWIG_check_num_args("new_ModelExporterOptions",argc,0,0,0)) {
-    SWIG_fail;
+  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__string,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "2"" of type '" "std::string &""'"); 
   }
-  (void)argv;
-  result = (iDynTree::ModelExporterOptions *)new iDynTree::ModelExporterOptions();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ModelExporterOptions, 1 |  0 );
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "2"" of type '" "std::string &""'"); 
+  }
+  arg2 = reinterpret_cast< std::string * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  {
+    std::string *ptr = (std::string *)0;
+    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "4"" of type '" "std::string const""'"); 
+    }
+    arg4 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  result = (bool)(arg1)->updateModelInertialParametersToString(*arg2,(iDynTree::VectorDynSize const &)*arg3,arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -67234,26 +68830,45 @@ int _wrap_new_ModelExporterOptions(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_delete_ModelExporterOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporterOptions *arg1 = (iDynTree::ModelExporterOptions *) 0 ;
+int _wrap_ModelCalibrationHelper_updateModelInertialParametersToString__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
+  std::string *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
+  bool result;
   
-  int is_owned;
-  if (!SWIG_check_num_args("delete_ModelExporterOptions",argc,1,1,0)) {
+  if (!SWIG_check_num_args("ModelCalibrationHelper_updateModelInertialParametersToString",argc,3,3,0)) {
     SWIG_fail;
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporterOptions, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ModelExporterOptions" "', argument " "1"" of type '" "iDynTree::ModelExporterOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelExporterOptions * >(argp1);
-  if (is_owned) {
-    delete arg1;
+  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__string,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "2"" of type '" "std::string &""'"); 
   }
-  _out = (mxArray*)0;
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "2"" of type '" "std::string &""'"); 
+  }
+  arg2 = reinterpret_cast< std::string * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  result = (bool)(arg1)->updateModelInertialParametersToString(*arg2,(iDynTree::VectorDynSize const &)*arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -67261,332 +68876,364 @@ int _wrap_delete_ModelExporterOptions(int resc, mxArray *resv[], int argc, mxArr
 }
 
 
-int _wrap_new_ModelExporter(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  mxArray * _out;
-  iDynTree::ModelExporter *result = 0 ;
-  
-  if (!SWIG_check_num_args("new_ModelExporter",argc,0,0,0)) {
-    SWIG_fail;
-  }
-  (void)argv;
-  result = (iDynTree::ModelExporter *)new iDynTree::ModelExporter();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ModelExporter, 1 |  0 );
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_delete_ModelExporter(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  
-  int is_owned;
-  if (!SWIG_check_num_args("delete_ModelExporter",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, SWIG_POINTER_DISOWN |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ModelExporter" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
-  if (is_owned) {
-    delete arg1;
+int _wrap_ModelCalibrationHelper_updateModelInertialParametersToString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_std__string, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_ModelCalibrationHelper_updateModelInertialParametersToString__SWIG_2(resc,resv,argc,argv);
+        }
+      }
+    }
   }
-  _out = (mxArray*)0;
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_ModelExporter_exportingOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::ModelExporterOptions *result = 0 ;
-  
-  if (!SWIG_check_num_args("ModelExporter_exportingOptions",argc,1,1,0)) {
-    SWIG_fail;
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_std__string, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_ModelCalibrationHelper_updateModelInertialParametersToString__SWIG_1(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_exportingOptions" "', argument " "1"" of type '" "iDynTree::ModelExporter const *""'"); 
+  if (argc == 5) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_std__string, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            void *vptr = 0;
+            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__ModelExporterOptions, 0);
+            _v = SWIG_CheckState(res);
+            if (_v) {
+              return _wrap_ModelCalibrationHelper_updateModelInertialParametersToString__SWIG_0(resc,resv,argc,argv);
+            }
+          }
+        }
+      }
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
-  result = (iDynTree::ModelExporterOptions *) &((iDynTree::ModelExporter const *)arg1)->exportingOptions();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ModelExporterOptions, 0 |  0 );
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_ModelExporter_setExportingOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
-  iDynTree::ModelExporterOptions *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  mxArray * _out;
   
-  if (!SWIG_check_num_args("ModelExporter_setExportingOptions",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_setExportingOptions" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__ModelExporterOptions,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelExporter_setExportingOptions" "', argument " "2"" of type '" "iDynTree::ModelExporterOptions const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_setExportingOptions" "', argument " "2"" of type '" "iDynTree::ModelExporterOptions const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::ModelExporterOptions * >(argp2);
-  (arg1)->setExportingOptions((iDynTree::ModelExporterOptions const &)*arg2);
-  _out = (mxArray*)0;
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelCalibrationHelper_updateModelInertialParametersToString'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::ModelCalibrationHelper::updateModelInertialParametersToString(std::string &,iDynTree::VectorDynSize const &,std::string const,iDynTree::ModelExporterOptions const)\n"
+    "    iDynTree::ModelCalibrationHelper::updateModelInertialParametersToString(std::string &,iDynTree::VectorDynSize const &,std::string const)\n"
+    "    iDynTree::ModelCalibrationHelper::updateModelInertialParametersToString(std::string &,iDynTree::VectorDynSize const &)\n");
   return 1;
 }
 
 
-int _wrap_ModelExporter_init__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
-  iDynTree::Model *arg2 = 0 ;
-  iDynTree::SensorsList *arg3 = 0 ;
-  iDynTree::ModelExporterOptions arg4 ;
+int _wrap_ModelCalibrationHelper_updateModelInertialParametersToFile__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
+  std::string *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  std::string arg4 ;
+  iDynTree::ModelExporterOptions arg5 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
   void *argp3 ;
   int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
+  void *argp5 ;
+  int res5 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ModelExporter_init",argc,4,4,0)) {
+  if (!SWIG_check_num_args("ModelCalibrationHelper_updateModelInertialParametersToFile",argc,5,5,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_init" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelExporter_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(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 '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
   }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsList,  0 );
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
   if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelExporter_init" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
   }
   if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_init" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::SensorsList * >(argp3);
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
   {
-    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__ModelExporterOptions,  0 );
-    if (!SWIG_IsOK(res4)) {
-      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "ModelExporter_init" "', argument " "4"" of type '" "iDynTree::ModelExporterOptions const""'"); 
+    std::string *ptr = (std::string *)0;
+    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "4"" of type '" "std::string const""'"); 
+    }
+    arg4 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  {
+    res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__ModelExporterOptions,  0 );
+    if (!SWIG_IsOK(res5)) {
+      SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "5"" of type '" "iDynTree::ModelExporterOptions const""'"); 
     }  
-    if (!argp4) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_init" "', argument " "4"" of type '" "iDynTree::ModelExporterOptions const""'");
+    if (!argp5) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "5"" of type '" "iDynTree::ModelExporterOptions const""'");
     } else {
-      arg4 = *(reinterpret_cast< iDynTree::ModelExporterOptions * >(argp4));
+      arg5 = *(reinterpret_cast< iDynTree::ModelExporterOptions * >(argp5));
     }
   }
-  result = (bool)(arg1)->init((iDynTree::Model const &)*arg2,(iDynTree::SensorsList const &)*arg3,arg4);
+  result = (bool)(arg1)->updateModelInertialParametersToFile((std::string const &)*arg2,(iDynTree::VectorDynSize const &)*arg3,arg4,arg5);
   _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_ModelExporter_init__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
-  iDynTree::Model *arg2 = 0 ;
-  iDynTree::SensorsList *arg3 = 0 ;
+int _wrap_ModelCalibrationHelper_updateModelInertialParametersToFile__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
+  std::string *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  std::string arg4 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
   void *argp3 ;
   int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ModelExporter_init",argc,3,3,0)) {
+  if (!SWIG_check_num_args("ModelCalibrationHelper_updateModelInertialParametersToFile",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_init" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelExporter_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(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 '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
   }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsList,  0 );
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
   if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelExporter_init" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
   }
   if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_init" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::SensorsList * >(argp3);
-  result = (bool)(arg1)->init((iDynTree::Model const &)*arg2,(iDynTree::SensorsList const &)*arg3);
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  {
+    std::string *ptr = (std::string *)0;
+    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "4"" of type '" "std::string const""'"); 
+    }
+    arg4 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  result = (bool)(arg1)->updateModelInertialParametersToFile((std::string const &)*arg2,(iDynTree::VectorDynSize const &)*arg3,arg4);
   _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_ModelExporter_init__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
-  iDynTree::Model *arg2 = 0 ;
+int _wrap_ModelCalibrationHelper_updateModelInertialParametersToFile__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
+  std::string *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ModelExporter_init",argc,2,2,0)) {
+  if (!SWIG_check_num_args("ModelCalibrationHelper_updateModelInertialParametersToFile",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_init" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelExporter_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(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 '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  result = (bool)(arg1)->init((iDynTree::Model const &)*arg2);
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  result = (bool)(arg1)->updateModelInertialParametersToFile((std::string const &)*arg2,(iDynTree::VectorDynSize const &)*arg3);
   _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_ModelExporter_init(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
+int _wrap_ModelCalibrationHelper_updateModelInertialParametersToFile(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 3) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelExporter, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_ModelExporter_init__SWIG_2(resc,resv,argc,argv);
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_ModelCalibrationHelper_updateModelInertialParametersToFile__SWIG_2(resc,resv,argc,argv);
+        }
       }
     }
   }
-  if (argc == 3) {
+  if (argc == 4) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelExporter, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
       _v = SWIG_CheckState(res);
       if (_v) {
         void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SensorsList, 0);
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
         _v = SWIG_CheckState(res);
         if (_v) {
-          return _wrap_ModelExporter_init__SWIG_1(resc,resv,argc,argv);
+          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_ModelCalibrationHelper_updateModelInertialParametersToFile__SWIG_1(resc,resv,argc,argv);
+          }
         }
       }
     }
   }
-  if (argc == 4) {
+  if (argc == 5) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelExporter, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
       _v = SWIG_CheckState(res);
       if (_v) {
         void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SensorsList, 0);
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
         _v = SWIG_CheckState(res);
         if (_v) {
-          void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__ModelExporterOptions, 0);
+          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
           _v = SWIG_CheckState(res);
           if (_v) {
-            return _wrap_ModelExporter_init__SWIG_0(resc,resv,argc,argv);
+            void *vptr = 0;
+            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__ModelExporterOptions, 0);
+            _v = SWIG_CheckState(res);
+            if (_v) {
+              return _wrap_ModelCalibrationHelper_updateModelInertialParametersToFile__SWIG_0(resc,resv,argc,argv);
+            }
           }
         }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelExporter_init'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelCalibrationHelper_updateModelInertialParametersToFile'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::ModelExporter::init(iDynTree::Model const &,iDynTree::SensorsList const &,iDynTree::ModelExporterOptions const)\n"
-    "    iDynTree::ModelExporter::init(iDynTree::Model const &,iDynTree::SensorsList const &)\n"
-    "    iDynTree::ModelExporter::init(iDynTree::Model const &)\n");
+    "    iDynTree::ModelCalibrationHelper::updateModelInertialParametersToFile(std::string const &,iDynTree::VectorDynSize const &,std::string const,iDynTree::ModelExporterOptions const)\n"
+    "    iDynTree::ModelCalibrationHelper::updateModelInertialParametersToFile(std::string const &,iDynTree::VectorDynSize const &,std::string const)\n"
+    "    iDynTree::ModelCalibrationHelper::updateModelInertialParametersToFile(std::string const &,iDynTree::VectorDynSize const &)\n");
   return 1;
 }
 
 
-int _wrap_ModelExporter_model(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
+int _wrap_ModelCalibrationHelper_model(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
   iDynTree::Model *result = 0 ;
   
-  if (!SWIG_check_num_args("ModelExporter_model",argc,1,1,0)) {
+  if (!SWIG_check_num_args("ModelCalibrationHelper_model",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_model" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_model" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(argp1);
   result = (iDynTree::Model *) &(arg1)->model();
   _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
@@ -67596,21 +69243,21 @@ int _wrap_ModelExporter_model(int resc, mxArray *resv[], int argc, mxArray *argv
 }
 
 
-int _wrap_ModelExporter_sensors(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
+int _wrap_ModelCalibrationHelper_sensors(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
   iDynTree::SensorsList *result = 0 ;
   
-  if (!SWIG_check_num_args("ModelExporter_sensors",argc,1,1,0)) {
+  if (!SWIG_check_num_args("ModelCalibrationHelper_sensors",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_sensors" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_sensors" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(argp1);
   result = (iDynTree::SensorsList *) &(arg1)->sensors();
   _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SensorsList, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
@@ -67620,21 +69267,21 @@ int _wrap_ModelExporter_sensors(int resc, mxArray *resv[], int argc, mxArray *ar
 }
 
 
-int _wrap_ModelExporter_isValid(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
+int _wrap_ModelCalibrationHelper_isValid(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ModelExporter_isValid",argc,1,1,0)) {
+  if (!SWIG_check_num_args("ModelCalibrationHelper_isValid",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_isValid" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_isValid" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(argp1);
   result = (bool)(arg1)->isValid();
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
@@ -67644,44 +69291,16 @@ int _wrap_ModelExporter_isValid(int resc, mxArray *resv[], int argc, mxArray *ar
 }
 
 
-int _wrap_ModelExporter_exportModelToString__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
-  std::string *arg2 = 0 ;
-  std::string arg3 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+int _wrap_new_UnknownWrenchContact__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
-  bool result;
+  iDynTree::UnknownWrenchContact *result = 0 ;
   
-  if (!SWIG_check_num_args("ModelExporter_exportModelToString",argc,3,3,0)) {
+  if (!SWIG_check_num_args("new_UnknownWrenchContact",argc,0,0,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_exportModelToString" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__string,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelExporter_exportModelToString" "', argument " "2"" of type '" "std::string &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_exportModelToString" "', argument " "2"" of type '" "std::string &""'"); 
-  }
-  arg2 = reinterpret_cast< std::string * >(argp2);
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[2], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelExporter_exportModelToString" "', argument " "3"" of type '" "std::string const""'"); 
-    }
-    arg3 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
-  }
-  result = (bool)(arg1)->exportModelToString(*arg2,arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  (void)argv;
+  result = (iDynTree::UnknownWrenchContact *)new iDynTree::UnknownWrenchContact();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__UnknownWrenchContact, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -67689,34 +69308,66 @@ int _wrap_ModelExporter_exportModelToString__SWIG_0(int resc, mxArray *resv[], i
 }
 
 
-int _wrap_ModelExporter_exportModelToString__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
-  std::string *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 = 0 ;
+int _wrap_new_UnknownWrenchContact__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::UnknownWrenchContactType arg1 ;
+  iDynTree::Position *arg2 = 0 ;
+  iDynTree::Direction *arg3 = 0 ;
+  iDynTree::Wrench *arg4 = 0 ;
+  unsigned long *arg5 = 0 ;
+  int val1 ;
+  int ecode1 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
+  unsigned long temp5 ;
+  unsigned long val5 ;
+  int ecode5 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::UnknownWrenchContact *result = 0 ;
   
-  if (!SWIG_check_num_args("ModelExporter_exportModelToString",argc,2,2,0)) {
+  if (!SWIG_check_num_args("new_UnknownWrenchContact",argc,5,5,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_exportModelToString" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__string,  0 );
+  ecode1 = SWIG_AsVal_int(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_UnknownWrenchContact" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContactType""'");
+  } 
+  arg1 = static_cast< iDynTree::UnknownWrenchContactType >(val1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Position,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelExporter_exportModelToString" "', argument " "2"" of type '" "std::string &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "new_UnknownWrenchContact" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_exportModelToString" "', argument " "2"" of type '" "std::string &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
   }
-  arg2 = reinterpret_cast< std::string * >(argp2);
-  result = (bool)(arg1)->exportModelToString(*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg2 = reinterpret_cast< iDynTree::Position * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Direction,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "new_UnknownWrenchContact" "', argument " "3"" of type '" "iDynTree::Direction const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "3"" of type '" "iDynTree::Direction const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::Direction * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__Wrench,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "new_UnknownWrenchContact" "', argument " "4"" of type '" "iDynTree::Wrench const &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "4"" of type '" "iDynTree::Wrench const &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::Wrench * >(argp4);
+  ecode5 = SWIG_AsVal_unsigned_SS_long(argv[4], &val5);
+  if (!SWIG_IsOK(ecode5)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode5), "in method '" "new_UnknownWrenchContact" "', argument " "5"" of type '" "unsigned long""'");
+  } 
+  temp5 = static_cast< unsigned long >(val5);
+  arg5 = &temp5;
+  result = (iDynTree::UnknownWrenchContact *)new iDynTree::UnknownWrenchContact(arg1,(iDynTree::Position const &)*arg2,(iDynTree::Direction const &)*arg3,(iDynTree::Wrench const &)*arg4,(unsigned long const &)*arg5);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__UnknownWrenchContact, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -67724,186 +69375,275 @@ int _wrap_ModelExporter_exportModelToString__SWIG_1(int resc, mxArray *resv[], i
 }
 
 
-int _wrap_ModelExporter_exportModelToString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelExporter, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_std__string, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_ModelExporter_exportModelToString__SWIG_1(resc,resv,argc,argv);
-      }
-    }
+int _wrap_new_UnknownWrenchContact__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::UnknownWrenchContactType arg1 ;
+  iDynTree::Position *arg2 = 0 ;
+  iDynTree::Direction *arg3 = 0 ;
+  iDynTree::Wrench *arg4 = 0 ;
+  int val1 ;
+  int ecode1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
+  mxArray * _out;
+  iDynTree::UnknownWrenchContact *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_UnknownWrenchContact",argc,4,4,0)) {
+    SWIG_fail;
   }
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelExporter, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_std__string, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_ModelExporter_exportModelToString__SWIG_0(resc,resv,argc,argv);
-        }
-      }
-    }
+  ecode1 = SWIG_AsVal_int(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_UnknownWrenchContact" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContactType""'");
+  } 
+  arg1 = static_cast< iDynTree::UnknownWrenchContactType >(val1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Position,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "new_UnknownWrenchContact" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
   }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelExporter_exportModelToString'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::ModelExporter::exportModelToString(std::string &,std::string const)\n"
-    "    iDynTree::ModelExporter::exportModelToString(std::string &)\n");
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Position * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Direction,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "new_UnknownWrenchContact" "', argument " "3"" of type '" "iDynTree::Direction const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "3"" of type '" "iDynTree::Direction const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::Direction * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__Wrench,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "new_UnknownWrenchContact" "', argument " "4"" of type '" "iDynTree::Wrench const &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "4"" of type '" "iDynTree::Wrench const &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::Wrench * >(argp4);
+  result = (iDynTree::UnknownWrenchContact *)new iDynTree::UnknownWrenchContact(arg1,(iDynTree::Position const &)*arg2,(iDynTree::Direction const &)*arg3,(iDynTree::Wrench const &)*arg4);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__UnknownWrenchContact, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
   return 1;
 }
 
 
-int _wrap_ModelExporter_exportModelToFile__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
-  std::string *arg2 = 0 ;
-  std::string arg3 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
+int _wrap_new_UnknownWrenchContact__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::UnknownWrenchContactType arg1 ;
+  iDynTree::Position *arg2 = 0 ;
+  iDynTree::Direction *arg3 = 0 ;
+  int val1 ;
+  int ecode1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::UnknownWrenchContact *result = 0 ;
   
-  if (!SWIG_check_num_args("ModelExporter_exportModelToFile",argc,3,3,0)) {
+  if (!SWIG_check_num_args("new_UnknownWrenchContact",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_exportModelToFile" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
+  ecode1 = SWIG_AsVal_int(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_UnknownWrenchContact" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContactType""'");
+  } 
+  arg1 = static_cast< iDynTree::UnknownWrenchContactType >(val1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Position,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "new_UnknownWrenchContact" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(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 '" "ModelExporter_exportModelToFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_exportModelToFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
   }
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[2], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelExporter_exportModelToFile" "', argument " "3"" of type '" "std::string const""'"); 
-    }
-    arg3 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
+  arg2 = reinterpret_cast< iDynTree::Position * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Direction,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "new_UnknownWrenchContact" "', argument " "3"" of type '" "iDynTree::Direction const &""'"); 
   }
-  result = (bool)(arg1)->exportModelToFile((std::string const &)*arg2,arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "3"" of type '" "iDynTree::Direction const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::Direction * >(argp3);
+  result = (iDynTree::UnknownWrenchContact *)new iDynTree::UnknownWrenchContact(arg1,(iDynTree::Position const &)*arg2,(iDynTree::Direction const &)*arg3);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__UnknownWrenchContact, 1 |  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_ModelExporter_exportModelToFile__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelExporter *arg1 = (iDynTree::ModelExporter *) 0 ;
-  std::string *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
+int _wrap_new_UnknownWrenchContact__SWIG_4(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::UnknownWrenchContactType arg1 ;
+  iDynTree::Position *arg2 = 0 ;
+  int val1 ;
+  int ecode1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::UnknownWrenchContact *result = 0 ;
   
-  if (!SWIG_check_num_args("ModelExporter_exportModelToFile",argc,2,2,0)) {
+  if (!SWIG_check_num_args("new_UnknownWrenchContact",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelExporter, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelExporter_exportModelToFile" "', argument " "1"" of type '" "iDynTree::ModelExporter *""'"); 
+  ecode1 = SWIG_AsVal_int(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_UnknownWrenchContact" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContactType""'");
+  } 
+  arg1 = static_cast< iDynTree::UnknownWrenchContactType >(val1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Position,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "new_UnknownWrenchContact" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelExporter * >(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 '" "ModelExporter_exportModelToFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelExporter_exportModelToFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
   }
-  result = (bool)(arg1)->exportModelToFile((std::string const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg2 = reinterpret_cast< iDynTree::Position * >(argp2);
+  result = (iDynTree::UnknownWrenchContact *)new iDynTree::UnknownWrenchContact(arg1,(iDynTree::Position const &)*arg2);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__UnknownWrenchContact, 1 |  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_ModelExporter_exportModelToFile(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_new_UnknownWrenchContact(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 0) {
+    return _wrap_new_UnknownWrenchContact__SWIG_0(resc,resv,argc,argv);
+  }
   if (argc == 2) {
     int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelExporter, 0);
-    _v = SWIG_CheckState(res);
+    {
+      int res = SWIG_AsVal_int(argv[0], NULL);
+      _v = SWIG_CheckState(res);
+    }
     if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_ModelExporter_exportModelToFile__SWIG_1(resc,resv,argc,argv);
+        return _wrap_new_UnknownWrenchContact__SWIG_4(resc,resv,argc,argv);
       }
     }
   }
   if (argc == 3) {
     int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelExporter, 0);
-    _v = SWIG_CheckState(res);
+    {
+      int res = SWIG_AsVal_int(argv[0], NULL);
+      _v = SWIG_CheckState(res);
+    }
     if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__Direction, 0);
         _v = SWIG_CheckState(res);
         if (_v) {
-          return _wrap_ModelExporter_exportModelToFile__SWIG_0(resc,resv,argc,argv);
+          return _wrap_new_UnknownWrenchContact__SWIG_3(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  if (argc == 4) {
+    int _v;
+    {
+      int res = SWIG_AsVal_int(argv[0], NULL);
+      _v = SWIG_CheckState(res);
+    }
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__Direction, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__Wrench, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_new_UnknownWrenchContact__SWIG_2(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
+  }
+  if (argc == 5) {
+    int _v;
+    {
+      int res = SWIG_AsVal_int(argv[0], NULL);
+      _v = SWIG_CheckState(res);
+    }
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__Direction, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__Wrench, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            {
+              int res = SWIG_AsVal_unsigned_SS_long(argv[4], NULL);
+              _v = SWIG_CheckState(res);
+            }
+            if (_v) {
+              return _wrap_new_UnknownWrenchContact__SWIG_1(resc,resv,argc,argv);
+            }
+          }
         }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelExporter_exportModelToFile'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_UnknownWrenchContact'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::ModelExporter::exportModelToFile(std::string const &,std::string const)\n"
-    "    iDynTree::ModelExporter::exportModelToFile(std::string const &)\n");
+    "    iDynTree::UnknownWrenchContact::UnknownWrenchContact()\n"
+    "    iDynTree::UnknownWrenchContact::UnknownWrenchContact(iDynTree::UnknownWrenchContactType const,iDynTree::Position const &,iDynTree::Direction const &,iDynTree::Wrench const &,unsigned long const &)\n"
+    "    iDynTree::UnknownWrenchContact::UnknownWrenchContact(iDynTree::UnknownWrenchContactType const,iDynTree::Position const &,iDynTree::Direction const &,iDynTree::Wrench const &)\n"
+    "    iDynTree::UnknownWrenchContact::UnknownWrenchContact(iDynTree::UnknownWrenchContactType const,iDynTree::Position const &,iDynTree::Direction const &)\n"
+    "    iDynTree::UnknownWrenchContact::UnknownWrenchContact(iDynTree::UnknownWrenchContactType const,iDynTree::Position const &)\n");
   return 1;
 }
 
 
-int _wrap_new_ModelCalibrationHelper(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_UnknownWrenchContact_unknownType_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
+  iDynTree::UnknownWrenchContactType arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  iDynTree::ModelCalibrationHelper *result = 0 ;
   
-  if (!SWIG_check_num_args("new_ModelCalibrationHelper",argc,0,0,0)) {
+  if (!SWIG_check_num_args("UnknownWrenchContact_unknownType_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  (void)argv;
-  result = (iDynTree::ModelCalibrationHelper *)new iDynTree::ModelCalibrationHelper();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 1 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_unknownType_set" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "UnknownWrenchContact_unknownType_set" "', argument " "2"" of type '" "iDynTree::UnknownWrenchContactType""'");
+  } 
+  arg2 = static_cast< iDynTree::UnknownWrenchContactType >(val2);
+  if (arg1) (arg1)->unknownType = arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -67911,26 +69651,23 @@ int _wrap_new_ModelCalibrationHelper(int resc, mxArray *resv[], int argc, mxArra
 }
 
 
-int _wrap_delete_ModelCalibrationHelper(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
+int _wrap_UnknownWrenchContact_unknownType_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
+  iDynTree::UnknownWrenchContactType result;
   
-  int is_owned;
-  if (!SWIG_check_num_args("delete_ModelCalibrationHelper",argc,1,1,0)) {
+  if (!SWIG_check_num_args("UnknownWrenchContact_unknownType_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ModelCalibrationHelper" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(argp1);
-  if (is_owned) {
-    delete arg1;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_unknownType_get" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
   }
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
+  result = (iDynTree::UnknownWrenchContactType) ((arg1)->unknownType);
+  _out = SWIG_From_int(static_cast< int >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -67938,335 +69675,195 @@ int _wrap_delete_ModelCalibrationHelper(int resc, mxArray *resv[], int argc, mxA
 }
 
 
-int _wrap_ModelCalibrationHelper_loadModelFromString__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
-  std::string *arg2 = 0 ;
-  std::string *arg3 = 0 ;
+int _wrap_UnknownWrenchContact_contactPoint_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
+  iDynTree::Position *arg2 = (iDynTree::Position *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
-  int res3 = SWIG_OLDOBJ ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("ModelCalibrationHelper_loadModelFromString",argc,3,3,0)) {
+  if (!SWIG_check_num_args("UnknownWrenchContact_contactPoint_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_loadModelFromString" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(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 '" "ModelCalibrationHelper_loadModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_loadModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_contactPoint_set" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
   }
-  {
-    std::string *ptr = (std::string *)0;
-    res3 = SWIG_AsPtr_std_string(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelCalibrationHelper_loadModelFromString" "', argument " "3"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_loadModelFromString" "', argument " "3"" of type '" "std::string const &""'"); 
-    }
-    arg3 = ptr;
+  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__Position, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "UnknownWrenchContact_contactPoint_set" "', argument " "2"" of type '" "iDynTree::Position *""'"); 
   }
-  result = (bool)(arg1)->loadModelFromString((std::string const &)*arg2,(std::string const &)*arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg2 = reinterpret_cast< iDynTree::Position * >(argp2);
+  if (arg1) (arg1)->contactPoint = *arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res2)) delete arg2;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res2)) delete arg2;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_ModelCalibrationHelper_loadModelFromString__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
-  std::string *arg2 = 0 ;
+int _wrap_UnknownWrenchContact_contactPoint_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
-  bool result;
+  iDynTree::Position *result = 0 ;
   
-  if (!SWIG_check_num_args("ModelCalibrationHelper_loadModelFromString",argc,2,2,0)) {
+  if (!SWIG_check_num_args("UnknownWrenchContact_contactPoint_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_loadModelFromString" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(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 '" "ModelCalibrationHelper_loadModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_loadModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_contactPoint_get" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
   }
-  result = (bool)(arg1)->loadModelFromString((std::string const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
+  result = (iDynTree::Position *)& ((arg1)->contactPoint);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Position, 0 |  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_ModelCalibrationHelper_loadModelFromString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_ModelCalibrationHelper_loadModelFromString__SWIG_1(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_ModelCalibrationHelper_loadModelFromString__SWIG_0(resc,resv,argc,argv);
-        }
-      }
-    }
-  }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelCalibrationHelper_loadModelFromString'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::ModelCalibrationHelper::loadModelFromString(std::string const &,std::string const &)\n"
-    "    iDynTree::ModelCalibrationHelper::loadModelFromString(std::string const &)\n");
   return 1;
 }
 
 
-int _wrap_ModelCalibrationHelper_loadModelFromFile__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
-  std::string *arg2 = 0 ;
-  std::string *arg3 = 0 ;
+int _wrap_UnknownWrenchContact_forceDirection_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
+  iDynTree::Direction *arg2 = (iDynTree::Direction *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
-  int res3 = SWIG_OLDOBJ ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("ModelCalibrationHelper_loadModelFromFile",argc,3,3,0)) {
+  if (!SWIG_check_num_args("UnknownWrenchContact_forceDirection_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_loadModelFromFile" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(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 '" "ModelCalibrationHelper_loadModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_loadModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_forceDirection_set" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
   }
-  {
-    std::string *ptr = (std::string *)0;
-    res3 = SWIG_AsPtr_std_string(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelCalibrationHelper_loadModelFromFile" "', argument " "3"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_loadModelFromFile" "', argument " "3"" of type '" "std::string const &""'"); 
-    }
-    arg3 = ptr;
+  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__Direction, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "UnknownWrenchContact_forceDirection_set" "', argument " "2"" of type '" "iDynTree::Direction *""'"); 
   }
-  result = (bool)(arg1)->loadModelFromFile((std::string const &)*arg2,(std::string const &)*arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg2 = reinterpret_cast< iDynTree::Direction * >(argp2);
+  if (arg1) (arg1)->forceDirection = *arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res2)) delete arg2;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res2)) delete arg2;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_ModelCalibrationHelper_loadModelFromFile__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
-  std::string *arg2 = 0 ;
+int _wrap_UnknownWrenchContact_forceDirection_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
-  bool result;
+  iDynTree::Direction *result = 0 ;
   
-  if (!SWIG_check_num_args("ModelCalibrationHelper_loadModelFromFile",argc,2,2,0)) {
+  if (!SWIG_check_num_args("UnknownWrenchContact_forceDirection_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_loadModelFromFile" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(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 '" "ModelCalibrationHelper_loadModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_loadModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_forceDirection_get" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
   }
-  result = (bool)(arg1)->loadModelFromFile((std::string const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
+  result = (iDynTree::Direction *)& ((arg1)->forceDirection);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Direction, 0 |  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_ModelCalibrationHelper_loadModelFromFile(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_ModelCalibrationHelper_loadModelFromFile__SWIG_1(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_ModelCalibrationHelper_loadModelFromFile__SWIG_0(resc,resv,argc,argv);
-        }
-      }
-    }
-  }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelCalibrationHelper_loadModelFromFile'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::ModelCalibrationHelper::loadModelFromFile(std::string const &,std::string const &)\n"
-    "    iDynTree::ModelCalibrationHelper::loadModelFromFile(std::string const &)\n");
   return 1;
 }
 
 
-int _wrap_ModelCalibrationHelper_updateModelInertialParametersToString__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
-  std::string *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  std::string arg4 ;
-  iDynTree::ModelExporterOptions arg5 ;
+int _wrap_UnknownWrenchContact_knownWrench_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
+  iDynTree::Wrench *arg2 = (iDynTree::Wrench *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 = 0 ;
   int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp5 ;
-  int res5 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("ModelCalibrationHelper_updateModelInertialParametersToString",argc,5,5,0)) {
+  if (!SWIG_check_num_args("UnknownWrenchContact_knownWrench_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_knownWrench_set" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__string,  0 );
+  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__Wrench, 0 |  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "2"" of type '" "std::string &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "2"" of type '" "std::string &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "UnknownWrenchContact_knownWrench_set" "', argument " "2"" of type '" "iDynTree::Wrench *""'"); 
   }
-  arg2 = reinterpret_cast< std::string * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  arg2 = reinterpret_cast< iDynTree::Wrench * >(argp2);
+  if (arg1) (arg1)->knownWrench = *arg2;
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_UnknownWrenchContact_knownWrench_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::Wrench *result = 0 ;
+  
+  if (!SWIG_check_num_args("UnknownWrenchContact_knownWrench_get",argc,1,1,0)) {
+    SWIG_fail;
   }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_knownWrench_get" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "4"" of type '" "std::string const""'"); 
-    }
-    arg4 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
+  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
+  result = (iDynTree::Wrench *)& ((arg1)->knownWrench);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Wrench, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_UnknownWrenchContact_contactId_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
+  unsigned long arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  unsigned long val2 ;
+  int ecode2 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("UnknownWrenchContact_contactId_set",argc,2,2,0)) {
+    SWIG_fail;
   }
-  {
-    res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__ModelExporterOptions,  0 );
-    if (!SWIG_IsOK(res5)) {
-      SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "5"" of type '" "iDynTree::ModelExporterOptions const""'"); 
-    }  
-    if (!argp5) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "5"" of type '" "iDynTree::ModelExporterOptions const""'");
-    } else {
-      arg5 = *(reinterpret_cast< iDynTree::ModelExporterOptions * >(argp5));
-    }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_contactId_set" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
   }
-  result = (bool)(arg1)->updateModelInertialParametersToString(*arg2,(iDynTree::VectorDynSize const &)*arg3,arg4,arg5);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
+  ecode2 = SWIG_AsVal_unsigned_SS_long(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "UnknownWrenchContact_contactId_set" "', argument " "2"" of type '" "unsigned long""'");
+  } 
+  arg2 = static_cast< unsigned long >(val2);
+  if (arg1) (arg1)->contactId = arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -68274,55 +69871,91 @@ int _wrap_ModelCalibrationHelper_updateModelInertialParametersToString__SWIG_0(i
 }
 
 
-int _wrap_ModelCalibrationHelper_updateModelInertialParametersToString__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
-  std::string *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  std::string arg4 ;
+int _wrap_UnknownWrenchContact_contactId_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
   mxArray * _out;
-  bool result;
+  unsigned long result;
   
-  if (!SWIG_check_num_args("ModelCalibrationHelper_updateModelInertialParametersToString",argc,4,4,0)) {
+  if (!SWIG_check_num_args("UnknownWrenchContact_contactId_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_contactId_get" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__string,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "2"" of type '" "std::string &""'"); 
+  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
+  result = (unsigned long) ((arg1)->contactId);
+  _out = SWIG_From_unsigned_SS_long(static_cast< unsigned long >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_delete_UnknownWrenchContact(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  
+  int is_owned;
+  if (!SWIG_check_num_args("delete_UnknownWrenchContact",argc,1,1,0)) {
+    SWIG_fail;
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "2"" of type '" "std::string &""'"); 
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, SWIG_POINTER_DISOWN |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_UnknownWrenchContact" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
   }
-  arg2 = reinterpret_cast< std::string * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
+  if (is_owned) {
+    delete arg1;
   }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_LinkUnknownWrenchContacts__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  unsigned int arg1 ;
+  unsigned int val1 ;
+  int ecode1 = 0 ;
+  mxArray * _out;
+  iDynTree::LinkUnknownWrenchContacts *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_LinkUnknownWrenchContacts",argc,1,1,0)) {
+    SWIG_fail;
   }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "4"" of type '" "std::string const""'"); 
-    }
-    arg4 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
+  ecode1 = SWIG_AsVal_unsigned_SS_int(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_LinkUnknownWrenchContacts" "', argument " "1"" of type '" "unsigned int""'");
+  } 
+  arg1 = static_cast< unsigned int >(val1);
+  result = (iDynTree::LinkUnknownWrenchContacts *)new iDynTree::LinkUnknownWrenchContacts(arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_LinkUnknownWrenchContacts__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  mxArray * _out;
+  iDynTree::LinkUnknownWrenchContacts *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_LinkUnknownWrenchContacts",argc,0,0,0)) {
+    SWIG_fail;
   }
-  result = (bool)(arg1)->updateModelInertialParametersToString(*arg2,(iDynTree::VectorDynSize const &)*arg3,arg4);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  (void)argv;
+  result = (iDynTree::LinkUnknownWrenchContacts *)new iDynTree::LinkUnknownWrenchContacts();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -68330,45 +69963,26 @@ int _wrap_ModelCalibrationHelper_updateModelInertialParametersToString__SWIG_1(i
 }
 
 
-int _wrap_ModelCalibrationHelper_updateModelInertialParametersToString__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
-  std::string *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  void *argp1 = 0 ;
+int _wrap_new_LinkUnknownWrenchContacts__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Model *arg1 = 0 ;
+  void *argp1 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::LinkUnknownWrenchContacts *result = 0 ;
   
-  if (!SWIG_check_num_args("ModelCalibrationHelper_updateModelInertialParametersToString",argc,3,3,0)) {
+  if (!SWIG_check_num_args("new_LinkUnknownWrenchContacts",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Model,  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_std__string,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "2"" of type '" "std::string &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "2"" of type '" "std::string &""'"); 
-  }
-  arg2 = reinterpret_cast< std::string * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_LinkUnknownWrenchContacts" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
   }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToString" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  if (!argp1) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_LinkUnknownWrenchContacts" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  result = (bool)(arg1)->updateModelInertialParametersToString(*arg2,(iDynTree::VectorDynSize const &)*arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::Model * >(argp1);
+  result = (iDynTree::LinkUnknownWrenchContacts *)new iDynTree::LinkUnknownWrenchContacts((iDynTree::Model const &)*arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -68376,366 +69990,191 @@ int _wrap_ModelCalibrationHelper_updateModelInertialParametersToString__SWIG_2(i
 }
 
 
-int _wrap_ModelCalibrationHelper_updateModelInertialParametersToString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 3) {
+int _wrap_new_LinkUnknownWrenchContacts(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 0) {
+    return _wrap_new_LinkUnknownWrenchContacts__SWIG_1(resc,resv,argc,argv);
+  }
+  if (argc == 1) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_std__string, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_ModelCalibrationHelper_updateModelInertialParametersToString__SWIG_2(resc,resv,argc,argv);
-        }
-      }
+      return _wrap_new_LinkUnknownWrenchContacts__SWIG_2(resc,resv,argc,argv);
     }
   }
-  if (argc == 4) {
+  if (argc == 1) {
     int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_std__string, 0);
+    {
+      int res = SWIG_AsVal_unsigned_SS_int(argv[0], NULL);
       _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            return _wrap_ModelCalibrationHelper_updateModelInertialParametersToString__SWIG_1(resc,resv,argc,argv);
-          }
-        }
-      }
     }
-  }
-  if (argc == 5) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
-    _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_std__string, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            void *vptr = 0;
-            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__ModelExporterOptions, 0);
-            _v = SWIG_CheckState(res);
-            if (_v) {
-              return _wrap_ModelCalibrationHelper_updateModelInertialParametersToString__SWIG_0(resc,resv,argc,argv);
-            }
-          }
-        }
-      }
+      return _wrap_new_LinkUnknownWrenchContacts__SWIG_0(resc,resv,argc,argv);
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelCalibrationHelper_updateModelInertialParametersToString'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_LinkUnknownWrenchContacts'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::ModelCalibrationHelper::updateModelInertialParametersToString(std::string &,iDynTree::VectorDynSize const &,std::string const,iDynTree::ModelExporterOptions const)\n"
-    "    iDynTree::ModelCalibrationHelper::updateModelInertialParametersToString(std::string &,iDynTree::VectorDynSize const &,std::string const)\n"
-    "    iDynTree::ModelCalibrationHelper::updateModelInertialParametersToString(std::string &,iDynTree::VectorDynSize const &)\n");
+    "    iDynTree::LinkUnknownWrenchContacts::LinkUnknownWrenchContacts(unsigned int)\n"
+    "    iDynTree::LinkUnknownWrenchContacts::LinkUnknownWrenchContacts()\n"
+    "    iDynTree::LinkUnknownWrenchContacts::LinkUnknownWrenchContacts(iDynTree::Model const &)\n");
   return 1;
 }
 
 
-int _wrap_ModelCalibrationHelper_updateModelInertialParametersToFile__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
-  std::string *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  std::string arg4 ;
-  iDynTree::ModelExporterOptions arg5 ;
+int _wrap_LinkUnknownWrenchContacts_clear(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp5 ;
-  int res5 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("ModelCalibrationHelper_updateModelInertialParametersToFile",argc,5,5,0)) {
+  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_clear",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_clear" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(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 '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
+  (arg1)->clear();
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_LinkUnknownWrenchContacts_resize__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
+  unsigned int arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  unsigned int val2 ;
+  int ecode2 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_resize",argc,2,2,0)) {
+    SWIG_fail;
   }
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_resize" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
   }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "4"" of type '" "std::string const""'"); 
-    }
-    arg4 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
-  }
-  {
-    res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__ModelExporterOptions,  0 );
-    if (!SWIG_IsOK(res5)) {
-      SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "5"" of type '" "iDynTree::ModelExporterOptions const""'"); 
-    }  
-    if (!argp5) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "5"" of type '" "iDynTree::ModelExporterOptions const""'");
-    } else {
-      arg5 = *(reinterpret_cast< iDynTree::ModelExporterOptions * >(argp5));
-    }
-  }
-  result = (bool)(arg1)->updateModelInertialParametersToFile((std::string const &)*arg2,(iDynTree::VectorDynSize const &)*arg3,arg4,arg5);
-  _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_ModelCalibrationHelper_updateModelInertialParametersToFile__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
-  std::string *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  std::string arg4 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
-  void *argp3 ;
-  int res3 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("ModelCalibrationHelper_updateModelInertialParametersToFile",argc,4,4,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(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 '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
-  }
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "4"" of type '" "std::string const""'"); 
-    }
-    arg4 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
-  }
-  result = (bool)(arg1)->updateModelInertialParametersToFile((std::string const &)*arg2,(iDynTree::VectorDynSize const &)*arg3,arg4);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
+  ecode2 = SWIG_AsVal_unsigned_SS_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "LinkUnknownWrenchContacts_resize" "', argument " "2"" of type '" "unsigned int""'");
+  } 
+  arg2 = static_cast< unsigned int >(val2);
+  (arg1)->resize(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_ModelCalibrationHelper_updateModelInertialParametersToFile__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
-  std::string *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
+int _wrap_LinkUnknownWrenchContacts_resize__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
+  iDynTree::Model *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
-  void *argp3 ;
-  int res3 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("ModelCalibrationHelper_updateModelInertialParametersToFile",argc,3,3,0)) {
+  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_resize",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(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 '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_resize" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
   }
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "LinkUnknownWrenchContacts_resize" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
   }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ModelCalibrationHelper_updateModelInertialParametersToFile" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "LinkUnknownWrenchContacts_resize" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  result = (bool)(arg1)->updateModelInertialParametersToFile((std::string const &)*arg2,(iDynTree::VectorDynSize const &)*arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
+  (arg1)->resize((iDynTree::Model const &)*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_ModelCalibrationHelper_updateModelInertialParametersToFile(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 3) {
+int _wrap_LinkUnknownWrenchContacts_resize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_ModelCalibrationHelper_updateModelInertialParametersToFile__SWIG_2(resc,resv,argc,argv);
-        }
+        return _wrap_LinkUnknownWrenchContacts_resize__SWIG_1(resc,resv,argc,argv);
       }
     }
   }
-  if (argc == 4) {
+  if (argc == 2) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+      {
+        int res = SWIG_AsVal_unsigned_SS_int(argv[1], NULL);
         _v = SWIG_CheckState(res);
-        if (_v) {
-          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            return _wrap_ModelCalibrationHelper_updateModelInertialParametersToFile__SWIG_1(resc,resv,argc,argv);
-          }
-        }
       }
-    }
-  }
-  if (argc == 5) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
       if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            void *vptr = 0;
-            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__ModelExporterOptions, 0);
-            _v = SWIG_CheckState(res);
-            if (_v) {
-              return _wrap_ModelCalibrationHelper_updateModelInertialParametersToFile__SWIG_0(resc,resv,argc,argv);
-            }
-          }
-        }
+        return _wrap_LinkUnknownWrenchContacts_resize__SWIG_0(resc,resv,argc,argv);
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ModelCalibrationHelper_updateModelInertialParametersToFile'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'LinkUnknownWrenchContacts_resize'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::ModelCalibrationHelper::updateModelInertialParametersToFile(std::string const &,iDynTree::VectorDynSize const &,std::string const,iDynTree::ModelExporterOptions const)\n"
-    "    iDynTree::ModelCalibrationHelper::updateModelInertialParametersToFile(std::string const &,iDynTree::VectorDynSize const &,std::string const)\n"
-    "    iDynTree::ModelCalibrationHelper::updateModelInertialParametersToFile(std::string const &,iDynTree::VectorDynSize const &)\n");
+    "    iDynTree::LinkUnknownWrenchContacts::resize(unsigned int)\n"
+    "    iDynTree::LinkUnknownWrenchContacts::resize(iDynTree::Model const &)\n");
   return 1;
 }
 
 
-int _wrap_ModelCalibrationHelper_model(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
+int _wrap_LinkUnknownWrenchContacts_getNrOfContactsForLink(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
+  iDynTree::LinkIndex arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  iDynTree::Model *result = 0 ;
+  size_t result;
   
-  if (!SWIG_check_num_args("ModelCalibrationHelper_model",argc,1,1,0)) {
+  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_getNrOfContactsForLink",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_model" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_getNrOfContactsForLink" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(argp1);
-  result = (iDynTree::Model *) &(arg1)->model();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "LinkUnknownWrenchContacts_getNrOfContactsForLink" "', argument " "2"" of type '" "iDynTree::LinkIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::LinkIndex >(val2);
+  result = ((iDynTree::LinkUnknownWrenchContacts const *)arg1)->getNrOfContactsForLink(arg2);
+  _out = SWIG_From_size_t(static_cast< size_t >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -68743,23 +70182,38 @@ int _wrap_ModelCalibrationHelper_model(int resc, mxArray *resv[], int argc, mxAr
 }
 
 
-int _wrap_ModelCalibrationHelper_sensors(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
+int _wrap_LinkUnknownWrenchContacts_setNrOfContactsForLink(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
+  iDynTree::LinkIndex arg2 ;
+  size_t arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  size_t val3 ;
+  int ecode3 = 0 ;
   mxArray * _out;
-  iDynTree::SensorsList *result = 0 ;
   
-  if (!SWIG_check_num_args("ModelCalibrationHelper_sensors",argc,1,1,0)) {
+  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_setNrOfContactsForLink",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_sensors" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_setNrOfContactsForLink" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(argp1);
-  result = (iDynTree::SensorsList *) &(arg1)->sensors();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SensorsList, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "LinkUnknownWrenchContacts_setNrOfContactsForLink" "', argument " "2"" of type '" "iDynTree::LinkIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::LinkIndex >(val2);
+  ecode3 = SWIG_AsVal_size_t(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "LinkUnknownWrenchContacts_setNrOfContactsForLink" "', argument " "3"" of type '" "size_t""'");
+  } 
+  arg3 = static_cast< size_t >(val3);
+  (arg1)->setNrOfContactsForLink(arg2,arg3);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -68767,40 +70221,41 @@ int _wrap_ModelCalibrationHelper_sensors(int resc, mxArray *resv[], int argc, mx
 }
 
 
-int _wrap_ModelCalibrationHelper_isValid(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ModelCalibrationHelper *arg1 = (iDynTree::ModelCalibrationHelper *) 0 ;
+int _wrap_LinkUnknownWrenchContacts_addNewContactForLink(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
+  iDynTree::LinkIndex arg2 ;
+  iDynTree::UnknownWrenchContact *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("ModelCalibrationHelper_isValid",argc,1,1,0)) {
+  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_addNewContactForLink",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ModelCalibrationHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ModelCalibrationHelper_isValid" "', argument " "1"" of type '" "iDynTree::ModelCalibrationHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_addNewContactForLink" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ModelCalibrationHelper * >(argp1);
-  result = (bool)(arg1)->isValid();
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  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 ;
-  
-  if (!SWIG_check_num_args("new_UnknownWrenchContact",argc,0,0,0)) {
-    SWIG_fail;
+  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "LinkUnknownWrenchContacts_addNewContactForLink" "', argument " "2"" of type '" "iDynTree::LinkIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::LinkIndex >(val2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__UnknownWrenchContact,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "LinkUnknownWrenchContacts_addNewContactForLink" "', argument " "3"" of type '" "iDynTree::UnknownWrenchContact const &""'"); 
   }
-  (void)argv;
-  result = (iDynTree::UnknownWrenchContact *)new iDynTree::UnknownWrenchContact();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__UnknownWrenchContact, 1 |  0 );
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "LinkUnknownWrenchContacts_addNewContactForLink" "', argument " "3"" of type '" "iDynTree::UnknownWrenchContact const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp3);
+  (arg1)->addNewContactForLink(arg2,(iDynTree::UnknownWrenchContact const &)*arg3);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -68808,66 +70263,53 @@ int _wrap_new_UnknownWrenchContact__SWIG_0(int resc, mxArray *resv[], int argc,
 }
 
 
-int _wrap_new_UnknownWrenchContact__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::UnknownWrenchContactType arg1 ;
-  iDynTree::Position *arg2 = 0 ;
-  iDynTree::Direction *arg3 = 0 ;
-  iDynTree::Wrench *arg4 = 0 ;
-  unsigned long *arg5 = 0 ;
-  int val1 ;
-  int ecode1 = 0 ;
+int _wrap_LinkUnknownWrenchContacts_addNewContactInFrame(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
+  iDynTree::Model *arg2 = 0 ;
+  iDynTree::FrameIndex arg3 ;
+  iDynTree::UnknownWrenchContact *arg4 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
   void *argp4 ;
   int res4 = 0 ;
-  unsigned long temp5 ;
-  unsigned long val5 ;
-  int ecode5 = 0 ;
   mxArray * _out;
-  iDynTree::UnknownWrenchContact *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("new_UnknownWrenchContact",argc,5,5,0)) {
+  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_addNewContactInFrame",argc,4,4,0)) {
     SWIG_fail;
   }
-  ecode1 = SWIG_AsVal_int(argv[0], &val1);
-  if (!SWIG_IsOK(ecode1)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_UnknownWrenchContact" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContactType""'");
-  } 
-  arg1 = static_cast< iDynTree::UnknownWrenchContactType >(val1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Position,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_addNewContactInFrame" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "new_UnknownWrenchContact" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "LinkUnknownWrenchContacts_addNewContactInFrame" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Position * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Direction,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "new_UnknownWrenchContact" "', argument " "3"" of type '" "iDynTree::Direction const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "3"" of type '" "iDynTree::Direction const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "LinkUnknownWrenchContacts_addNewContactInFrame" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::Direction * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__Wrench,  0 );
+  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
+  ecode3 = SWIG_AsVal_int(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "LinkUnknownWrenchContacts_addNewContactInFrame" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg3 = static_cast< iDynTree::FrameIndex >(val3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__UnknownWrenchContact,  0 );
   if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "new_UnknownWrenchContact" "', argument " "4"" of type '" "iDynTree::Wrench const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "LinkUnknownWrenchContacts_addNewContactInFrame" "', argument " "4"" of type '" "iDynTree::UnknownWrenchContact const &""'"); 
   }
   if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "4"" of type '" "iDynTree::Wrench const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "LinkUnknownWrenchContacts_addNewContactInFrame" "', argument " "4"" of type '" "iDynTree::UnknownWrenchContact const &""'"); 
   }
-  arg4 = reinterpret_cast< iDynTree::Wrench * >(argp4);
-  ecode5 = SWIG_AsVal_unsigned_SS_long(argv[4], &val5);
-  if (!SWIG_IsOK(ecode5)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode5), "in method '" "new_UnknownWrenchContact" "', argument " "5"" of type '" "unsigned long""'");
-  } 
-  temp5 = static_cast< unsigned long >(val5);
-  arg5 = &temp5;
-  result = (iDynTree::UnknownWrenchContact *)new iDynTree::UnknownWrenchContact(arg1,(iDynTree::Position const &)*arg2,(iDynTree::Direction const &)*arg3,(iDynTree::Wrench const &)*arg4,(unsigned long const &)*arg5);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__UnknownWrenchContact, 1 |  0 );
+  arg4 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp4);
+  result = (bool)(arg1)->addNewContactInFrame((iDynTree::Model const &)*arg2,arg3,(iDynTree::UnknownWrenchContact const &)*arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -68875,56 +70317,42 @@ int _wrap_new_UnknownWrenchContact__SWIG_1(int resc, mxArray *resv[], int argc,
 }
 
 
-int _wrap_new_UnknownWrenchContact__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::UnknownWrenchContactType arg1 ;
-  iDynTree::Position *arg2 = 0 ;
-  iDynTree::Direction *arg3 = 0 ;
-  iDynTree::Wrench *arg4 = 0 ;
-  int val1 ;
-  int ecode1 = 0 ;
+int _wrap_LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
+  iDynTree::Model *arg2 = 0 ;
+  iDynTree::FrameIndex arg3 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
   mxArray * _out;
-  iDynTree::UnknownWrenchContact *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("new_UnknownWrenchContact",argc,4,4,0)) {
+  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin",argc,3,3,0)) {
     SWIG_fail;
   }
-  ecode1 = SWIG_AsVal_int(argv[0], &val1);
-  if (!SWIG_IsOK(ecode1)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_UnknownWrenchContact" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContactType""'");
-  } 
-  arg1 = static_cast< iDynTree::UnknownWrenchContactType >(val1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Position,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "new_UnknownWrenchContact" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Position * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Direction,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "new_UnknownWrenchContact" "', argument " "3"" of type '" "iDynTree::Direction const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "3"" of type '" "iDynTree::Direction const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::Direction * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__Wrench,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "new_UnknownWrenchContact" "', argument " "4"" of type '" "iDynTree::Wrench const &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "4"" of type '" "iDynTree::Wrench const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
   }
-  arg4 = reinterpret_cast< iDynTree::Wrench * >(argp4);
-  result = (iDynTree::UnknownWrenchContact *)new iDynTree::UnknownWrenchContact(arg1,(iDynTree::Position const &)*arg2,(iDynTree::Direction const &)*arg3,(iDynTree::Wrench const &)*arg4);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__UnknownWrenchContact, 1 |  0 );
+  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
+  ecode3 = SWIG_AsVal_int(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg3 = static_cast< iDynTree::FrameIndex >(val3);
+  result = (bool)(arg1)->addNewUnknownFullWrenchInFrameOrigin((iDynTree::Model const &)*arg2,arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -68932,80 +70360,79 @@ int _wrap_new_UnknownWrenchContact__SWIG_2(int resc, mxArray *resv[], int argc,
 }
 
 
-int _wrap_new_UnknownWrenchContact__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::UnknownWrenchContactType arg1 ;
-  iDynTree::Position *arg2 = 0 ;
-  iDynTree::Direction *arg3 = 0 ;
-  int val1 ;
-  int ecode1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
+int _wrap_LinkUnknownWrenchContacts_contactWrench__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
+  iDynTree::LinkIndex arg2 ;
+  size_t arg3 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  size_t val3 ;
+  int ecode3 = 0 ;
   mxArray * _out;
   iDynTree::UnknownWrenchContact *result = 0 ;
   
-  if (!SWIG_check_num_args("new_UnknownWrenchContact",argc,3,3,0)) {
+  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_contactWrench",argc,3,3,0)) {
     SWIG_fail;
   }
-  ecode1 = SWIG_AsVal_int(argv[0], &val1);
-  if (!SWIG_IsOK(ecode1)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_UnknownWrenchContact" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContactType""'");
-  } 
-  arg1 = static_cast< iDynTree::UnknownWrenchContactType >(val1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Position,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "new_UnknownWrenchContact" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Position * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Direction,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "new_UnknownWrenchContact" "', argument " "3"" of type '" "iDynTree::Direction const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "3"" of type '" "iDynTree::Direction const &""'"); 
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_contactWrench" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::Direction * >(argp3);
-  result = (iDynTree::UnknownWrenchContact *)new iDynTree::UnknownWrenchContact(arg1,(iDynTree::Position const &)*arg2,(iDynTree::Direction const &)*arg3);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__UnknownWrenchContact, 1 |  0 );
-  if (_out) --resc, *resv++ = _out;
+  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "LinkUnknownWrenchContacts_contactWrench" "', argument " "2"" of type '" "iDynTree::LinkIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::LinkIndex >(val2);
+  ecode3 = SWIG_AsVal_size_t(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "LinkUnknownWrenchContacts_contactWrench" "', argument " "3"" of type '" "size_t""'");
+  } 
+  arg3 = static_cast< size_t >(val3);
+  result = (iDynTree::UnknownWrenchContact *) &(arg1)->contactWrench(arg2,arg3);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
   return 1;
 }
 
 
-int _wrap_new_UnknownWrenchContact__SWIG_4(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::UnknownWrenchContactType arg1 ;
-  iDynTree::Position *arg2 = 0 ;
-  int val1 ;
-  int ecode1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+int _wrap_LinkUnknownWrenchContacts_contactWrench__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
+  iDynTree::LinkIndex arg2 ;
+  size_t arg3 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  size_t val3 ;
+  int ecode3 = 0 ;
   mxArray * _out;
   iDynTree::UnknownWrenchContact *result = 0 ;
   
-  if (!SWIG_check_num_args("new_UnknownWrenchContact",argc,2,2,0)) {
+  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_contactWrench",argc,3,3,0)) {
     SWIG_fail;
   }
-  ecode1 = SWIG_AsVal_int(argv[0], &val1);
-  if (!SWIG_IsOK(ecode1)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_UnknownWrenchContact" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContactType""'");
-  } 
-  arg1 = static_cast< iDynTree::UnknownWrenchContactType >(val1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Position,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "new_UnknownWrenchContact" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_UnknownWrenchContact" "', argument " "2"" of type '" "iDynTree::Position const &""'"); 
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_contactWrench" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts const *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Position * >(argp2);
-  result = (iDynTree::UnknownWrenchContact *)new iDynTree::UnknownWrenchContact(arg1,(iDynTree::Position const &)*arg2);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__UnknownWrenchContact, 1 |  0 );
+  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "LinkUnknownWrenchContacts_contactWrench" "', argument " "2"" of type '" "iDynTree::LinkIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::LinkIndex >(val2);
+  ecode3 = SWIG_AsVal_size_t(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "LinkUnknownWrenchContacts_contactWrench" "', argument " "3"" of type '" "size_t""'");
+  } 
+  arg3 = static_cast< size_t >(val3);
+  result = (iDynTree::UnknownWrenchContact *) &((iDynTree::LinkUnknownWrenchContacts const *)arg1)->contactWrench(arg2,arg3);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69013,137 +70440,86 @@ int _wrap_new_UnknownWrenchContact__SWIG_4(int resc, mxArray *resv[], int argc,
 }
 
 
-int _wrap_new_UnknownWrenchContact(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 0) {
-    return _wrap_new_UnknownWrenchContact__SWIG_0(resc,resv,argc,argv);
-  }
-  if (argc == 2) {
-    int _v;
-    {
-      int res = SWIG_AsVal_int(argv[0], NULL);
-      _v = SWIG_CheckState(res);
-    }
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_new_UnknownWrenchContact__SWIG_4(resc,resv,argc,argv);
-      }
-    }
-  }
+int _wrap_LinkUnknownWrenchContacts_contactWrench(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 3) {
     int _v;
-    {
-      int res = SWIG_AsVal_int(argv[0], NULL);
-      _v = SWIG_CheckState(res);
-    }
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0);
+    _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__Direction, 0);
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
         _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_new_UnknownWrenchContact__SWIG_3(resc,resv,argc,argv);
-        }
       }
-    }
-  }
-  if (argc == 4) {
-    int _v;
-    {
-      int res = SWIG_AsVal_int(argv[0], NULL);
-      _v = SWIG_CheckState(res);
-    }
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
-      _v = SWIG_CheckState(res);
       if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__Direction, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__Wrench, 0);
+        {
+          int res = SWIG_AsVal_size_t(argv[2], NULL);
           _v = SWIG_CheckState(res);
-          if (_v) {
-            return _wrap_new_UnknownWrenchContact__SWIG_2(resc,resv,argc,argv);
-          }
+        }
+        if (_v) {
+          return _wrap_LinkUnknownWrenchContacts_contactWrench__SWIG_0(resc,resv,argc,argv);
         }
       }
     }
   }
-  if (argc == 5) {
+  if (argc == 3) {
     int _v;
-    {
-      int res = SWIG_AsVal_int(argv[0], NULL);
-      _v = SWIG_CheckState(res);
-    }
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0);
+    _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Position, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__Direction, 0);
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
         _v = SWIG_CheckState(res);
-        if (_v) {
-          void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__Wrench, 0);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_size_t(argv[2], NULL);
           _v = SWIG_CheckState(res);
-          if (_v) {
-            {
-              int res = SWIG_AsVal_unsigned_SS_long(argv[4], NULL);
-              _v = SWIG_CheckState(res);
-            }
-            if (_v) {
-              return _wrap_new_UnknownWrenchContact__SWIG_1(resc,resv,argc,argv);
-            }
-          }
+        }
+        if (_v) {
+          return _wrap_LinkUnknownWrenchContacts_contactWrench__SWIG_1(resc,resv,argc,argv);
         }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_UnknownWrenchContact'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'LinkUnknownWrenchContacts_contactWrench'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::UnknownWrenchContact::UnknownWrenchContact()\n"
-    "    iDynTree::UnknownWrenchContact::UnknownWrenchContact(iDynTree::UnknownWrenchContactType const,iDynTree::Position const &,iDynTree::Direction const &,iDynTree::Wrench const &,unsigned long const &)\n"
-    "    iDynTree::UnknownWrenchContact::UnknownWrenchContact(iDynTree::UnknownWrenchContactType const,iDynTree::Position const &,iDynTree::Direction const &,iDynTree::Wrench const &)\n"
-    "    iDynTree::UnknownWrenchContact::UnknownWrenchContact(iDynTree::UnknownWrenchContactType const,iDynTree::Position const &,iDynTree::Direction const &)\n"
-    "    iDynTree::UnknownWrenchContact::UnknownWrenchContact(iDynTree::UnknownWrenchContactType const,iDynTree::Position const &)\n");
+    "    iDynTree::LinkUnknownWrenchContacts::contactWrench(iDynTree::LinkIndex const,size_t const)\n"
+    "    iDynTree::LinkUnknownWrenchContacts::contactWrench(iDynTree::LinkIndex const,size_t const) const\n");
   return 1;
 }
 
 
-int _wrap_UnknownWrenchContact_unknownType_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
-  iDynTree::UnknownWrenchContactType arg2 ;
+int _wrap_LinkUnknownWrenchContacts_toString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
+  iDynTree::Model *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
+  std::string result;
   
-  if (!SWIG_check_num_args("UnknownWrenchContact_unknownType_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_toString",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_unknownType_set" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_toString" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "UnknownWrenchContact_unknownType_set" "', argument " "2"" of type '" "iDynTree::UnknownWrenchContactType""'");
-  } 
-  arg2 = static_cast< iDynTree::UnknownWrenchContactType >(val2);
-  if (arg1) (arg1)->unknownType = arg2;
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "LinkUnknownWrenchContacts_toString" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "LinkUnknownWrenchContacts_toString" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
+  result = ((iDynTree::LinkUnknownWrenchContacts const *)arg1)->toString((iDynTree::Model const &)*arg2);
+  _out = SWIG_From_std_string(static_cast< std::string >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69151,23 +70527,26 @@ int _wrap_UnknownWrenchContact_unknownType_set(int resc, mxArray *resv[], int ar
 }
 
 
-int _wrap_UnknownWrenchContact_unknownType_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
+int _wrap_delete_LinkUnknownWrenchContacts(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::UnknownWrenchContactType result;
   
-  if (!SWIG_check_num_args("UnknownWrenchContact_unknownType_get",argc,1,1,0)) {
+  int is_owned;
+  if (!SWIG_check_num_args("delete_LinkUnknownWrenchContacts",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_unknownType_get" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_LinkUnknownWrenchContacts" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
-  result = (iDynTree::UnknownWrenchContactType) ((arg1)->unknownType);
-  _out = SWIG_From_int(static_cast< int >(result));
+  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
+  if (is_owned) {
+    delete arg1;
+  }
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69175,30 +70554,16 @@ int _wrap_UnknownWrenchContact_unknownType_get(int resc, mxArray *resv[], int ar
 }
 
 
-int _wrap_UnknownWrenchContact_contactPoint_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
-  iDynTree::Position *arg2 = (iDynTree::Position *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+int _wrap_new_estimateExternalWrenchesBuffers__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
+  iDynTree::estimateExternalWrenchesBuffers *result = 0 ;
   
-  if (!SWIG_check_num_args("UnknownWrenchContact_contactPoint_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("new_estimateExternalWrenchesBuffers",argc,0,0,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_contactPoint_set" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__Position, 0 |  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "UnknownWrenchContact_contactPoint_set" "', argument " "2"" of type '" "iDynTree::Position *""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Position * >(argp2);
-  if (arg1) (arg1)->contactPoint = *arg2;
-  _out = (mxArray*)0;
+  (void)argv;
+  result = (iDynTree::estimateExternalWrenchesBuffers *)new iDynTree::estimateExternalWrenchesBuffers();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69206,23 +70571,26 @@ int _wrap_UnknownWrenchContact_contactPoint_set(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_UnknownWrenchContact_contactPoint_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
-  void *argp1 = 0 ;
+int _wrap_new_estimateExternalWrenchesBuffers__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SubModelDecomposition *arg1 = 0 ;
+  void *argp1 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::Position *result = 0 ;
+  iDynTree::estimateExternalWrenchesBuffers *result = 0 ;
   
-  if (!SWIG_check_num_args("UnknownWrenchContact_contactPoint_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("new_estimateExternalWrenchesBuffers",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__SubModelDecomposition,  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_contactPoint_get" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_estimateExternalWrenchesBuffers" "', argument " "1"" of type '" "iDynTree::SubModelDecomposition const &""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
-  result = (iDynTree::Position *)& ((arg1)->contactPoint);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Position, 0 |  0 );
+  if (!argp1) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_estimateExternalWrenchesBuffers" "', argument " "1"" of type '" "iDynTree::SubModelDecomposition const &""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::SubModelDecomposition * >(argp1);
+  result = (iDynTree::estimateExternalWrenchesBuffers *)new iDynTree::estimateExternalWrenchesBuffers((iDynTree::SubModelDecomposition const &)*arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69230,30 +70598,31 @@ int _wrap_UnknownWrenchContact_contactPoint_get(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_UnknownWrenchContact_forceDirection_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
-  iDynTree::Direction *arg2 = (iDynTree::Direction *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+int _wrap_new_estimateExternalWrenchesBuffers__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  size_t arg1 ;
+  size_t arg2 ;
+  size_t val1 ;
+  int ecode1 = 0 ;
+  size_t val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
+  iDynTree::estimateExternalWrenchesBuffers *result = 0 ;
   
-  if (!SWIG_check_num_args("UnknownWrenchContact_forceDirection_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("new_estimateExternalWrenchesBuffers",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_forceDirection_set" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__Direction, 0 |  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "UnknownWrenchContact_forceDirection_set" "', argument " "2"" of type '" "iDynTree::Direction *""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Direction * >(argp2);
-  if (arg1) (arg1)->forceDirection = *arg2;
-  _out = (mxArray*)0;
+  ecode1 = SWIG_AsVal_size_t(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_estimateExternalWrenchesBuffers" "', argument " "1"" of type '" "size_t""'");
+  } 
+  arg1 = static_cast< size_t >(val1);
+  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "new_estimateExternalWrenchesBuffers" "', argument " "2"" of type '" "size_t""'");
+  } 
+  arg2 = static_cast< size_t >(val2);
+  result = (iDynTree::estimateExternalWrenchesBuffers *)new iDynTree::estimateExternalWrenchesBuffers(arg1,arg2);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69261,53 +70630,71 @@ int _wrap_UnknownWrenchContact_forceDirection_set(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_UnknownWrenchContact_forceDirection_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::Direction *result = 0 ;
-  
-  if (!SWIG_check_num_args("UnknownWrenchContact_forceDirection_get",argc,1,1,0)) {
-    SWIG_fail;
+int _wrap_new_estimateExternalWrenchesBuffers(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 0) {
+    return _wrap_new_estimateExternalWrenchesBuffers__SWIG_0(resc,resv,argc,argv);
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_forceDirection_get" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SubModelDecomposition, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_new_estimateExternalWrenchesBuffers__SWIG_1(resc,resv,argc,argv);
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
-  result = (iDynTree::Direction *)& ((arg1)->forceDirection);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Direction, 0 |  0 );
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  if (argc == 2) {
+    int _v;
+    {
+      int res = SWIG_AsVal_size_t(argv[0], NULL);
+      _v = SWIG_CheckState(res);
+    }
+    if (_v) {
+      {
+        int res = SWIG_AsVal_size_t(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        return _wrap_new_estimateExternalWrenchesBuffers__SWIG_2(resc,resv,argc,argv);
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_estimateExternalWrenchesBuffers'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::estimateExternalWrenchesBuffers::estimateExternalWrenchesBuffers()\n"
+    "    iDynTree::estimateExternalWrenchesBuffers::estimateExternalWrenchesBuffers(iDynTree::SubModelDecomposition const &)\n"
+    "    iDynTree::estimateExternalWrenchesBuffers::estimateExternalWrenchesBuffers(size_t const,size_t const)\n");
   return 1;
 }
 
 
-int _wrap_UnknownWrenchContact_knownWrench_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
-  iDynTree::Wrench *arg2 = (iDynTree::Wrench *) 0 ;
+int _wrap_estimateExternalWrenchesBuffers_resize__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
+  iDynTree::SubModelDecomposition *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("UnknownWrenchContact_knownWrench_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_resize",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_knownWrench_set" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_resize" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__Wrench, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SubModelDecomposition,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "UnknownWrenchContact_knownWrench_set" "', argument " "2"" of type '" "iDynTree::Wrench *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesBuffers_resize" "', argument " "2"" of type '" "iDynTree::SubModelDecomposition const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Wrench * >(argp2);
-  if (arg1) (arg1)->knownWrench = *arg2;
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesBuffers_resize" "', argument " "2"" of type '" "iDynTree::SubModelDecomposition const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::SubModelDecomposition * >(argp2);
+  (arg1)->resize((iDynTree::SubModelDecomposition const &)*arg2);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -69316,23 +70703,38 @@ int _wrap_UnknownWrenchContact_knownWrench_set(int resc, mxArray *resv[], int ar
 }
 
 
-int _wrap_UnknownWrenchContact_knownWrench_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
+int _wrap_estimateExternalWrenchesBuffers_resize__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
+  size_t arg2 ;
+  size_t arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  size_t val2 ;
+  int ecode2 = 0 ;
+  size_t val3 ;
+  int ecode3 = 0 ;
   mxArray * _out;
-  iDynTree::Wrench *result = 0 ;
   
-  if (!SWIG_check_num_args("UnknownWrenchContact_knownWrench_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_resize",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_knownWrench_get" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_resize" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
-  result = (iDynTree::Wrench *)& ((arg1)->knownWrench);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Wrench, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "estimateExternalWrenchesBuffers_resize" "', argument " "2"" of type '" "size_t""'");
+  } 
+  arg2 = static_cast< size_t >(val2);
+  ecode3 = SWIG_AsVal_size_t(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "estimateExternalWrenchesBuffers_resize" "', argument " "3"" of type '" "size_t""'");
+  } 
+  arg3 = static_cast< size_t >(val3);
+  (arg1)->resize(arg2,arg3);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69340,30 +70742,68 @@ int _wrap_UnknownWrenchContact_knownWrench_get(int resc, mxArray *resv[], int ar
 }
 
 
-int _wrap_UnknownWrenchContact_contactId_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
-  unsigned long arg2 ;
+int _wrap_estimateExternalWrenchesBuffers_resize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SubModelDecomposition, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_estimateExternalWrenchesBuffers_resize__SWIG_0(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_size_t(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_size_t(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          return _wrap_estimateExternalWrenchesBuffers_resize__SWIG_1(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'estimateExternalWrenchesBuffers_resize'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::estimateExternalWrenchesBuffers::resize(iDynTree::SubModelDecomposition const &)\n"
+    "    iDynTree::estimateExternalWrenchesBuffers::resize(size_t const,size_t const)\n");
+  return 1;
+}
+
+
+int _wrap_estimateExternalWrenchesBuffers_getNrOfSubModels(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  unsigned long val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
+  size_t result;
   
-  if (!SWIG_check_num_args("UnknownWrenchContact_contactId_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_getNrOfSubModels",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_contactId_set" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_getNrOfSubModels" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
-  ecode2 = SWIG_AsVal_unsigned_SS_long(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "UnknownWrenchContact_contactId_set" "', argument " "2"" of type '" "unsigned long""'");
-  } 
-  arg2 = static_cast< unsigned long >(val2);
-  if (arg1) (arg1)->contactId = arg2;
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  result = ((iDynTree::estimateExternalWrenchesBuffers const *)arg1)->getNrOfSubModels();
+  _out = SWIG_From_size_t(static_cast< size_t >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69371,23 +70811,23 @@ int _wrap_UnknownWrenchContact_contactId_set(int resc, mxArray *resv[], int argc
 }
 
 
-int _wrap_UnknownWrenchContact_contactId_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
+int _wrap_estimateExternalWrenchesBuffers_getNrOfLinks(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  unsigned long result;
+  size_t result;
   
-  if (!SWIG_check_num_args("UnknownWrenchContact_contactId_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_getNrOfLinks",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "UnknownWrenchContact_contactId_get" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_getNrOfLinks" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
-  result = (unsigned long) ((arg1)->contactId);
-  _out = SWIG_From_unsigned_SS_long(static_cast< unsigned long >(result));
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  result = ((iDynTree::estimateExternalWrenchesBuffers const *)arg1)->getNrOfLinks();
+  _out = SWIG_From_size_t(static_cast< size_t >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69395,26 +70835,34 @@ int _wrap_UnknownWrenchContact_contactId_get(int resc, mxArray *resv[], int argc
 }
 
 
-int _wrap_delete_UnknownWrenchContact(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::UnknownWrenchContact *arg1 = (iDynTree::UnknownWrenchContact *) 0 ;
+int _wrap_estimateExternalWrenchesBuffers_isConsistent(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
+  iDynTree::SubModelDecomposition *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
+  bool result;
   
-  int is_owned;
-  if (!SWIG_check_num_args("delete_UnknownWrenchContact",argc,1,1,0)) {
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_isConsistent",argc,2,2,0)) {
     SWIG_fail;
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__UnknownWrenchContact, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_UnknownWrenchContact" "', argument " "1"" of type '" "iDynTree::UnknownWrenchContact *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_isConsistent" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp1);
-  if (is_owned) {
-    delete arg1;
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SubModelDecomposition,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesBuffers_isConsistent" "', argument " "2"" of type '" "iDynTree::SubModelDecomposition const &""'"); 
   }
-  _out = (mxArray*)0;
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesBuffers_isConsistent" "', argument " "2"" of type '" "iDynTree::SubModelDecomposition const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::SubModelDecomposition * >(argp2);
+  result = (bool)((iDynTree::estimateExternalWrenchesBuffers const *)arg1)->isConsistent((iDynTree::SubModelDecomposition const &)*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69422,23 +70870,30 @@ int _wrap_delete_UnknownWrenchContact(int resc, mxArray *resv[], int argc, mxArr
 }
 
 
-int _wrap_new_LinkUnknownWrenchContacts__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  unsigned int arg1 ;
-  unsigned int val1 ;
-  int ecode1 = 0 ;
+int _wrap_estimateExternalWrenchesBuffers_A_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
+  std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *arg2 = (std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::LinkUnknownWrenchContacts *result = 0 ;
   
-  if (!SWIG_check_num_args("new_LinkUnknownWrenchContacts",argc,1,1,0)) {
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_A_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  ecode1 = SWIG_AsVal_unsigned_SS_int(argv[0], &val1);
-  if (!SWIG_IsOK(ecode1)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_LinkUnknownWrenchContacts" "', argument " "1"" of type '" "unsigned int""'");
-  } 
-  arg1 = static_cast< unsigned int >(val1);
-  result = (iDynTree::LinkUnknownWrenchContacts *)new iDynTree::LinkUnknownWrenchContacts(arg1);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 1 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_A_set" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesBuffers_A_set" "', argument " "2"" of type '" "std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *""'"); 
+  }
+  arg2 = reinterpret_cast< std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > * >(argp2);
+  if (arg1) (arg1)->A = *arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69446,16 +70901,23 @@ int _wrap_new_LinkUnknownWrenchContacts__SWIG_0(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_new_LinkUnknownWrenchContacts__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_estimateExternalWrenchesBuffers_A_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
   mxArray * _out;
-  iDynTree::LinkUnknownWrenchContacts *result = 0 ;
+  std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *result = 0 ;
   
-  if (!SWIG_check_num_args("new_LinkUnknownWrenchContacts",argc,0,0,0)) {
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_A_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  (void)argv;
-  result = (iDynTree::LinkUnknownWrenchContacts *)new iDynTree::LinkUnknownWrenchContacts();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 1 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_A_get" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  result = (std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *)& ((arg1)->A);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69463,26 +70925,30 @@ int _wrap_new_LinkUnknownWrenchContacts__SWIG_1(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_new_LinkUnknownWrenchContacts__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Model *arg1 = 0 ;
-  void *argp1 ;
+int _wrap_estimateExternalWrenchesBuffers_x_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
+  std::vector< iDynTree::VectorDynSize,std::allocator< iDynTree::VectorDynSize > > *arg2 = (std::vector< iDynTree::VectorDynSize,std::allocator< iDynTree::VectorDynSize > > *) 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::LinkUnknownWrenchContacts *result = 0 ;
   
-  if (!SWIG_check_num_args("new_LinkUnknownWrenchContacts",argc,1,1,0)) {
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_x_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Model,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_LinkUnknownWrenchContacts" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_x_set" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
   }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_LinkUnknownWrenchContacts" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesBuffers_x_set" "', argument " "2"" of type '" "std::vector< iDynTree::VectorDynSize,std::allocator< iDynTree::VectorDynSize > > *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::Model * >(argp1);
-  result = (iDynTree::LinkUnknownWrenchContacts *)new iDynTree::LinkUnknownWrenchContacts((iDynTree::Model const &)*arg1);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 1 |  0 );
+  arg2 = reinterpret_cast< std::vector< iDynTree::VectorDynSize,std::allocator< iDynTree::VectorDynSize > > * >(argp2);
+  if (arg1) (arg1)->x = *arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69490,54 +70956,53 @@ int _wrap_new_LinkUnknownWrenchContacts__SWIG_2(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_new_LinkUnknownWrenchContacts(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 0) {
-    return _wrap_new_LinkUnknownWrenchContacts__SWIG_1(resc,resv,argc,argv);
-  }
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_new_LinkUnknownWrenchContacts__SWIG_2(resc,resv,argc,argv);
-    }
+int _wrap_estimateExternalWrenchesBuffers_x_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< iDynTree::VectorDynSize,std::allocator< iDynTree::VectorDynSize > > *result = 0 ;
+  
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_x_get",argc,1,1,0)) {
+    SWIG_fail;
   }
-  if (argc == 1) {
-    int _v;
-    {
-      int res = SWIG_AsVal_unsigned_SS_int(argv[0], NULL);
-      _v = SWIG_CheckState(res);
-    }
-    if (_v) {
-      return _wrap_new_LinkUnknownWrenchContacts__SWIG_0(resc,resv,argc,argv);
-    }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_x_get" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
   }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_LinkUnknownWrenchContacts'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::LinkUnknownWrenchContacts::LinkUnknownWrenchContacts(unsigned int)\n"
-    "    iDynTree::LinkUnknownWrenchContacts::LinkUnknownWrenchContacts()\n"
-    "    iDynTree::LinkUnknownWrenchContacts::LinkUnknownWrenchContacts(iDynTree::Model const &)\n");
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  result = (std::vector< iDynTree::VectorDynSize,std::allocator< iDynTree::VectorDynSize > > *)& ((arg1)->x);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
   return 1;
 }
 
 
-int _wrap_LinkUnknownWrenchContacts_clear(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
+int _wrap_estimateExternalWrenchesBuffers_b_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
+  std::vector< iDynTree::Vector6,std::allocator< iDynTree::Vector6 > > *arg2 = (std::vector< iDynTree::Vector6,std::allocator< iDynTree::Vector6 > > *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_clear",argc,1,1,0)) {
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_b_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_clear" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_b_set" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
-  (arg1)->clear();
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__allocatorT_iDynTree__VectorFixSizeT_6_t_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesBuffers_b_set" "', argument " "2"" of type '" "std::vector< iDynTree::Vector6,std::allocator< iDynTree::Vector6 > > *""'"); 
+  }
+  arg2 = reinterpret_cast< std::vector< iDynTree::Vector6,std::allocator< iDynTree::Vector6 > > * >(argp2);
+  if (arg1) (arg1)->b = *arg2;
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -69546,30 +71011,23 @@ int _wrap_LinkUnknownWrenchContacts_clear(int resc, mxArray *resv[], int argc, m
 }
 
 
-int _wrap_LinkUnknownWrenchContacts_resize__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
-  unsigned int arg2 ;
+int _wrap_estimateExternalWrenchesBuffers_b_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  unsigned int val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
+  std::vector< iDynTree::Vector6,std::allocator< iDynTree::Vector6 > > *result = 0 ;
   
-  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_resize",argc,2,2,0)) {
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_b_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_resize" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_b_get" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
-  ecode2 = SWIG_AsVal_unsigned_SS_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "LinkUnknownWrenchContacts_resize" "', argument " "2"" of type '" "unsigned int""'");
-  } 
-  arg2 = static_cast< unsigned int >(val2);
-  (arg1)->resize(arg2);
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  result = (std::vector< iDynTree::Vector6,std::allocator< iDynTree::Vector6 > > *)& ((arg1)->b);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__allocatorT_iDynTree__VectorFixSizeT_6_t_t_t, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69577,32 +71035,29 @@ int _wrap_LinkUnknownWrenchContacts_resize__SWIG_0(int resc, mxArray *resv[], in
 }
 
 
-int _wrap_LinkUnknownWrenchContacts_resize__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
-  iDynTree::Model *arg2 = 0 ;
+int _wrap_estimateExternalWrenchesBuffers_pinvA_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
+  std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *arg2 = (std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
+  void *argp2 = 0 ;
   int res2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_resize",argc,2,2,0)) {
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_pinvA_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_resize" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_pinvA_set" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t, 0 |  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "LinkUnknownWrenchContacts_resize" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "LinkUnknownWrenchContacts_resize" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesBuffers_pinvA_set" "', argument " "2"" of type '" "std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  (arg1)->resize((iDynTree::Model const &)*arg2);
+  arg2 = reinterpret_cast< std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > * >(argp2);
+  if (arg1) (arg1)->pinvA = *arg2;
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -69611,70 +71066,23 @@ int _wrap_LinkUnknownWrenchContacts_resize__SWIG_1(int resc, mxArray *resv[], in
 }
 
 
-int _wrap_LinkUnknownWrenchContacts_resize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_LinkUnknownWrenchContacts_resize__SWIG_1(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      {
-        int res = SWIG_AsVal_unsigned_SS_int(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
-      if (_v) {
-        return _wrap_LinkUnknownWrenchContacts_resize__SWIG_0(resc,resv,argc,argv);
-      }
-    }
-  }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'LinkUnknownWrenchContacts_resize'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::LinkUnknownWrenchContacts::resize(unsigned int)\n"
-    "    iDynTree::LinkUnknownWrenchContacts::resize(iDynTree::Model const &)\n");
-  return 1;
-}
-
-
-int _wrap_LinkUnknownWrenchContacts_getNrOfContactsForLink(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
-  iDynTree::LinkIndex arg2 ;
+int _wrap_estimateExternalWrenchesBuffers_pinvA_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
-  size_t result;
+  std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *result = 0 ;
   
-  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_getNrOfContactsForLink",argc,2,2,0)) {
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_pinvA_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_getNrOfContactsForLink" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_pinvA_get" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "LinkUnknownWrenchContacts_getNrOfContactsForLink" "', argument " "2"" of type '" "iDynTree::LinkIndex""'");
-  } 
-  arg2 = static_cast< iDynTree::LinkIndex >(val2);
-  result = ((iDynTree::LinkUnknownWrenchContacts const *)arg1)->getNrOfContactsForLink(arg2);
-  _out = SWIG_From_size_t(static_cast< size_t >(result));
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  result = (std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *)& ((arg1)->pinvA);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69682,37 +71090,29 @@ int _wrap_LinkUnknownWrenchContacts_getNrOfContactsForLink(int resc, mxArray *re
 }
 
 
-int _wrap_LinkUnknownWrenchContacts_setNrOfContactsForLink(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
-  iDynTree::LinkIndex arg2 ;
-  size_t arg3 ;
+int _wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
+  iDynTree::LinkWrenches *arg2 = (iDynTree::LinkWrenches *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  size_t val3 ;
-  int ecode3 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_setNrOfContactsForLink",argc,3,3,0)) {
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_b_contacts_subtree_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_setNrOfContactsForLink" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_b_contacts_subtree_set" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "LinkUnknownWrenchContacts_setNrOfContactsForLink" "', argument " "2"" of type '" "iDynTree::LinkIndex""'");
-  } 
-  arg2 = static_cast< iDynTree::LinkIndex >(val2);
-  ecode3 = SWIG_AsVal_size_t(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "LinkUnknownWrenchContacts_setNrOfContactsForLink" "', argument " "3"" of type '" "size_t""'");
-  } 
-  arg3 = static_cast< size_t >(val3);
-  (arg1)->setNrOfContactsForLink(arg2,arg3);
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__LinkWrenches, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesBuffers_b_contacts_subtree_set" "', argument " "2"" of type '" "iDynTree::LinkWrenches *""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::LinkWrenches * >(argp2);
+  if (arg1) (arg1)->b_contacts_subtree = *arg2;
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -69721,41 +71121,23 @@ int _wrap_LinkUnknownWrenchContacts_setNrOfContactsForLink(int resc, mxArray *re
 }
 
 
-int _wrap_LinkUnknownWrenchContacts_addNewContactForLink(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
-  iDynTree::LinkIndex arg2 ;
-  iDynTree::UnknownWrenchContact *arg3 = 0 ;
+int _wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
   mxArray * _out;
+  iDynTree::LinkWrenches *result = 0 ;
   
-  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_addNewContactForLink",argc,3,3,0)) {
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_b_contacts_subtree_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_addNewContactForLink" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "LinkUnknownWrenchContacts_addNewContactForLink" "', argument " "2"" of type '" "iDynTree::LinkIndex""'");
-  } 
-  arg2 = static_cast< iDynTree::LinkIndex >(val2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__UnknownWrenchContact,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "LinkUnknownWrenchContacts_addNewContactForLink" "', argument " "3"" of type '" "iDynTree::UnknownWrenchContact const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "LinkUnknownWrenchContacts_addNewContactForLink" "', argument " "3"" of type '" "iDynTree::UnknownWrenchContact const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_b_contacts_subtree_get" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp3);
-  (arg1)->addNewContactForLink(arg2,(iDynTree::UnknownWrenchContact const &)*arg3);
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  result = (iDynTree::LinkWrenches *)& ((arg1)->b_contacts_subtree);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__LinkWrenches, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69763,53 +71145,30 @@ int _wrap_LinkUnknownWrenchContacts_addNewContactForLink(int resc, mxArray *resv
 }
 
 
-int _wrap_LinkUnknownWrenchContacts_addNewContactInFrame(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
-  iDynTree::Model *arg2 = 0 ;
-  iDynTree::FrameIndex arg3 ;
-  iDynTree::UnknownWrenchContact *arg4 = 0 ;
+int _wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
+  iDynTree::LinkPositions *arg2 = (iDynTree::LinkPositions *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
+  void *argp2 = 0 ;
   int res2 = 0 ;
-  int val3 ;
-  int ecode3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_addNewContactInFrame",argc,4,4,0)) {
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_subModelBase_H_link_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_addNewContactInFrame" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_subModelBase_H_link_set" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__LinkPositions, 0 |  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "LinkUnknownWrenchContacts_addNewContactInFrame" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "LinkUnknownWrenchContacts_addNewContactInFrame" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  ecode3 = SWIG_AsVal_int(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "LinkUnknownWrenchContacts_addNewContactInFrame" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg3 = static_cast< iDynTree::FrameIndex >(val3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__UnknownWrenchContact,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "LinkUnknownWrenchContacts_addNewContactInFrame" "', argument " "4"" of type '" "iDynTree::UnknownWrenchContact const &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "LinkUnknownWrenchContacts_addNewContactInFrame" "', argument " "4"" of type '" "iDynTree::UnknownWrenchContact const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesBuffers_subModelBase_H_link_set" "', argument " "2"" of type '" "iDynTree::LinkPositions *""'"); 
   }
-  arg4 = reinterpret_cast< iDynTree::UnknownWrenchContact * >(argp4);
-  result = (bool)(arg1)->addNewContactInFrame((iDynTree::Model const &)*arg2,arg3,(iDynTree::UnknownWrenchContact const &)*arg4);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg2 = reinterpret_cast< iDynTree::LinkPositions * >(argp2);
+  if (arg1) (arg1)->subModelBase_H_link = *arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69817,42 +71176,23 @@ int _wrap_LinkUnknownWrenchContacts_addNewContactInFrame(int resc, mxArray *resv
 }
 
 
-int _wrap_LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
-  iDynTree::Model *arg2 = 0 ;
-  iDynTree::FrameIndex arg3 ;
+int _wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  int val3 ;
-  int ecode3 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::LinkPositions *result = 0 ;
   
-  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin",argc,3,3,0)) {
+  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_subModelBase_H_link_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_subModelBase_H_link_get" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  ecode3 = SWIG_AsVal_int(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg3 = static_cast< iDynTree::FrameIndex >(val3);
-  result = (bool)(arg1)->addNewUnknownFullWrenchInFrameOrigin((iDynTree::Model const &)*arg2,arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  result = (iDynTree::LinkPositions *)& ((arg1)->subModelBase_H_link);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__LinkPositions, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69860,39 +71200,26 @@ int _wrap_LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin(int res
 }
 
 
-int _wrap_LinkUnknownWrenchContacts_contactWrench__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
-  iDynTree::LinkIndex arg2 ;
-  size_t arg3 ;
+int _wrap_delete_estimateExternalWrenchesBuffers(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  size_t val3 ;
-  int ecode3 = 0 ;
   mxArray * _out;
-  iDynTree::UnknownWrenchContact *result = 0 ;
   
-  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_contactWrench",argc,3,3,0)) {
+  int is_owned;
+  if (!SWIG_check_num_args("delete_estimateExternalWrenchesBuffers",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_contactWrench" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_estimateExternalWrenchesBuffers" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "LinkUnknownWrenchContacts_contactWrench" "', argument " "2"" of type '" "iDynTree::LinkIndex""'");
-  } 
-  arg2 = static_cast< iDynTree::LinkIndex >(val2);
-  ecode3 = SWIG_AsVal_size_t(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "LinkUnknownWrenchContacts_contactWrench" "', argument " "3"" of type '" "size_t""'");
-  } 
-  arg3 = static_cast< size_t >(val3);
-  result = (iDynTree::UnknownWrenchContact *) &(arg1)->contactWrench(arg2,arg3);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
+  if (is_owned) {
+    delete arg1;
+  }
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69900,39 +71227,1469 @@ int _wrap_LinkUnknownWrenchContacts_contactWrench__SWIG_0(int resc, mxArray *res
 }
 
 
-int _wrap_LinkUnknownWrenchContacts_contactWrench__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
-  iDynTree::LinkIndex arg2 ;
-  size_t arg3 ;
-  void *argp1 = 0 ;
+int _wrap_estimateExternalWrenchesWithoutInternalFT(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Model *arg1 = 0 ;
+  iDynTree::Traversal *arg2 = 0 ;
+  iDynTree::LinkUnknownWrenchContacts *arg3 = 0 ;
+  iDynTree::JointPosDoubleArray *arg4 = 0 ;
+  iDynTree::LinkVelArray *arg5 = 0 ;
+  iDynTree::LinkAccArray *arg6 = 0 ;
+  iDynTree::estimateExternalWrenchesBuffers *arg7 = 0 ;
+  iDynTree::LinkContactWrenches *arg8 = 0 ;
+  void *argp1 ;
   int res1 = 0 ;
-  int val2 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
+  void *argp5 ;
+  int res5 = 0 ;
+  void *argp6 ;
+  int res6 = 0 ;
+  void *argp7 = 0 ;
+  int res7 = 0 ;
+  void *argp8 = 0 ;
+  int res8 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("estimateExternalWrenchesWithoutInternalFT",argc,8,8,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
+  }
+  if (!argp1) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Model * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Traversal,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "2"" of type '" "iDynTree::Traversal const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "2"" of type '" "iDynTree::Traversal const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Traversal * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "3"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "3"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "4"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "4"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__LinkVelArray,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "5"" of type '" "iDynTree::LinkVelArray const &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "5"" of type '" "iDynTree::LinkVelArray const &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::LinkVelArray * >(argp5);
+  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__LinkAccArray,  0 );
+  if (!SWIG_IsOK(res6)) {
+    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "6"" of type '" "iDynTree::LinkAccArray const &""'"); 
+  }
+  if (!argp6) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "6"" of type '" "iDynTree::LinkAccArray const &""'"); 
+  }
+  arg6 = reinterpret_cast< iDynTree::LinkAccArray * >(argp6);
+  res7 = SWIG_ConvertPtr(argv[6], &argp7, SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers,  0 );
+  if (!SWIG_IsOK(res7)) {
+    SWIG_exception_fail(SWIG_ArgError(res7), "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "7"" of type '" "iDynTree::estimateExternalWrenchesBuffers &""'"); 
+  }
+  if (!argp7) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "7"" of type '" "iDynTree::estimateExternalWrenchesBuffers &""'"); 
+  }
+  arg7 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp7);
+  res8 = SWIG_ConvertPtr(argv[7], &argp8, SWIGTYPE_p_iDynTree__LinkContactWrenches,  0 );
+  if (!SWIG_IsOK(res8)) {
+    SWIG_exception_fail(SWIG_ArgError(res8), "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "8"" of type '" "iDynTree::LinkContactWrenches &""'"); 
+  }
+  if (!argp8) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "8"" of type '" "iDynTree::LinkContactWrenches &""'"); 
+  }
+  arg8 = reinterpret_cast< iDynTree::LinkContactWrenches * >(argp8);
+  result = (bool)iDynTree::estimateExternalWrenchesWithoutInternalFT((iDynTree::Model const &)*arg1,(iDynTree::Traversal const &)*arg2,(iDynTree::LinkUnknownWrenchContacts const &)*arg3,(iDynTree::JointPosDoubleArray const &)*arg4,(iDynTree::LinkVelArray const &)*arg5,(iDynTree::LinkAccArray const &)*arg6,*arg7,*arg8);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_estimateExternalWrenches(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Model *arg1 = 0 ;
+  iDynTree::SubModelDecomposition *arg2 = 0 ;
+  iDynTree::SensorsList *arg3 = 0 ;
+  iDynTree::LinkUnknownWrenchContacts *arg4 = 0 ;
+  iDynTree::JointPosDoubleArray *arg5 = 0 ;
+  iDynTree::LinkVelArray *arg6 = 0 ;
+  iDynTree::LinkAccArray *arg7 = 0 ;
+  iDynTree::SensorsMeasurements *arg8 = 0 ;
+  iDynTree::estimateExternalWrenchesBuffers *arg9 = 0 ;
+  iDynTree::LinkContactWrenches *arg10 = 0 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
+  void *argp5 ;
+  int res5 = 0 ;
+  void *argp6 ;
+  int res6 = 0 ;
+  void *argp7 ;
+  int res7 = 0 ;
+  void *argp8 ;
+  int res8 = 0 ;
+  void *argp9 = 0 ;
+  int res9 = 0 ;
+  void *argp10 = 0 ;
+  int res10 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("estimateExternalWrenches",argc,10,10,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenches" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
+  }
+  if (!argp1) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Model * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SubModelDecomposition,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenches" "', argument " "2"" of type '" "iDynTree::SubModelDecomposition const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "2"" of type '" "iDynTree::SubModelDecomposition const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::SubModelDecomposition * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsList,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "estimateExternalWrenches" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::SensorsList * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "estimateExternalWrenches" "', argument " "4"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "4"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "estimateExternalWrenches" "', argument " "5"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "5"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp5);
+  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__LinkVelArray,  0 );
+  if (!SWIG_IsOK(res6)) {
+    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "estimateExternalWrenches" "', argument " "6"" of type '" "iDynTree::LinkVelArray const &""'"); 
+  }
+  if (!argp6) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "6"" of type '" "iDynTree::LinkVelArray const &""'"); 
+  }
+  arg6 = reinterpret_cast< iDynTree::LinkVelArray * >(argp6);
+  res7 = SWIG_ConvertPtr(argv[6], &argp7, SWIGTYPE_p_iDynTree__LinkAccArray,  0 );
+  if (!SWIG_IsOK(res7)) {
+    SWIG_exception_fail(SWIG_ArgError(res7), "in method '" "estimateExternalWrenches" "', argument " "7"" of type '" "iDynTree::LinkAccArray const &""'"); 
+  }
+  if (!argp7) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "7"" of type '" "iDynTree::LinkAccArray const &""'"); 
+  }
+  arg7 = reinterpret_cast< iDynTree::LinkAccArray * >(argp7);
+  res8 = SWIG_ConvertPtr(argv[7], &argp8, SWIGTYPE_p_iDynTree__SensorsMeasurements,  0 );
+  if (!SWIG_IsOK(res8)) {
+    SWIG_exception_fail(SWIG_ArgError(res8), "in method '" "estimateExternalWrenches" "', argument " "8"" of type '" "iDynTree::SensorsMeasurements const &""'"); 
+  }
+  if (!argp8) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "8"" of type '" "iDynTree::SensorsMeasurements const &""'"); 
+  }
+  arg8 = reinterpret_cast< iDynTree::SensorsMeasurements * >(argp8);
+  res9 = SWIG_ConvertPtr(argv[8], &argp9, SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers,  0 );
+  if (!SWIG_IsOK(res9)) {
+    SWIG_exception_fail(SWIG_ArgError(res9), "in method '" "estimateExternalWrenches" "', argument " "9"" of type '" "iDynTree::estimateExternalWrenchesBuffers &""'"); 
+  }
+  if (!argp9) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "9"" of type '" "iDynTree::estimateExternalWrenchesBuffers &""'"); 
+  }
+  arg9 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp9);
+  res10 = SWIG_ConvertPtr(argv[9], &argp10, SWIGTYPE_p_iDynTree__LinkContactWrenches,  0 );
+  if (!SWIG_IsOK(res10)) {
+    SWIG_exception_fail(SWIG_ArgError(res10), "in method '" "estimateExternalWrenches" "', argument " "10"" of type '" "iDynTree::LinkContactWrenches &""'"); 
+  }
+  if (!argp10) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "10"" of type '" "iDynTree::LinkContactWrenches &""'"); 
+  }
+  arg10 = reinterpret_cast< iDynTree::LinkContactWrenches * >(argp10);
+  result = (bool)iDynTree::estimateExternalWrenches((iDynTree::Model const &)*arg1,(iDynTree::SubModelDecomposition const &)*arg2,(iDynTree::SensorsList const &)*arg3,(iDynTree::LinkUnknownWrenchContacts const &)*arg4,(iDynTree::JointPosDoubleArray const &)*arg5,(iDynTree::LinkVelArray const &)*arg6,(iDynTree::LinkAccArray const &)*arg7,(iDynTree::SensorsMeasurements const &)*arg8,*arg9,*arg10);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_dynamicsEstimationForwardVelAccKinematics(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Model *arg1 = 0 ;
+  iDynTree::Traversal *arg2 = 0 ;
+  iDynTree::Vector3 *arg3 = 0 ;
+  iDynTree::Vector3 *arg4 = 0 ;
+  iDynTree::Vector3 *arg5 = 0 ;
+  iDynTree::JointPosDoubleArray *arg6 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg7 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg8 = 0 ;
+  iDynTree::LinkVelArray *arg9 = 0 ;
+  iDynTree::LinkAccArray *arg10 = 0 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
+  void *argp5 ;
+  int res5 = 0 ;
+  void *argp6 ;
+  int res6 = 0 ;
+  void *argp7 ;
+  int res7 = 0 ;
+  void *argp8 ;
+  int res8 = 0 ;
+  void *argp9 = 0 ;
+  int res9 = 0 ;
+  void *argp10 = 0 ;
+  int res10 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("dynamicsEstimationForwardVelAccKinematics",argc,10,10,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
+  }
+  if (!argp1) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Model * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Traversal,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "2"" of type '" "iDynTree::Traversal const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "2"" of type '" "iDynTree::Traversal const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Traversal * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "3"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "3"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::Vector3 * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "4"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "4"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::Vector3 * >(argp4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::Vector3 * >(argp5);
+  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
+  if (!SWIG_IsOK(res6)) {
+    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "6"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  if (!argp6) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "6"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  arg6 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp6);
+  res7 = SWIG_ConvertPtr(argv[6], &argp7, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res7)) {
+    SWIG_exception_fail(SWIG_ArgError(res7), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "7"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  if (!argp7) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "7"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  arg7 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp7);
+  res8 = SWIG_ConvertPtr(argv[7], &argp8, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res8)) {
+    SWIG_exception_fail(SWIG_ArgError(res8), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "8"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  if (!argp8) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "8"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  arg8 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp8);
+  res9 = SWIG_ConvertPtr(argv[8], &argp9, SWIGTYPE_p_iDynTree__LinkVelArray,  0 );
+  if (!SWIG_IsOK(res9)) {
+    SWIG_exception_fail(SWIG_ArgError(res9), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "9"" of type '" "iDynTree::LinkVelArray &""'"); 
+  }
+  if (!argp9) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "9"" of type '" "iDynTree::LinkVelArray &""'"); 
+  }
+  arg9 = reinterpret_cast< iDynTree::LinkVelArray * >(argp9);
+  res10 = SWIG_ConvertPtr(argv[9], &argp10, SWIGTYPE_p_iDynTree__LinkAccArray,  0 );
+  if (!SWIG_IsOK(res10)) {
+    SWIG_exception_fail(SWIG_ArgError(res10), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "10"" of type '" "iDynTree::LinkAccArray &""'"); 
+  }
+  if (!argp10) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "10"" of type '" "iDynTree::LinkAccArray &""'"); 
+  }
+  arg10 = reinterpret_cast< iDynTree::LinkAccArray * >(argp10);
+  result = (bool)iDynTree::dynamicsEstimationForwardVelAccKinematics((iDynTree::Model const &)*arg1,(iDynTree::Traversal const &)*arg2,(iDynTree::VectorFixSize< 3 > const &)*arg3,(iDynTree::VectorFixSize< 3 > const &)*arg4,(iDynTree::VectorFixSize< 3 > const &)*arg5,(iDynTree::JointPosDoubleArray const &)*arg6,(iDynTree::JointDOFsDoubleArray const &)*arg7,(iDynTree::JointDOFsDoubleArray const &)*arg8,*arg9,*arg10);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_dynamicsEstimationForwardVelKinematics(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Model *arg1 = 0 ;
+  iDynTree::Traversal *arg2 = 0 ;
+  iDynTree::Vector3 *arg3 = 0 ;
+  iDynTree::JointPosDoubleArray *arg4 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg5 = 0 ;
+  iDynTree::LinkVelArray *arg6 = 0 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
+  void *argp5 ;
+  int res5 = 0 ;
+  void *argp6 = 0 ;
+  int res6 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("dynamicsEstimationForwardVelKinematics",argc,6,6,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
+  }
+  if (!argp1) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Model * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Traversal,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "2"" of type '" "iDynTree::Traversal const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "2"" of type '" "iDynTree::Traversal const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Traversal * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "3"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "3"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::Vector3 * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "4"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "4"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "5"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "5"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp5);
+  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__LinkVelArray,  0 );
+  if (!SWIG_IsOK(res6)) {
+    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "6"" of type '" "iDynTree::LinkVelArray &""'"); 
+  }
+  if (!argp6) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "6"" of type '" "iDynTree::LinkVelArray &""'"); 
+  }
+  arg6 = reinterpret_cast< iDynTree::LinkVelArray * >(argp6);
+  result = (bool)iDynTree::dynamicsEstimationForwardVelKinematics((iDynTree::Model const &)*arg1,(iDynTree::Traversal const &)*arg2,(iDynTree::VectorFixSize< 3 > const &)*arg3,(iDynTree::JointPosDoubleArray const &)*arg4,(iDynTree::JointDOFsDoubleArray const &)*arg5,*arg6);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_computeLinkNetWrenchesWithoutGravity(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Model *arg1 = 0 ;
+  iDynTree::LinkVelArray *arg2 = 0 ;
+  iDynTree::LinkAccArray *arg3 = 0 ;
+  iDynTree::LinkNetTotalWrenchesWithoutGravity *arg4 = 0 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("computeLinkNetWrenchesWithoutGravity",argc,4,4,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "computeLinkNetWrenchesWithoutGravity" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
+  }
+  if (!argp1) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "computeLinkNetWrenchesWithoutGravity" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Model * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__LinkVelArray,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "computeLinkNetWrenchesWithoutGravity" "', argument " "2"" of type '" "iDynTree::LinkVelArray const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "computeLinkNetWrenchesWithoutGravity" "', argument " "2"" of type '" "iDynTree::LinkVelArray const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::LinkVelArray * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__LinkAccArray,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "computeLinkNetWrenchesWithoutGravity" "', argument " "3"" of type '" "iDynTree::LinkAccArray const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "computeLinkNetWrenchesWithoutGravity" "', argument " "3"" of type '" "iDynTree::LinkAccArray const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::LinkAccArray * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "computeLinkNetWrenchesWithoutGravity" "', argument " "4"" of type '" "iDynTree::LinkNetTotalWrenchesWithoutGravity &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "computeLinkNetWrenchesWithoutGravity" "', argument " "4"" of type '" "iDynTree::LinkNetTotalWrenchesWithoutGravity &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::LinkNetTotalWrenchesWithoutGravity * >(argp4);
+  result = (bool)iDynTree::computeLinkNetWrenchesWithoutGravity((iDynTree::Model const &)*arg1,(iDynTree::LinkVelArray const &)*arg2,(iDynTree::LinkAccArray const &)*arg3,*arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_estimateLinkContactWrenchesFromLinkNetExternalWrenches(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::Model *arg1 = 0 ;
+  iDynTree::LinkUnknownWrenchContacts *arg2 = 0 ;
+  iDynTree::LinkNetExternalWrenches *arg3 = 0 ;
+  iDynTree::LinkContactWrenches *arg4 = 0 ;
+  void *argp1 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("estimateLinkContactWrenchesFromLinkNetExternalWrenches",argc,4,4,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateLinkContactWrenchesFromLinkNetExternalWrenches" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
+  }
+  if (!argp1) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateLinkContactWrenchesFromLinkNetExternalWrenches" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::Model * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateLinkContactWrenchesFromLinkNetExternalWrenches" "', argument " "2"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateLinkContactWrenchesFromLinkNetExternalWrenches" "', argument " "2"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "estimateLinkContactWrenchesFromLinkNetExternalWrenches" "', argument " "3"" of type '" "iDynTree::LinkNetExternalWrenches const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateLinkContactWrenchesFromLinkNetExternalWrenches" "', argument " "3"" of type '" "iDynTree::LinkNetExternalWrenches const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::LinkNetExternalWrenches * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__LinkContactWrenches,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "estimateLinkContactWrenchesFromLinkNetExternalWrenches" "', argument " "4"" of type '" "iDynTree::LinkContactWrenches &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateLinkContactWrenchesFromLinkNetExternalWrenches" "', argument " "4"" of type '" "iDynTree::LinkContactWrenches &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::LinkContactWrenches * >(argp4);
+  result = (bool)iDynTree::estimateLinkContactWrenchesFromLinkNetExternalWrenches((iDynTree::Model const &)*arg1,(iDynTree::LinkUnknownWrenchContacts const &)*arg2,(iDynTree::LinkWrenches const &)*arg3,*arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_ExtWrenchesAndJointTorquesEstimator(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  mxArray * _out;
+  iDynTree::ExtWrenchesAndJointTorquesEstimator *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_ExtWrenchesAndJointTorquesEstimator",argc,0,0,0)) {
+    SWIG_fail;
+  }
+  (void)argv;
+  result = (iDynTree::ExtWrenchesAndJointTorquesEstimator *)new iDynTree::ExtWrenchesAndJointTorquesEstimator();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_delete_ExtWrenchesAndJointTorquesEstimator(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  
+  int is_owned;
+  if (!SWIG_check_num_args("delete_ExtWrenchesAndJointTorquesEstimator",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, SWIG_POINTER_DISOWN |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ExtWrenchesAndJointTorquesEstimator" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
+  if (is_owned) {
+    delete arg1;
+  }
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ExtWrenchesAndJointTorquesEstimator_setModelAndSensors(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+  iDynTree::Model *arg2 = 0 ;
+  iDynTree::SensorsList *arg3 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_setModelAndSensors",argc,3,3,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_setModelAndSensors" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ExtWrenchesAndJointTorquesEstimator_setModelAndSensors" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_setModelAndSensors" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsList,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ExtWrenchesAndJointTorquesEstimator_setModelAndSensors" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_setModelAndSensors" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::SensorsList * >(argp3);
+  result = (bool)(arg1)->setModelAndSensors((iDynTree::Model const &)*arg2,(iDynTree::SensorsList const &)*arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+  std::string arg2 ;
+  std::string arg3 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile",argc,3,3,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
+  {
+    std::string *ptr = (std::string *)0;
+    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile" "', argument " "2"" of type '" "std::string const""'"); 
+    }
+    arg2 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  {
+    std::string *ptr = (std::string *)0;
+    int res = SWIG_AsPtr_std_string(argv[2], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile" "', argument " "3"" of type '" "std::string const""'"); 
+    }
+    arg3 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  result = (bool)(arg1)->loadModelAndSensorsFromFile(arg2,arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+  std::string arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
+  {
+    std::string *ptr = (std::string *)0;
+    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile" "', argument " "2"" of type '" "std::string const""'"); 
+    }
+    arg2 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  result = (bool)(arg1)->loadModelAndSensorsFromFile(arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile__SWIG_1(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile__SWIG_0(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFile(std::string const,std::string const)\n"
+    "    iDynTree::ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFile(std::string const)\n");
+  return 1;
+}
+
+
+int _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+  std::string arg2 ;
+  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
+  std::string arg4 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int res3 = SWIG_OLDOBJ ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs",argc,4,4,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
+  {
+    std::string *ptr = (std::string *)0;
+    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "2"" of type '" "std::string const""'"); 
+    }
+    arg2 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  {
+    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
+    res3 = swig::asptr(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+    }
+    arg3 = ptr;
+  }
+  {
+    std::string *ptr = (std::string *)0;
+    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "4"" of type '" "std::string const""'"); 
+    }
+    arg4 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  result = (bool)(arg1)->loadModelAndSensorsFromFileWithSpecifiedDOFs(arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3,arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 1;
+}
+
+
+int _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+  std::string arg2 ;
+  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int res3 = SWIG_OLDOBJ ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs",argc,3,3,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
+  {
+    std::string *ptr = (std::string *)0;
+    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res) || !ptr) {
+      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "2"" of type '" "std::string const""'"); 
+    }
+    arg2 = *ptr;
+    if (SWIG_IsNewObj(res)) delete ptr;
+  }
+  {
+    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
+    res3 = swig::asptr(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+    }
+    arg3 = ptr;
+  }
+  result = (bool)(arg1)->loadModelAndSensorsFromFileWithSpecifiedDOFs(arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 1;
+}
+
+
+int _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs__SWIG_1(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs__SWIG_0(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFileWithSpecifiedDOFs(std::string const,std::vector< std::string,std::allocator< std::string > > const &,std::string const)\n"
+    "    iDynTree::ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFileWithSpecifiedDOFs(std::string const,std::vector< std::string,std::allocator< std::string > > const &)\n");
+  return 1;
+}
+
+
+int _wrap_ExtWrenchesAndJointTorquesEstimator_model(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::Model *result = 0 ;
+  
+  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_model",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_model" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
+  result = (iDynTree::Model *) &((iDynTree::ExtWrenchesAndJointTorquesEstimator const *)arg1)->model();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ExtWrenchesAndJointTorquesEstimator_sensors(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::SensorsList *result = 0 ;
+  
+  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_sensors",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_sensors" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
+  result = (iDynTree::SensorsList *) &((iDynTree::ExtWrenchesAndJointTorquesEstimator const *)arg1)->sensors();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SensorsList, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ExtWrenchesAndJointTorquesEstimator_submodels(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::SubModelDecomposition *result = 0 ;
+  
+  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_submodels",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_submodels" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
+  result = (iDynTree::SubModelDecomposition *) &((iDynTree::ExtWrenchesAndJointTorquesEstimator const *)arg1)->submodels();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SubModelDecomposition, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+  iDynTree::JointPosDoubleArray *arg2 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg3 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg4 = 0 ;
+  iDynTree::FrameIndex *arg5 = 0 ;
+  iDynTree::Vector3 *arg6 = 0 ;
+  iDynTree::Vector3 *arg7 = 0 ;
+  iDynTree::Vector3 *arg8 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
+  iDynTree::FrameIndex temp5 ;
+  int val5 ;
+  int ecode5 = 0 ;
+  void *argp6 ;
+  int res6 = 0 ;
+  void *argp7 ;
+  int res7 = 0 ;
+  void *argp8 ;
+  int res8 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase",argc,8,8,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "4"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "4"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp4);
+  ecode5 = SWIG_AsVal_int(argv[4], &val5);
+  if (!SWIG_IsOK(ecode5)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode5), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "5"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  temp5 = static_cast< iDynTree::FrameIndex >(val5);
+  arg5 = &temp5;
+  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res6)) {
+    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "6"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  if (!argp6) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "6"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  arg6 = reinterpret_cast< iDynTree::Vector3 * >(argp6);
+  res7 = SWIG_ConvertPtr(argv[6], &argp7, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res7)) {
+    SWIG_exception_fail(SWIG_ArgError(res7), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "7"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  if (!argp7) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "7"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  arg7 = reinterpret_cast< iDynTree::Vector3 * >(argp7);
+  res8 = SWIG_ConvertPtr(argv[7], &argp8, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res8)) {
+    SWIG_exception_fail(SWIG_ArgError(res8), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "8"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  if (!argp8) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "8"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  arg8 = reinterpret_cast< iDynTree::Vector3 * >(argp8);
+  result = (bool)(arg1)->updateKinematicsFromFloatingBase((iDynTree::JointPosDoubleArray const &)*arg2,(iDynTree::JointDOFsDoubleArray const &)*arg3,(iDynTree::JointDOFsDoubleArray const &)*arg4,(iDynTree::FrameIndex const &)*arg5,(iDynTree::Vector3 const &)*arg6,(iDynTree::Vector3 const &)*arg7,(iDynTree::Vector3 const &)*arg8);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+  iDynTree::JointPosDoubleArray *arg2 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg3 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg4 = 0 ;
+  iDynTree::FrameIndex *arg5 = 0 ;
+  iDynTree::Vector3 *arg6 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
+  iDynTree::FrameIndex temp5 ;
+  int val5 ;
+  int ecode5 = 0 ;
+  void *argp6 ;
+  int res6 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase",argc,6,6,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "4"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "4"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp4);
+  ecode5 = SWIG_AsVal_int(argv[4], &val5);
+  if (!SWIG_IsOK(ecode5)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode5), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "5"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  temp5 = static_cast< iDynTree::FrameIndex >(val5);
+  arg5 = &temp5;
+  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res6)) {
+    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "6"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  if (!argp6) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "6"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  arg6 = reinterpret_cast< iDynTree::Vector3 * >(argp6);
+  result = (bool)(arg1)->updateKinematicsFromFixedBase((iDynTree::JointPosDoubleArray const &)*arg2,(iDynTree::JointDOFsDoubleArray const &)*arg3,(iDynTree::JointDOFsDoubleArray const &)*arg4,(iDynTree::FrameIndex const &)*arg5,(iDynTree::Vector3 const &)*arg6);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+  iDynTree::LinkUnknownWrenchContacts *arg2 = 0 ;
+  iDynTree::SensorsMeasurements *arg3 = 0 ;
+  iDynTree::LinkContactWrenches *arg4 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg5 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
+  void *argp5 = 0 ;
+  int res5 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements",argc,5,5,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "2"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "2"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsMeasurements,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "3"" of type '" "iDynTree::SensorsMeasurements &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "3"" of type '" "iDynTree::SensorsMeasurements &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::SensorsMeasurements * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__LinkContactWrenches,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "4"" of type '" "iDynTree::LinkContactWrenches &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "4"" of type '" "iDynTree::LinkContactWrenches &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::LinkContactWrenches * >(argp4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "5"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "5"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp5);
+  result = (bool)(arg1)->computeExpectedFTSensorsMeasurements((iDynTree::LinkUnknownWrenchContacts const &)*arg2,*arg3,*arg4,*arg5);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+  iDynTree::LinkUnknownWrenchContacts *arg2 = 0 ;
+  iDynTree::SensorsMeasurements *arg3 = 0 ;
+  iDynTree::LinkContactWrenches *arg4 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg5 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
+  void *argp5 = 0 ;
+  int res5 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques",argc,5,5,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "2"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "2"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsMeasurements,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "3"" of type '" "iDynTree::SensorsMeasurements const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "3"" of type '" "iDynTree::SensorsMeasurements const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::SensorsMeasurements * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__LinkContactWrenches,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "4"" of type '" "iDynTree::LinkContactWrenches &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "4"" of type '" "iDynTree::LinkContactWrenches &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::LinkContactWrenches * >(argp4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "5"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "5"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp5);
+  result = (bool)(arg1)->estimateExtWrenchesAndJointTorques((iDynTree::LinkUnknownWrenchContacts const &)*arg2,(iDynTree::SensorsMeasurements const &)*arg3,*arg4,*arg5);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+  double arg2 ;
+  double arg3 ;
+  double arg4 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  double val2 ;
   int ecode2 = 0 ;
-  size_t val3 ;
+  double val3 ;
   int ecode3 = 0 ;
+  double val4 ;
+  int ecode4 = 0 ;
   mxArray * _out;
-  iDynTree::UnknownWrenchContact *result = 0 ;
+  bool result;
+  
+  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill",argc,4,4,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  ecode3 = SWIG_AsVal_double(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill" "', argument " "3"" of type '" "double""'");
+  } 
+  arg3 = static_cast< double >(val3);
+  ecode4 = SWIG_AsVal_double(argv[3], &val4);
+  if (!SWIG_IsOK(ecode4)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill" "', argument " "4"" of type '" "double""'");
+  } 
+  arg4 = static_cast< double >(val4);
+  result = (bool)(arg1)->checkThatTheModelIsStill(arg2,arg3,arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+  iDynTree::LinkNetTotalWrenchesWithoutGravity *arg2 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity" "', argument " "2"" of type '" "iDynTree::LinkNetTotalWrenchesWithoutGravity &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity" "', argument " "2"" of type '" "iDynTree::LinkNetTotalWrenchesWithoutGravity &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::LinkNetTotalWrenchesWithoutGravity * >(argp2);
+  result = (bool)(arg1)->estimateLinkNetWrenchesWithoutGravity(*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_SimpleLeggedOdometry(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  mxArray * _out;
+  iDynTree::SimpleLeggedOdometry *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_SimpleLeggedOdometry",argc,0,0,0)) {
+    SWIG_fail;
+  }
+  (void)argv;
+  result = (iDynTree::SimpleLeggedOdometry *)new iDynTree::SimpleLeggedOdometry();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_delete_SimpleLeggedOdometry(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  
+  int is_owned;
+  if (!SWIG_check_num_args("delete_SimpleLeggedOdometry",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, SWIG_POINTER_DISOWN |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_SimpleLeggedOdometry" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
+  if (is_owned) {
+    delete arg1;
+  }
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SimpleLeggedOdometry_setModel(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 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("LinkUnknownWrenchContacts_contactWrench",argc,3,3,0)) {
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_setModel",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_contactWrench" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_setModel" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "LinkUnknownWrenchContacts_contactWrench" "', argument " "2"" of type '" "iDynTree::LinkIndex""'");
-  } 
-  arg2 = static_cast< iDynTree::LinkIndex >(val2);
-  ecode3 = SWIG_AsVal_size_t(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "LinkUnknownWrenchContacts_contactWrench" "', argument " "3"" of type '" "size_t""'");
-  } 
-  arg3 = static_cast< size_t >(val3);
-  result = (iDynTree::UnknownWrenchContact *) &((iDynTree::LinkUnknownWrenchContacts const *)arg1)->contactWrench(arg2,arg3);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__UnknownWrenchContact, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "SimpleLeggedOdometry_setModel" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_setModel" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
+  result = (bool)(arg1)->setModel((iDynTree::Model const &)*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -69940,86 +72697,58 @@ int _wrap_LinkUnknownWrenchContacts_contactWrench__SWIG_1(int resc, mxArray *res
 }
 
 
-int _wrap_LinkUnknownWrenchContacts_contactWrench(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      {
-        int res = SWIG_AsVal_int(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
-      if (_v) {
-        {
-          int res = SWIG_AsVal_size_t(argv[2], NULL);
-          _v = SWIG_CheckState(res);
-        }
-        if (_v) {
-          return _wrap_LinkUnknownWrenchContacts_contactWrench__SWIG_0(resc,resv,argc,argv);
-        }
-      }
-    }
+int _wrap_SimpleLeggedOdometry_model(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::Model *result = 0 ;
+  
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_model",argc,1,1,0)) {
+    SWIG_fail;
   }
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      {
-        int res = SWIG_AsVal_int(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
-      if (_v) {
-        {
-          int res = SWIG_AsVal_size_t(argv[2], NULL);
-          _v = SWIG_CheckState(res);
-        }
-        if (_v) {
-          return _wrap_LinkUnknownWrenchContacts_contactWrench__SWIG_1(resc,resv,argc,argv);
-        }
-      }
-    }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_model" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry const *""'"); 
   }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'LinkUnknownWrenchContacts_contactWrench'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::LinkUnknownWrenchContacts::contactWrench(iDynTree::LinkIndex const,size_t const)\n"
-    "    iDynTree::LinkUnknownWrenchContacts::contactWrench(iDynTree::LinkIndex const,size_t const) const\n");
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
+  result = (iDynTree::Model *) &((iDynTree::SimpleLeggedOdometry const *)arg1)->model();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
   return 1;
 }
 
 
-int _wrap_LinkUnknownWrenchContacts_toString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
-  iDynTree::Model *arg2 = 0 ;
+int _wrap_SimpleLeggedOdometry_updateKinematics(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  iDynTree::JointPosDoubleArray *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
+  void *argp2 = 0 ;
   int res2 = 0 ;
   mxArray * _out;
-  std::string result;
+  bool result;
   
-  if (!SWIG_check_num_args("LinkUnknownWrenchContacts_toString",argc,2,2,0)) {
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_updateKinematics",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "LinkUnknownWrenchContacts_toString" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_updateKinematics" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "LinkUnknownWrenchContacts_toString" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "SimpleLeggedOdometry_updateKinematics" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "LinkUnknownWrenchContacts_toString" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_updateKinematics" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  result = ((iDynTree::LinkUnknownWrenchContacts const *)arg1)->toString((iDynTree::Model const &)*arg2);
-  _out = SWIG_From_std_string(static_cast< std::string >(result));
+  arg2 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp2);
+  result = (bool)(arg1)->updateKinematics(*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -70027,70 +72756,137 @@ int _wrap_LinkUnknownWrenchContacts_toString(int resc, mxArray *resv[], int argc
 }
 
 
-int _wrap_delete_LinkUnknownWrenchContacts(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::LinkUnknownWrenchContacts *arg1 = (iDynTree::LinkUnknownWrenchContacts *) 0 ;
+int _wrap_SimpleLeggedOdometry_init__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  std::string *arg2 = 0 ;
+  iDynTree::Transform arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
+  bool result;
   
-  int is_owned;
-  if (!SWIG_check_num_args("delete_LinkUnknownWrenchContacts",argc,1,1,0)) {
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_init",argc,3,3,0)) {
     SWIG_fail;
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_LinkUnknownWrenchContacts" "', argument " "1"" of type '" "iDynTree::LinkUnknownWrenchContacts *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_init" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp1);
-  if (is_owned) {
-    delete arg1;
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(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 '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
   }
-  _out = (mxArray*)0;
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Transform,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "iDynTree::Transform const""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "iDynTree::Transform const""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::Transform * >(argp3));
+    }
+  }
+  result = (bool)(arg1)->init((std::string const &)*arg2,arg3);
+  _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_new_estimateExternalWrenchesBuffers__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_SimpleLeggedOdometry_init__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  std::string *arg2 = 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
-  iDynTree::estimateExternalWrenchesBuffers *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("new_estimateExternalWrenchesBuffers",argc,0,0,0)) {
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_init",argc,2,2,0)) {
     SWIG_fail;
   }
-  (void)argv;
-  result = (iDynTree::estimateExternalWrenchesBuffers *)new iDynTree::estimateExternalWrenchesBuffers();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 1 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_init" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(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 '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
+  }
+  result = (bool)(arg1)->init((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_new_estimateExternalWrenchesBuffers__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SubModelDecomposition *arg1 = 0 ;
-  void *argp1 ;
+int _wrap_SimpleLeggedOdometry_init__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  iDynTree::FrameIndex arg2 ;
+  iDynTree::Transform arg3 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
-  iDynTree::estimateExternalWrenchesBuffers *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("new_estimateExternalWrenchesBuffers",argc,1,1,0)) {
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_init",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__SubModelDecomposition,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_estimateExternalWrenchesBuffers" "', argument " "1"" of type '" "iDynTree::SubModelDecomposition const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_init" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
   }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_estimateExternalWrenchesBuffers" "', argument " "1"" of type '" "iDynTree::SubModelDecomposition const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::FrameIndex >(val2);
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Transform,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "iDynTree::Transform const""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "iDynTree::Transform const""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::Transform * >(argp3));
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::SubModelDecomposition * >(argp1);
-  result = (iDynTree::estimateExternalWrenchesBuffers *)new iDynTree::estimateExternalWrenchesBuffers((iDynTree::SubModelDecomposition const &)*arg1);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 1 |  0 );
+  result = (bool)(arg1)->init(arg2,arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -70098,31 +72894,31 @@ int _wrap_new_estimateExternalWrenchesBuffers__SWIG_1(int resc, mxArray *resv[],
 }
 
 
-int _wrap_new_estimateExternalWrenchesBuffers__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  size_t arg1 ;
-  size_t arg2 ;
-  size_t val1 ;
-  int ecode1 = 0 ;
-  size_t val2 ;
+int _wrap_SimpleLeggedOdometry_init__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  iDynTree::FrameIndex arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
   int ecode2 = 0 ;
   mxArray * _out;
-  iDynTree::estimateExternalWrenchesBuffers *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("new_estimateExternalWrenchesBuffers",argc,2,2,0)) {
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_init",argc,2,2,0)) {
     SWIG_fail;
   }
-  ecode1 = SWIG_AsVal_size_t(argv[0], &val1);
-  if (!SWIG_IsOK(ecode1)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "new_estimateExternalWrenchesBuffers" "', argument " "1"" of type '" "size_t""'");
-  } 
-  arg1 = static_cast< size_t >(val1);
-  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_init" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "new_estimateExternalWrenchesBuffers" "', argument " "2"" of type '" "size_t""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
   } 
-  arg2 = static_cast< size_t >(val2);
-  result = (iDynTree::estimateExternalWrenchesBuffers *)new iDynTree::estimateExternalWrenchesBuffers(arg1,arg2);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 1 |  0 );
+  arg2 = static_cast< iDynTree::FrameIndex >(val2);
+  result = (bool)(arg1)->init(arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -70130,111 +72926,215 @@ int _wrap_new_estimateExternalWrenchesBuffers__SWIG_2(int resc, mxArray *resv[],
 }
 
 
-int _wrap_new_estimateExternalWrenchesBuffers(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 0) {
-    return _wrap_new_estimateExternalWrenchesBuffers__SWIG_0(resc,resv,argc,argv);
+int _wrap_SimpleLeggedOdometry_init__SWIG_4(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  std::string *arg2 = 0 ;
+  std::string *arg3 = 0 ;
+  iDynTree::Transform arg4 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  int res3 = SWIG_OLDOBJ ;
+  void *argp4 ;
+  int res4 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_init",argc,4,4,0)) {
+    SWIG_fail;
   }
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SubModelDecomposition, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_new_estimateExternalWrenchesBuffers__SWIG_1(resc,resv,argc,argv);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_init" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(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 '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "std::string const &""'"); 
     }
+    arg2 = ptr;
   }
-  if (argc == 2) {
-    int _v;
-    {
-      int res = SWIG_AsVal_size_t(argv[0], NULL);
-      _v = SWIG_CheckState(res);
+  {
+    std::string *ptr = (std::string *)0;
+    res3 = SWIG_AsPtr_std_string(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "std::string const &""'"); 
     }
-    if (_v) {
-      {
-        int res = SWIG_AsVal_size_t(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
-      if (_v) {
-        return _wrap_new_estimateExternalWrenchesBuffers__SWIG_2(resc,resv,argc,argv);
-      }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "std::string const &""'"); 
     }
+    arg3 = ptr;
   }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'new_estimateExternalWrenchesBuffers'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::estimateExternalWrenchesBuffers::estimateExternalWrenchesBuffers()\n"
-    "    iDynTree::estimateExternalWrenchesBuffers::estimateExternalWrenchesBuffers(iDynTree::SubModelDecomposition const &)\n"
-    "    iDynTree::estimateExternalWrenchesBuffers::estimateExternalWrenchesBuffers(size_t const,size_t const)\n");
+  {
+    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__Transform,  0 );
+    if (!SWIG_IsOK(res4)) {
+      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "SimpleLeggedOdometry_init" "', argument " "4"" of type '" "iDynTree::Transform const""'"); 
+    }  
+    if (!argp4) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "4"" of type '" "iDynTree::Transform const""'");
+    } else {
+      arg4 = *(reinterpret_cast< iDynTree::Transform * >(argp4));
+    }
+  }
+  result = (bool)(arg1)->init((std::string const &)*arg2,(std::string const &)*arg3,arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res2)) delete arg2;
+  if (SWIG_IsNewObj(res3)) delete arg3;
+  return 0;
+fail:
+  if (SWIG_IsNewObj(res2)) delete arg2;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_estimateExternalWrenchesBuffers_resize__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
-  iDynTree::SubModelDecomposition *arg2 = 0 ;
+int _wrap_SimpleLeggedOdometry_init__SWIG_5(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  std::string *arg2 = 0 ;
+  std::string *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  int res3 = SWIG_OLDOBJ ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_resize",argc,2,2,0)) {
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_init",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_resize" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_init" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SubModelDecomposition,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesBuffers_resize" "', argument " "2"" of type '" "iDynTree::SubModelDecomposition const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(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 '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesBuffers_resize" "', argument " "2"" of type '" "iDynTree::SubModelDecomposition const &""'"); 
+  {
+    std::string *ptr = (std::string *)0;
+    res3 = SWIG_AsPtr_std_string(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "std::string const &""'"); 
+    }
+    arg3 = ptr;
   }
-  arg2 = reinterpret_cast< iDynTree::SubModelDecomposition * >(argp2);
-  (arg1)->resize((iDynTree::SubModelDecomposition const &)*arg2);
-  _out = (mxArray*)0;
+  result = (bool)(arg1)->init((std::string const &)*arg2,(std::string const &)*arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res2)) delete arg2;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
+  if (SWIG_IsNewObj(res2)) delete arg2;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_estimateExternalWrenchesBuffers_resize__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
-  size_t arg2 ;
-  size_t arg3 ;
+int _wrap_SimpleLeggedOdometry_init__SWIG_6(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  iDynTree::FrameIndex arg2 ;
+  iDynTree::FrameIndex arg3 ;
+  iDynTree::Transform arg4 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  size_t val2 ;
+  int val2 ;
   int ecode2 = 0 ;
-  size_t val3 ;
+  int val3 ;
   int ecode3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_resize",argc,3,3,0)) {
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_init",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_resize" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_init" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "estimateExternalWrenchesBuffers_resize" "', argument " "2"" of type '" "size_t""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
   } 
-  arg2 = static_cast< size_t >(val2);
-  ecode3 = SWIG_AsVal_size_t(argv[2], &val3);
+  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 '" "estimateExternalWrenchesBuffers_resize" "', argument " "3"" of type '" "size_t""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
   } 
-  arg3 = static_cast< size_t >(val3);
-  (arg1)->resize(arg2,arg3);
-  _out = (mxArray*)0;
+  arg3 = static_cast< iDynTree::FrameIndex >(val3);
+  {
+    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__Transform,  0 );
+    if (!SWIG_IsOK(res4)) {
+      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "SimpleLeggedOdometry_init" "', argument " "4"" of type '" "iDynTree::Transform const""'"); 
+    }  
+    if (!argp4) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "4"" of type '" "iDynTree::Transform const""'");
+    } else {
+      arg4 = *(reinterpret_cast< iDynTree::Transform * >(argp4));
+    }
+  }
+  result = (bool)(arg1)->init(arg2,arg3,arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_SimpleLeggedOdometry_init__SWIG_7(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  iDynTree::FrameIndex arg2 ;
+  iDynTree::FrameIndex arg3 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_init",argc,3,3,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_init" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SimpleLeggedOdometry_init" "', 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 '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg3 = static_cast< iDynTree::FrameIndex >(val3);
+  result = (bool)(arg1)->init(arg2,arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -70242,158 +73142,238 @@ int _wrap_estimateExternalWrenchesBuffers_resize__SWIG_1(int resc, mxArray *resv
 }
 
 
-int _wrap_estimateExternalWrenchesBuffers_resize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_SimpleLeggedOdometry_init(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 2) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SubModelDecomposition, 0);
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        return _wrap_SimpleLeggedOdometry_init__SWIG_3(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_estimateExternalWrenchesBuffers_resize__SWIG_0(resc,resv,argc,argv);
+        return _wrap_SimpleLeggedOdometry_init__SWIG_1(resc,resv,argc,argv);
       }
     }
   }
   if (argc == 3) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       {
-        int res = SWIG_AsVal_size_t(argv[1], NULL);
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_SimpleLeggedOdometry_init__SWIG_2(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
         _v = SWIG_CheckState(res);
       }
       if (_v) {
         {
-          int res = SWIG_AsVal_size_t(argv[2], NULL);
+          int res = SWIG_AsVal_int(argv[2], NULL);
           _v = SWIG_CheckState(res);
         }
         if (_v) {
-          return _wrap_estimateExternalWrenchesBuffers_resize__SWIG_1(resc,resv,argc,argv);
+          return _wrap_SimpleLeggedOdometry_init__SWIG_7(resc,resv,argc,argv);
         }
       }
     }
   }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'estimateExternalWrenchesBuffers_resize'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::estimateExternalWrenchesBuffers::resize(iDynTree::SubModelDecomposition const &)\n"
-    "    iDynTree::estimateExternalWrenchesBuffers::resize(size_t const,size_t const)\n");
-  return 1;
-}
-
-
-int _wrap_estimateExternalWrenchesBuffers_getNrOfSubModels(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  size_t result;
-  
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_getNrOfSubModels",argc,1,1,0)) {
-    SWIG_fail;
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_SimpleLeggedOdometry_init__SWIG_0(resc,resv,argc,argv);
+        }
+      }
+    }
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_getNrOfSubModels" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers const *""'"); 
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_SimpleLeggedOdometry_init__SWIG_5(resc,resv,argc,argv);
+        }
+      }
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  result = ((iDynTree::estimateExternalWrenchesBuffers const *)arg1)->getNrOfSubModels();
-  _out = SWIG_From_size_t(static_cast< size_t >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_estimateExternalWrenchesBuffers_getNrOfLinks(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  size_t result;
-  
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_getNrOfLinks",argc,1,1,0)) {
-    SWIG_fail;
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_int(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_SimpleLeggedOdometry_init__SWIG_6(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_getNrOfLinks" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers const *""'"); 
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_SimpleLeggedOdometry_init__SWIG_4(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  result = ((iDynTree::estimateExternalWrenchesBuffers const *)arg1)->getNrOfLinks();
-  _out = SWIG_From_size_t(static_cast< size_t >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'SimpleLeggedOdometry_init'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::SimpleLeggedOdometry::init(std::string const &,iDynTree::Transform const)\n"
+    "    iDynTree::SimpleLeggedOdometry::init(std::string const &)\n"
+    "    iDynTree::SimpleLeggedOdometry::init(iDynTree::FrameIndex const,iDynTree::Transform const)\n"
+    "    iDynTree::SimpleLeggedOdometry::init(iDynTree::FrameIndex const)\n"
+    "    iDynTree::SimpleLeggedOdometry::init(std::string const &,std::string const &,iDynTree::Transform const)\n"
+    "    iDynTree::SimpleLeggedOdometry::init(std::string const &,std::string const &)\n"
+    "    iDynTree::SimpleLeggedOdometry::init(iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::Transform const)\n"
+    "    iDynTree::SimpleLeggedOdometry::init(iDynTree::FrameIndex const,iDynTree::FrameIndex const)\n");
   return 1;
 }
 
 
-int _wrap_estimateExternalWrenchesBuffers_isConsistent(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
-  iDynTree::SubModelDecomposition *arg2 = 0 ;
+int _wrap_SimpleLeggedOdometry_changeFixedFrame__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  std::string *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_isConsistent",argc,2,2,0)) {
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_changeFixedFrame",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_isConsistent" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SubModelDecomposition,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesBuffers_isConsistent" "', argument " "2"" of type '" "iDynTree::SubModelDecomposition const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesBuffers_isConsistent" "', argument " "2"" of type '" "iDynTree::SubModelDecomposition const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(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 '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
   }
-  arg2 = reinterpret_cast< iDynTree::SubModelDecomposition * >(argp2);
-  result = (bool)((iDynTree::estimateExternalWrenchesBuffers const *)arg1)->isConsistent((iDynTree::SubModelDecomposition const &)*arg2);
+  result = (bool)(arg1)->changeFixedFrame((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_estimateExternalWrenchesBuffers_A_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
-  std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *arg2 = (std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *) 0 ;
+int _wrap_SimpleLeggedOdometry_changeFixedFrame__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  iDynTree::FrameIndex arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_A_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_changeFixedFrame",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_A_set" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t, 0 |  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesBuffers_A_set" "', argument " "2"" of type '" "std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
   }
-  arg2 = reinterpret_cast< std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > * >(argp2);
-  if (arg1) (arg1)->A = *arg2;
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::FrameIndex >(val2);
+  result = (bool)(arg1)->changeFixedFrame(arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -70401,78 +73381,92 @@ int _wrap_estimateExternalWrenchesBuffers_A_set(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_estimateExternalWrenchesBuffers_A_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
+int _wrap_SimpleLeggedOdometry_changeFixedFrame__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  std::string *arg2 = 0 ;
+  iDynTree::Transform *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
-  std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_A_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_changeFixedFrame",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_A_get" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  result = (std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *)& ((arg1)->A);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t, 0 |  0 );
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_estimateExternalWrenchesBuffers_x_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
-  std::vector< iDynTree::VectorDynSize,std::allocator< iDynTree::VectorDynSize > > *arg2 = (std::vector< iDynTree::VectorDynSize,std::allocator< iDynTree::VectorDynSize > > *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_x_set",argc,2,2,0)) {
-    SWIG_fail;
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(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 '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_x_set" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Transform,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "3"" of type '" "iDynTree::Transform const &""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t, 0 |  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesBuffers_x_set" "', argument " "2"" of type '" "std::vector< iDynTree::VectorDynSize,std::allocator< iDynTree::VectorDynSize > > *""'"); 
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "3"" of type '" "iDynTree::Transform const &""'"); 
   }
-  arg2 = reinterpret_cast< std::vector< iDynTree::VectorDynSize,std::allocator< iDynTree::VectorDynSize > > * >(argp2);
-  if (arg1) (arg1)->x = *arg2;
-  _out = (mxArray*)0;
+  arg3 = reinterpret_cast< iDynTree::Transform * >(argp3);
+  result = (bool)(arg1)->changeFixedFrame((std::string const &)*arg2,(iDynTree::Transform const &)*arg3);
+  _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_estimateExternalWrenchesBuffers_x_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
+int _wrap_SimpleLeggedOdometry_changeFixedFrame__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  iDynTree::FrameIndex arg2 ;
+  iDynTree::Transform *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
-  std::vector< iDynTree::VectorDynSize,std::allocator< iDynTree::VectorDynSize > > *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_x_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_changeFixedFrame",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_x_get" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  result = (std::vector< iDynTree::VectorDynSize,std::allocator< iDynTree::VectorDynSize > > *)& ((arg1)->x);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_iDynTree__VectorDynSize_std__allocatorT_iDynTree__VectorDynSize_t_t, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::FrameIndex >(val2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Transform,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "3"" of type '" "iDynTree::Transform const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "3"" of type '" "iDynTree::Transform const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::Transform * >(argp3);
+  result = (bool)(arg1)->changeFixedFrame(arg2,(iDynTree::Transform const &)*arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -70480,54 +73474,101 @@ int _wrap_estimateExternalWrenchesBuffers_x_get(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_estimateExternalWrenchesBuffers_b_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
-  std::vector< iDynTree::Vector6,std::allocator< iDynTree::Vector6 > > *arg2 = (std::vector< iDynTree::Vector6,std::allocator< iDynTree::Vector6 > > *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_b_set",argc,2,2,0)) {
-    SWIG_fail;
+int _wrap_SimpleLeggedOdometry_changeFixedFrame(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        return _wrap_SimpleLeggedOdometry_changeFixedFrame__SWIG_1(resc,resv,argc,argv);
+      }
+    }
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_b_set" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_SimpleLeggedOdometry_changeFixedFrame__SWIG_0(resc,resv,argc,argv);
+      }
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__allocatorT_iDynTree__VectorFixSizeT_6_t_t_t, 0 |  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesBuffers_b_set" "', argument " "2"" of type '" "std::vector< iDynTree::Vector6,std::allocator< iDynTree::Vector6 > > *""'"); 
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_SimpleLeggedOdometry_changeFixedFrame__SWIG_3(resc,resv,argc,argv);
+        }
+      }
+    }
   }
-  arg2 = reinterpret_cast< std::vector< iDynTree::Vector6,std::allocator< iDynTree::Vector6 > > * >(argp2);
-  if (arg1) (arg1)->b = *arg2;
-  _out = (mxArray*)0;
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_SimpleLeggedOdometry_changeFixedFrame__SWIG_2(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'SimpleLeggedOdometry_changeFixedFrame'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::SimpleLeggedOdometry::changeFixedFrame(std::string const &)\n"
+    "    iDynTree::SimpleLeggedOdometry::changeFixedFrame(iDynTree::FrameIndex const)\n"
+    "    iDynTree::SimpleLeggedOdometry::changeFixedFrame(std::string const &,iDynTree::Transform const &)\n"
+    "    iDynTree::SimpleLeggedOdometry::changeFixedFrame(iDynTree::FrameIndex const,iDynTree::Transform const &)\n");
   return 1;
 }
 
 
-int _wrap_estimateExternalWrenchesBuffers_b_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
+int _wrap_SimpleLeggedOdometry_getCurrentFixedLink(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  std::vector< iDynTree::Vector6,std::allocator< iDynTree::Vector6 > > *result = 0 ;
+  std::string result;
   
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_b_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_getCurrentFixedLink",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_b_get" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_getCurrentFixedLink" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  result = (std::vector< iDynTree::Vector6,std::allocator< iDynTree::Vector6 > > *)& ((arg1)->b);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_iDynTree__VectorFixSizeT_6_t_std__allocatorT_iDynTree__VectorFixSizeT_6_t_t_t, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
+  result = (arg1)->getCurrentFixedLink();
+  _out = SWIG_From_std_string(static_cast< std::string >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -70535,30 +73576,31 @@ int _wrap_estimateExternalWrenchesBuffers_b_get(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_estimateExternalWrenchesBuffers_pinvA_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
-  std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *arg2 = (std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *) 0 ;
+int _wrap_SimpleLeggedOdometry_getWorldLinkTransform(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  iDynTree::LinkIndex arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
+  iDynTree::Transform result;
   
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_pinvA_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_getWorldLinkTransform",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_pinvA_set" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t, 0 |  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesBuffers_pinvA_set" "', argument " "2"" of type '" "std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *""'"); 
-  }
-  arg2 = reinterpret_cast< std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > * >(argp2);
-  if (arg1) (arg1)->pinvA = *arg2;
-  _out = (mxArray*)0;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_getWorldLinkTransform" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SimpleLeggedOdometry_getWorldLinkTransform" "', argument " "2"" of type '" "iDynTree::LinkIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::LinkIndex >(val2);
+  result = (arg1)->getWorldLinkTransform(arg2);
+  _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:
@@ -70566,23 +73608,31 @@ int _wrap_estimateExternalWrenchesBuffers_pinvA_set(int resc, mxArray *resv[], i
 }
 
 
-int _wrap_estimateExternalWrenchesBuffers_pinvA_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
+int _wrap_SimpleLeggedOdometry_getWorldFrameTransform(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+  iDynTree::FrameIndex arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *result = 0 ;
+  iDynTree::Transform result;
   
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_pinvA_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("SimpleLeggedOdometry_getWorldFrameTransform",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_pinvA_get" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_getWorldFrameTransform" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  result = (std::vector< iDynTree::MatrixDynSize,std::allocator< iDynTree::MatrixDynSize > > *)& ((arg1)->pinvA);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_iDynTree__MatrixDynSize_std__allocatorT_iDynTree__MatrixDynSize_t_t, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SimpleLeggedOdometry_getWorldFrameTransform" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::FrameIndex >(val2);
+  result = (arg1)->getWorldFrameTransform(arg2);
+  _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:
@@ -70590,30 +73640,23 @@ int _wrap_estimateExternalWrenchesBuffers_pinvA_get(int resc, mxArray *resv[], i
 }
 
 
-int _wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
-  iDynTree::LinkWrenches *arg2 = (iDynTree::LinkWrenches *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+int _wrap_isLinkBerdyDynamicVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyDynamicVariablesTypes arg1 ;
+  int val1 ;
+  int ecode1 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_b_contacts_subtree_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("isLinkBerdyDynamicVariable",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_b_contacts_subtree_set" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__LinkWrenches, 0 |  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesBuffers_b_contacts_subtree_set" "', argument " "2"" of type '" "iDynTree::LinkWrenches *""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::LinkWrenches * >(argp2);
-  if (arg1) (arg1)->b_contacts_subtree = *arg2;
-  _out = (mxArray*)0;
+  ecode1 = SWIG_AsVal_int(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "isLinkBerdyDynamicVariable" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariablesTypes""'");
+  } 
+  arg1 = static_cast< iDynTree::BerdyDynamicVariablesTypes >(val1);
+  result = (bool)iDynTree::isLinkBerdyDynamicVariable(arg1);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -70621,23 +73664,23 @@ int _wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_set(int resc, mxArr
 }
 
 
-int _wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
+int _wrap_isJointBerdyDynamicVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyDynamicVariablesTypes arg1 ;
+  int val1 ;
+  int ecode1 = 0 ;
   mxArray * _out;
-  iDynTree::LinkWrenches *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_b_contacts_subtree_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("isJointBerdyDynamicVariable",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_b_contacts_subtree_get" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  result = (iDynTree::LinkWrenches *)& ((arg1)->b_contacts_subtree);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__LinkWrenches, 0 |  0 );
+  ecode1 = SWIG_AsVal_int(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "isJointBerdyDynamicVariable" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariablesTypes""'");
+  } 
+  arg1 = static_cast< iDynTree::BerdyDynamicVariablesTypes >(val1);
+  result = (bool)iDynTree::isJointBerdyDynamicVariable(arg1);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -70645,30 +73688,23 @@ int _wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_get(int resc, mxArr
 }
 
 
-int _wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
-  iDynTree::LinkPositions *arg2 = (iDynTree::LinkPositions *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+int _wrap_isDOFBerdyDynamicVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyDynamicVariablesTypes arg1 ;
+  int val1 ;
+  int ecode1 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_subModelBase_H_link_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("isDOFBerdyDynamicVariable",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_subModelBase_H_link_set" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__LinkPositions, 0 |  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesBuffers_subModelBase_H_link_set" "', argument " "2"" of type '" "iDynTree::LinkPositions *""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::LinkPositions * >(argp2);
-  if (arg1) (arg1)->subModelBase_H_link = *arg2;
-  _out = (mxArray*)0;
+  ecode1 = SWIG_AsVal_int(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "isDOFBerdyDynamicVariable" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariablesTypes""'");
+  } 
+  arg1 = static_cast< iDynTree::BerdyDynamicVariablesTypes >(val1);
+  result = (bool)iDynTree::isDOFBerdyDynamicVariable(arg1);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -70676,23 +73712,16 @@ int _wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_set(int resc, mxAr
 }
 
 
-int _wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
+int _wrap_new_BerdyOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
-  iDynTree::LinkPositions *result = 0 ;
+  iDynTree::BerdyOptions *result = 0 ;
   
-  if (!SWIG_check_num_args("estimateExternalWrenchesBuffers_subModelBase_H_link_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("new_BerdyOptions",argc,0,0,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesBuffers_subModelBase_H_link_get" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  result = (iDynTree::LinkPositions *)& ((arg1)->subModelBase_H_link);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__LinkPositions, 0 |  0 );
+  (void)argv;
+  result = (iDynTree::BerdyOptions *)new iDynTree::BerdyOptions();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__BerdyOptions, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -70700,25 +73729,29 @@ int _wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_get(int resc, mxAr
 }
 
 
-int _wrap_delete_estimateExternalWrenchesBuffers(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::estimateExternalWrenchesBuffers *arg1 = (iDynTree::estimateExternalWrenchesBuffers *) 0 ;
+int _wrap_BerdyOptions_berdyVariant_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+  iDynTree::BerdyVariants arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
   
-  int is_owned;
-  if (!SWIG_check_num_args("delete_estimateExternalWrenchesBuffers",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdyOptions_berdyVariant_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_estimateExternalWrenchesBuffers" "', argument " "1"" of type '" "iDynTree::estimateExternalWrenchesBuffers *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp1);
-  if (is_owned) {
-    delete arg1;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_berdyVariant_set" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
   }
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyOptions_berdyVariant_set" "', argument " "2"" of type '" "iDynTree::BerdyVariants""'");
+  } 
+  arg2 = static_cast< iDynTree::BerdyVariants >(val2);
+  if (arg1) (arg1)->berdyVariant = arg2;
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -70727,103 +73760,23 @@ int _wrap_delete_estimateExternalWrenchesBuffers(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_estimateExternalWrenchesWithoutInternalFT(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Model *arg1 = 0 ;
-  iDynTree::Traversal *arg2 = 0 ;
-  iDynTree::LinkUnknownWrenchContacts *arg3 = 0 ;
-  iDynTree::JointPosDoubleArray *arg4 = 0 ;
-  iDynTree::LinkVelArray *arg5 = 0 ;
-  iDynTree::LinkAccArray *arg6 = 0 ;
-  iDynTree::estimateExternalWrenchesBuffers *arg7 = 0 ;
-  iDynTree::LinkContactWrenches *arg8 = 0 ;
-  void *argp1 ;
+int _wrap_BerdyOptions_berdyVariant_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
-  void *argp5 ;
-  int res5 = 0 ;
-  void *argp6 ;
-  int res6 = 0 ;
-  void *argp7 = 0 ;
-  int res7 = 0 ;
-  void *argp8 = 0 ;
-  int res8 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::BerdyVariants result;
   
-  if (!SWIG_check_num_args("estimateExternalWrenchesWithoutInternalFT",argc,8,8,0)) {
+  if (!SWIG_check_num_args("BerdyOptions_berdyVariant_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Model,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Model * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Traversal,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "2"" of type '" "iDynTree::Traversal const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "2"" of type '" "iDynTree::Traversal const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Traversal * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "3"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "3"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "4"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "4"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp4);
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__LinkVelArray,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "5"" of type '" "iDynTree::LinkVelArray const &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "5"" of type '" "iDynTree::LinkVelArray const &""'"); 
-  }
-  arg5 = reinterpret_cast< iDynTree::LinkVelArray * >(argp5);
-  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__LinkAccArray,  0 );
-  if (!SWIG_IsOK(res6)) {
-    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "6"" of type '" "iDynTree::LinkAccArray const &""'"); 
-  }
-  if (!argp6) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "6"" of type '" "iDynTree::LinkAccArray const &""'"); 
-  }
-  arg6 = reinterpret_cast< iDynTree::LinkAccArray * >(argp6);
-  res7 = SWIG_ConvertPtr(argv[6], &argp7, SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers,  0 );
-  if (!SWIG_IsOK(res7)) {
-    SWIG_exception_fail(SWIG_ArgError(res7), "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "7"" of type '" "iDynTree::estimateExternalWrenchesBuffers &""'"); 
-  }
-  if (!argp7) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "7"" of type '" "iDynTree::estimateExternalWrenchesBuffers &""'"); 
-  }
-  arg7 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp7);
-  res8 = SWIG_ConvertPtr(argv[7], &argp8, SWIGTYPE_p_iDynTree__LinkContactWrenches,  0 );
-  if (!SWIG_IsOK(res8)) {
-    SWIG_exception_fail(SWIG_ArgError(res8), "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "8"" of type '" "iDynTree::LinkContactWrenches &""'"); 
-  }
-  if (!argp8) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenchesWithoutInternalFT" "', argument " "8"" of type '" "iDynTree::LinkContactWrenches &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_berdyVariant_get" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
   }
-  arg8 = reinterpret_cast< iDynTree::LinkContactWrenches * >(argp8);
-  result = (bool)iDynTree::estimateExternalWrenchesWithoutInternalFT((iDynTree::Model const &)*arg1,(iDynTree::Traversal const &)*arg2,(iDynTree::LinkUnknownWrenchContacts const &)*arg3,(iDynTree::JointPosDoubleArray const &)*arg4,(iDynTree::LinkVelArray const &)*arg5,(iDynTree::LinkAccArray const &)*arg6,*arg7,*arg8);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  result = (iDynTree::BerdyVariants) ((arg1)->berdyVariant);
+  _out = SWIG_From_int(static_cast< int >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -70831,125 +73784,30 @@ int _wrap_estimateExternalWrenchesWithoutInternalFT(int resc, mxArray *resv[], i
 }
 
 
-int _wrap_estimateExternalWrenches(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Model *arg1 = 0 ;
-  iDynTree::SubModelDecomposition *arg2 = 0 ;
-  iDynTree::SensorsList *arg3 = 0 ;
-  iDynTree::LinkUnknownWrenchContacts *arg4 = 0 ;
-  iDynTree::JointPosDoubleArray *arg5 = 0 ;
-  iDynTree::LinkVelArray *arg6 = 0 ;
-  iDynTree::LinkAccArray *arg7 = 0 ;
-  iDynTree::SensorsMeasurements *arg8 = 0 ;
-  iDynTree::estimateExternalWrenchesBuffers *arg9 = 0 ;
-  iDynTree::LinkContactWrenches *arg10 = 0 ;
-  void *argp1 ;
+int _wrap_BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+  bool arg2 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
-  void *argp5 ;
-  int res5 = 0 ;
-  void *argp6 ;
-  int res6 = 0 ;
-  void *argp7 ;
-  int res7 = 0 ;
-  void *argp8 ;
-  int res8 = 0 ;
-  void *argp9 = 0 ;
-  int res9 = 0 ;
-  void *argp10 = 0 ;
-  int res10 = 0 ;
+  bool val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("estimateExternalWrenches",argc,10,10,0)) {
+  if (!SWIG_check_num_args("BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Model,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateExternalWrenches" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Model * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SubModelDecomposition,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateExternalWrenches" "', argument " "2"" of type '" "iDynTree::SubModelDecomposition const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "2"" of type '" "iDynTree::SubModelDecomposition const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::SubModelDecomposition * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsList,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "estimateExternalWrenches" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::SensorsList * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "estimateExternalWrenches" "', argument " "4"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "4"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp4);
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "estimateExternalWrenches" "', argument " "5"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "5"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  arg5 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp5);
-  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__LinkVelArray,  0 );
-  if (!SWIG_IsOK(res6)) {
-    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "estimateExternalWrenches" "', argument " "6"" of type '" "iDynTree::LinkVelArray const &""'"); 
-  }
-  if (!argp6) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "6"" of type '" "iDynTree::LinkVelArray const &""'"); 
-  }
-  arg6 = reinterpret_cast< iDynTree::LinkVelArray * >(argp6);
-  res7 = SWIG_ConvertPtr(argv[6], &argp7, SWIGTYPE_p_iDynTree__LinkAccArray,  0 );
-  if (!SWIG_IsOK(res7)) {
-    SWIG_exception_fail(SWIG_ArgError(res7), "in method '" "estimateExternalWrenches" "', argument " "7"" of type '" "iDynTree::LinkAccArray const &""'"); 
-  }
-  if (!argp7) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "7"" of type '" "iDynTree::LinkAccArray const &""'"); 
-  }
-  arg7 = reinterpret_cast< iDynTree::LinkAccArray * >(argp7);
-  res8 = SWIG_ConvertPtr(argv[7], &argp8, SWIGTYPE_p_iDynTree__SensorsMeasurements,  0 );
-  if (!SWIG_IsOK(res8)) {
-    SWIG_exception_fail(SWIG_ArgError(res8), "in method '" "estimateExternalWrenches" "', argument " "8"" of type '" "iDynTree::SensorsMeasurements const &""'"); 
-  }
-  if (!argp8) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "8"" of type '" "iDynTree::SensorsMeasurements const &""'"); 
-  }
-  arg8 = reinterpret_cast< iDynTree::SensorsMeasurements * >(argp8);
-  res9 = SWIG_ConvertPtr(argv[8], &argp9, SWIGTYPE_p_iDynTree__estimateExternalWrenchesBuffers,  0 );
-  if (!SWIG_IsOK(res9)) {
-    SWIG_exception_fail(SWIG_ArgError(res9), "in method '" "estimateExternalWrenches" "', argument " "9"" of type '" "iDynTree::estimateExternalWrenchesBuffers &""'"); 
-  }
-  if (!argp9) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "9"" of type '" "iDynTree::estimateExternalWrenchesBuffers &""'"); 
-  }
-  arg9 = reinterpret_cast< iDynTree::estimateExternalWrenchesBuffers * >(argp9);
-  res10 = SWIG_ConvertPtr(argv[9], &argp10, SWIGTYPE_p_iDynTree__LinkContactWrenches,  0 );
-  if (!SWIG_IsOK(res10)) {
-    SWIG_exception_fail(SWIG_ArgError(res10), "in method '" "estimateExternalWrenches" "', argument " "10"" of type '" "iDynTree::LinkContactWrenches &""'"); 
-  }
-  if (!argp10) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateExternalWrenches" "', argument " "10"" of type '" "iDynTree::LinkContactWrenches &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
   }
-  arg10 = reinterpret_cast< iDynTree::LinkContactWrenches * >(argp10);
-  result = (bool)iDynTree::estimateExternalWrenches((iDynTree::Model const &)*arg1,(iDynTree::SubModelDecomposition const &)*arg2,(iDynTree::SensorsList const &)*arg3,(iDynTree::LinkUnknownWrenchContacts const &)*arg4,(iDynTree::JointPosDoubleArray const &)*arg5,(iDynTree::LinkVelArray const &)*arg6,(iDynTree::LinkAccArray const &)*arg7,(iDynTree::SensorsMeasurements const &)*arg8,*arg9,*arg10);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set" "', argument " "2"" of type '" "bool""'");
+  } 
+  arg2 = static_cast< bool >(val2);
+  if (arg1) (arg1)->includeAllNetExternalWrenchesAsDynamicVariables = arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -70957,124 +73815,22 @@ int _wrap_estimateExternalWrenches(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_dynamicsEstimationForwardVelAccKinematics(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Model *arg1 = 0 ;
-  iDynTree::Traversal *arg2 = 0 ;
-  iDynTree::Vector3 *arg3 = 0 ;
-  iDynTree::Vector3 *arg4 = 0 ;
-  iDynTree::Vector3 *arg5 = 0 ;
-  iDynTree::JointPosDoubleArray *arg6 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg7 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg8 = 0 ;
-  iDynTree::LinkVelArray *arg9 = 0 ;
-  iDynTree::LinkAccArray *arg10 = 0 ;
-  void *argp1 ;
+int _wrap_BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
-  void *argp5 ;
-  int res5 = 0 ;
-  void *argp6 ;
-  int res6 = 0 ;
-  void *argp7 ;
-  int res7 = 0 ;
-  void *argp8 ;
-  int res8 = 0 ;
-  void *argp9 = 0 ;
-  int res9 = 0 ;
-  void *argp10 = 0 ;
-  int res10 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("dynamicsEstimationForwardVelAccKinematics",argc,10,10,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Model * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Traversal,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "2"" of type '" "iDynTree::Traversal const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "2"" of type '" "iDynTree::Traversal const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Traversal * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "3"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "3"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::Vector3 * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "4"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "4"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::Vector3 * >(argp4);
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  arg5 = reinterpret_cast< iDynTree::Vector3 * >(argp5);
-  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
-  if (!SWIG_IsOK(res6)) {
-    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "6"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  if (!argp6) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "6"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  arg6 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp6);
-  res7 = SWIG_ConvertPtr(argv[6], &argp7, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res7)) {
-    SWIG_exception_fail(SWIG_ArgError(res7), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "7"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  if (!argp7) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "7"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  arg7 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp7);
-  res8 = SWIG_ConvertPtr(argv[7], &argp8, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res8)) {
-    SWIG_exception_fail(SWIG_ArgError(res8), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "8"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  if (!argp8) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "8"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  arg8 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp8);
-  res9 = SWIG_ConvertPtr(argv[8], &argp9, SWIGTYPE_p_iDynTree__LinkVelArray,  0 );
-  if (!SWIG_IsOK(res9)) {
-    SWIG_exception_fail(SWIG_ArgError(res9), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "9"" of type '" "iDynTree::LinkVelArray &""'"); 
-  }
-  if (!argp9) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "9"" of type '" "iDynTree::LinkVelArray &""'"); 
-  }
-  arg9 = reinterpret_cast< iDynTree::LinkVelArray * >(argp9);
-  res10 = SWIG_ConvertPtr(argv[9], &argp10, SWIGTYPE_p_iDynTree__LinkAccArray,  0 );
-  if (!SWIG_IsOK(res10)) {
-    SWIG_exception_fail(SWIG_ArgError(res10), "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "10"" of type '" "iDynTree::LinkAccArray &""'"); 
+  if (!SWIG_check_num_args("BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_get",argc,1,1,0)) {
+    SWIG_fail;
   }
-  if (!argp10) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelAccKinematics" "', argument " "10"" of type '" "iDynTree::LinkAccArray &""'"); 
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_get" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
   }
-  arg10 = reinterpret_cast< iDynTree::LinkAccArray * >(argp10);
-  result = (bool)iDynTree::dynamicsEstimationForwardVelAccKinematics((iDynTree::Model const &)*arg1,(iDynTree::Traversal const &)*arg2,(iDynTree::VectorFixSize< 3 > const &)*arg3,(iDynTree::VectorFixSize< 3 > const &)*arg4,(iDynTree::VectorFixSize< 3 > const &)*arg5,(iDynTree::JointPosDoubleArray const &)*arg6,(iDynTree::JointDOFsDoubleArray const &)*arg7,(iDynTree::JointDOFsDoubleArray const &)*arg8,*arg9,*arg10);
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  result = (bool) ((arg1)->includeAllNetExternalWrenchesAsDynamicVariables);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -71083,81 +73839,30 @@ int _wrap_dynamicsEstimationForwardVelAccKinematics(int resc, mxArray *resv[], i
 }
 
 
-int _wrap_dynamicsEstimationForwardVelKinematics(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Model *arg1 = 0 ;
-  iDynTree::Traversal *arg2 = 0 ;
-  iDynTree::Vector3 *arg3 = 0 ;
-  iDynTree::JointPosDoubleArray *arg4 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg5 = 0 ;
-  iDynTree::LinkVelArray *arg6 = 0 ;
-  void *argp1 ;
+int _wrap_BerdyOptions_includeAllJointAccelerationsAsSensors_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+  bool arg2 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
-  void *argp5 ;
-  int res5 = 0 ;
-  void *argp6 = 0 ;
-  int res6 = 0 ;
+  bool val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("dynamicsEstimationForwardVelKinematics",argc,6,6,0)) {
+  if (!SWIG_check_num_args("BerdyOptions_includeAllJointAccelerationsAsSensors_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Model,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Model * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Traversal,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "2"" of type '" "iDynTree::Traversal const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "2"" of type '" "iDynTree::Traversal const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Traversal * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "3"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "3"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::Vector3 * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "4"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "4"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp4);
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "5"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "5"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  arg5 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp5);
-  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__LinkVelArray,  0 );
-  if (!SWIG_IsOK(res6)) {
-    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "6"" of type '" "iDynTree::LinkVelArray &""'"); 
-  }
-  if (!argp6) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "dynamicsEstimationForwardVelKinematics" "', argument " "6"" of type '" "iDynTree::LinkVelArray &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeAllJointAccelerationsAsSensors_set" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
   }
-  arg6 = reinterpret_cast< iDynTree::LinkVelArray * >(argp6);
-  result = (bool)iDynTree::dynamicsEstimationForwardVelKinematics((iDynTree::Model const &)*arg1,(iDynTree::Traversal const &)*arg2,(iDynTree::VectorFixSize< 3 > const &)*arg3,(iDynTree::JointPosDoubleArray const &)*arg4,(iDynTree::JointDOFsDoubleArray const &)*arg5,*arg6);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyOptions_includeAllJointAccelerationsAsSensors_set" "', argument " "2"" of type '" "bool""'");
+  } 
+  arg2 = static_cast< bool >(val2);
+  if (arg1) (arg1)->includeAllJointAccelerationsAsSensors = arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -71165,58 +73870,22 @@ int _wrap_dynamicsEstimationForwardVelKinematics(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_computeLinkNetWrenchesWithoutGravity(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Model *arg1 = 0 ;
-  iDynTree::LinkVelArray *arg2 = 0 ;
-  iDynTree::LinkAccArray *arg3 = 0 ;
-  iDynTree::LinkNetTotalWrenchesWithoutGravity *arg4 = 0 ;
-  void *argp1 ;
+int _wrap_BerdyOptions_includeAllJointAccelerationsAsSensors_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 = 0 ;
-  int res4 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("computeLinkNetWrenchesWithoutGravity",argc,4,4,0)) {
+  if (!SWIG_check_num_args("BerdyOptions_includeAllJointAccelerationsAsSensors_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Model,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "computeLinkNetWrenchesWithoutGravity" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "computeLinkNetWrenchesWithoutGravity" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Model * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__LinkVelArray,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "computeLinkNetWrenchesWithoutGravity" "', argument " "2"" of type '" "iDynTree::LinkVelArray const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "computeLinkNetWrenchesWithoutGravity" "', argument " "2"" of type '" "iDynTree::LinkVelArray const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::LinkVelArray * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__LinkAccArray,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "computeLinkNetWrenchesWithoutGravity" "', argument " "3"" of type '" "iDynTree::LinkAccArray const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "computeLinkNetWrenchesWithoutGravity" "', argument " "3"" of type '" "iDynTree::LinkAccArray const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::LinkAccArray * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "computeLinkNetWrenchesWithoutGravity" "', argument " "4"" of type '" "iDynTree::LinkNetTotalWrenchesWithoutGravity &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "computeLinkNetWrenchesWithoutGravity" "', argument " "4"" of type '" "iDynTree::LinkNetTotalWrenchesWithoutGravity &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeAllJointAccelerationsAsSensors_get" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
   }
-  arg4 = reinterpret_cast< iDynTree::LinkNetTotalWrenchesWithoutGravity * >(argp4);
-  result = (bool)iDynTree::computeLinkNetWrenchesWithoutGravity((iDynTree::Model const &)*arg1,(iDynTree::LinkVelArray const &)*arg2,(iDynTree::LinkAccArray const &)*arg3,*arg4);
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  result = (bool) ((arg1)->includeAllJointAccelerationsAsSensors);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -71225,59 +73894,30 @@ int _wrap_computeLinkNetWrenchesWithoutGravity(int resc, mxArray *resv[], int ar
 }
 
 
-int _wrap_estimateLinkContactWrenchesFromLinkNetExternalWrenches(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::Model *arg1 = 0 ;
-  iDynTree::LinkUnknownWrenchContacts *arg2 = 0 ;
-  iDynTree::LinkNetExternalWrenches *arg3 = 0 ;
-  iDynTree::LinkContactWrenches *arg4 = 0 ;
-  void *argp1 ;
+int _wrap_BerdyOptions_includeAllJointTorquesAsSensors_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+  bool arg2 ;
+  void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 = 0 ;
-  int res4 = 0 ;
+  bool val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("estimateLinkContactWrenchesFromLinkNetExternalWrenches",argc,4,4,0)) {
+  if (!SWIG_check_num_args("BerdyOptions_includeAllJointTorquesAsSensors_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__Model,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "estimateLinkContactWrenchesFromLinkNetExternalWrenches" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateLinkContactWrenchesFromLinkNetExternalWrenches" "', argument " "1"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::Model * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateLinkContactWrenchesFromLinkNetExternalWrenches" "', argument " "2"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateLinkContactWrenchesFromLinkNetExternalWrenches" "', argument " "2"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "estimateLinkContactWrenchesFromLinkNetExternalWrenches" "', argument " "3"" of type '" "iDynTree::LinkNetExternalWrenches const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateLinkContactWrenchesFromLinkNetExternalWrenches" "', argument " "3"" of type '" "iDynTree::LinkNetExternalWrenches const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::LinkNetExternalWrenches * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__LinkContactWrenches,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "estimateLinkContactWrenchesFromLinkNetExternalWrenches" "', argument " "4"" of type '" "iDynTree::LinkContactWrenches &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateLinkContactWrenchesFromLinkNetExternalWrenches" "', argument " "4"" of type '" "iDynTree::LinkContactWrenches &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeAllJointTorquesAsSensors_set" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
   }
-  arg4 = reinterpret_cast< iDynTree::LinkContactWrenches * >(argp4);
-  result = (bool)iDynTree::estimateLinkContactWrenchesFromLinkNetExternalWrenches((iDynTree::Model const &)*arg1,(iDynTree::LinkUnknownWrenchContacts const &)*arg2,(iDynTree::LinkWrenches const &)*arg3,*arg4);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyOptions_includeAllJointTorquesAsSensors_set" "', argument " "2"" of type '" "bool""'");
+  } 
+  arg2 = static_cast< bool >(val2);
+  if (arg1) (arg1)->includeAllJointTorquesAsSensors = arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -71285,16 +73925,23 @@ int _wrap_estimateLinkContactWrenchesFromLinkNetExternalWrenches(int resc, mxArr
 }
 
 
-int _wrap_new_ExtWrenchesAndJointTorquesEstimator(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_BerdyOptions_includeAllJointTorquesAsSensors_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
   mxArray * _out;
-  iDynTree::ExtWrenchesAndJointTorquesEstimator *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("new_ExtWrenchesAndJointTorquesEstimator",argc,0,0,0)) {
+  if (!SWIG_check_num_args("BerdyOptions_includeAllJointTorquesAsSensors_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  (void)argv;
-  result = (iDynTree::ExtWrenchesAndJointTorquesEstimator *)new iDynTree::ExtWrenchesAndJointTorquesEstimator();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 1 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeAllJointTorquesAsSensors_get" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  result = (bool) ((arg1)->includeAllJointTorquesAsSensors);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -71302,25 +73949,29 @@ int _wrap_new_ExtWrenchesAndJointTorquesEstimator(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_delete_ExtWrenchesAndJointTorquesEstimator(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+int _wrap_BerdyOptions_includeAllNetExternalWrenchesAsSensors_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+  bool arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  bool val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
   
-  int is_owned;
-  if (!SWIG_check_num_args("delete_ExtWrenchesAndJointTorquesEstimator",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdyOptions_includeAllNetExternalWrenchesAsSensors_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_ExtWrenchesAndJointTorquesEstimator" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
-  if (is_owned) {
-    delete arg1;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeAllNetExternalWrenchesAsSensors_set" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
   }
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyOptions_includeAllNetExternalWrenchesAsSensors_set" "', argument " "2"" of type '" "bool""'");
+  } 
+  arg2 = static_cast< bool >(val2);
+  if (arg1) (arg1)->includeAllNetExternalWrenchesAsSensors = arg2;
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -71329,44 +73980,22 @@ int _wrap_delete_ExtWrenchesAndJointTorquesEstimator(int resc, mxArray *resv[],
 }
 
 
-int _wrap_ExtWrenchesAndJointTorquesEstimator_setModelAndSensors(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
-  iDynTree::Model *arg2 = 0 ;
-  iDynTree::SensorsList *arg3 = 0 ;
+int _wrap_BerdyOptions_includeAllNetExternalWrenchesAsSensors_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_setModelAndSensors",argc,3,3,0)) {
+  if (!SWIG_check_num_args("BerdyOptions_includeAllNetExternalWrenchesAsSensors_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_setModelAndSensors" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ExtWrenchesAndJointTorquesEstimator_setModelAndSensors" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_setModelAndSensors" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsList,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ExtWrenchesAndJointTorquesEstimator_setModelAndSensors" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_setModelAndSensors" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeAllNetExternalWrenchesAsSensors_get" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::SensorsList * >(argp3);
-  result = (bool)(arg1)->setModelAndSensors((iDynTree::Model const &)*arg2,(iDynTree::SensorsList const &)*arg3);
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  result = (bool) ((arg1)->includeAllNetExternalWrenchesAsSensors);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -71375,42 +74004,53 @@ int _wrap_ExtWrenchesAndJointTorquesEstimator_setModelAndSensors(int resc, mxArr
 }
 
 
-int _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
-  std::string arg2 ;
-  std::string arg3 ;
+int _wrap_BerdyOptions_includeFixedBaseExternalWrench_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+  bool arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  bool val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile",argc,3,3,0)) {
+  if (!SWIG_check_num_args("BerdyOptions_includeFixedBaseExternalWrench_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeFixedBaseExternalWrench_set" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile" "', argument " "2"" of type '" "std::string const""'"); 
-    }
-    arg2 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyOptions_includeFixedBaseExternalWrench_set" "', argument " "2"" of type '" "bool""'");
+  } 
+  arg2 = static_cast< bool >(val2);
+  if (arg1) (arg1)->includeFixedBaseExternalWrench = arg2;
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_BerdyOptions_includeFixedBaseExternalWrench_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("BerdyOptions_includeFixedBaseExternalWrench_get",argc,1,1,0)) {
+    SWIG_fail;
   }
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[2], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile" "', argument " "3"" of type '" "std::string const""'"); 
-    }
-    arg3 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeFixedBaseExternalWrench_get" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
   }
-  result = (bool)(arg1)->loadModelAndSensorsFromFile(arg2,arg3);
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  result = (bool) ((arg1)->includeFixedBaseExternalWrench);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -71419,33 +74059,30 @@ int _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile__SWIG_
 }
 
 
-int _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
-  std::string arg2 ;
+int _wrap_BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+  std::vector< std::string,std::allocator< std::string > > *arg2 = (std::vector< std::string,std::allocator< std::string > > *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_set" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile" "', argument " "2"" of type '" "std::string const""'"); 
-    }
-    arg2 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_std__vectorT_std__string_std__allocatorT_std__string_t_t, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_set" "', argument " "2"" of type '" "std::vector< std::string,std::allocator< std::string > > *""'"); 
   }
-  result = (bool)(arg1)->loadModelAndSensorsFromFile(arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg2 = reinterpret_cast< std::vector< std::string,std::allocator< std::string > > * >(argp2);
+  if (arg1) (arg1)->jointOnWhichTheInternalWrenchIsMeasured = *arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -71453,219 +74090,136 @@ int _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile__SWIG_
 }
 
 
-int _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile__SWIG_1(resc,resv,argc,argv);
-      }
-    }
+int _wrap_BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< std::string,std::allocator< std::string > > *result = 0 ;
+  
+  if (!SWIG_check_num_args("BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_get",argc,1,1,0)) {
+    SWIG_fail;
   }
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile__SWIG_0(resc,resv,argc,argv);
-        }
-      }
-    }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_get" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
   }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFile(std::string const,std::string const)\n"
-    "    iDynTree::ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFile(std::string const)\n");
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  result = (std::vector< std::string,std::allocator< std::string > > *)& ((arg1)->jointOnWhichTheInternalWrenchIsMeasured);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_std__string_std__allocatorT_std__string_t_t, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
   return 1;
 }
 
 
-int _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
-  std::string arg2 ;
-  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
-  std::string arg4 ;
+int _wrap_BerdyOptions_baseLink_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+  std::string *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res3 = SWIG_OLDOBJ ;
+  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs",argc,4,4,0)) {
+  if (!SWIG_check_num_args("BerdyOptions_baseLink_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_baseLink_set" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
   {
     std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "2"" of type '" "std::string const""'"); 
-    }
-    arg2 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
-  }
-  {
-    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
-    res3 = swig::asptr(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+    res2 = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyOptions_baseLink_set" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyOptions_baseLink_set" "', argument " "2"" of type '" "std::string const &""'"); 
     }
-    arg3 = ptr;
+    arg2 = ptr;
   }
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "4"" of type '" "std::string const""'"); 
-    }
-    arg4 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
+  if (arg1) (arg1)->baseLink = *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_BerdyOptions_baseLink_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::string *result = 0 ;
+  
+  if (!SWIG_check_num_args("BerdyOptions_baseLink_get",argc,1,1,0)) {
+    SWIG_fail;
   }
-  result = (bool)(arg1)->loadModelAndSensorsFromFileWithSpecifiedDOFs(arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3,arg4);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_baseLink_get" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  result = (std::string *) & ((arg1)->baseLink);
+  _out = SWIG_From_std_string(static_cast< std::string >(*result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
-  std::string arg2 ;
-  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
+int _wrap_BerdyOptions_checkConsistency(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res3 = SWIG_OLDOBJ ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs",argc,3,3,0)) {
+  if (!SWIG_check_num_args("BerdyOptions_checkConsistency",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "2"" of type '" "std::string const""'"); 
-    }
-    arg2 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
-  }
-  {
-    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
-    res3 = swig::asptr(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
-    }
-    arg3 = ptr;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_checkConsistency" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
   }
-  result = (bool)(arg1)->loadModelAndSensorsFromFileWithSpecifiedDOFs(arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3);
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  result = (bool)(arg1)->checkConsistency();
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res3)) delete arg3;
-  return 1;
-}
-
-
-int _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs__SWIG_1(resc,resv,argc,argv);
-        }
-      }
-    }
-  }
-  if (argc == 4) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            return _wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs__SWIG_0(resc,resv,argc,argv);
-          }
-        }
-      }
-    }
-  }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFileWithSpecifiedDOFs(std::string const,std::vector< std::string,std::allocator< std::string > > const &,std::string const)\n"
-    "    iDynTree::ExtWrenchesAndJointTorquesEstimator::loadModelAndSensorsFromFileWithSpecifiedDOFs(std::string const,std::vector< std::string,std::allocator< std::string > > const &)\n");
   return 1;
 }
 
 
-int _wrap_ExtWrenchesAndJointTorquesEstimator_model(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+int _wrap_delete_BerdyOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::Model *result = 0 ;
   
-  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_model",argc,1,1,0)) {
+  int is_owned;
+  if (!SWIG_check_num_args("delete_BerdyOptions",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_model" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_BerdyOptions" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
-  result = (iDynTree::Model *) &((iDynTree::ExtWrenchesAndJointTorquesEstimator const *)arg1)->model();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  if (is_owned) {
+    delete arg1;
+  }
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -71673,23 +74227,30 @@ int _wrap_ExtWrenchesAndJointTorquesEstimator_model(int resc, mxArray *resv[], i
 }
 
 
-int _wrap_ExtWrenchesAndJointTorquesEstimator_sensors(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+int _wrap_BerdySensor_type_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
+  iDynTree::BerdySensorTypes arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  iDynTree::SensorsList *result = 0 ;
   
-  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_sensors",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdySensor_type_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_sensors" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySensor_type_set" "', argument " "1"" of type '" "iDynTree::BerdySensor *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
-  result = (iDynTree::SensorsList *) &((iDynTree::ExtWrenchesAndJointTorquesEstimator const *)arg1)->sensors();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SensorsList, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdySensor_type_set" "', argument " "2"" of type '" "iDynTree::BerdySensorTypes""'");
+  } 
+  arg2 = static_cast< iDynTree::BerdySensorTypes >(val2);
+  if (arg1) (arg1)->type = arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -71697,23 +74258,23 @@ int _wrap_ExtWrenchesAndJointTorquesEstimator_sensors(int resc, mxArray *resv[],
 }
 
 
-int _wrap_ExtWrenchesAndJointTorquesEstimator_submodels(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
+int _wrap_BerdySensor_type_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::SubModelDecomposition *result = 0 ;
+  iDynTree::BerdySensorTypes result;
   
-  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_submodels",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdySensor_type_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_submodels" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySensor_type_get" "', argument " "1"" of type '" "iDynTree::BerdySensor *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
-  result = (iDynTree::SubModelDecomposition *) &((iDynTree::ExtWrenchesAndJointTorquesEstimator const *)arg1)->submodels();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SubModelDecomposition, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(argp1);
+  result = (iDynTree::BerdySensorTypes) ((arg1)->type);
+  _out = SWIG_From_int(static_cast< int >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -71721,177 +74282,61 @@ int _wrap_ExtWrenchesAndJointTorquesEstimator_submodels(int resc, mxArray *resv[
 }
 
 
-int _wrap_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
-  iDynTree::JointPosDoubleArray *arg2 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg3 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg4 = 0 ;
-  iDynTree::FrameIndex *arg5 = 0 ;
-  iDynTree::Vector3 *arg6 = 0 ;
-  iDynTree::Vector3 *arg7 = 0 ;
-  iDynTree::Vector3 *arg8 = 0 ;
+int _wrap_BerdySensor_id_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
+  std::string *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
-  iDynTree::FrameIndex temp5 ;
-  int val5 ;
-  int ecode5 = 0 ;
-  void *argp6 ;
-  int res6 = 0 ;
-  void *argp7 ;
-  int res7 = 0 ;
-  void *argp8 ;
-  int res8 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase",argc,8,8,0)) {
+  if (!SWIG_check_num_args("BerdySensor_id_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "4"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "4"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp4);
-  ecode5 = SWIG_AsVal_int(argv[4], &val5);
-  if (!SWIG_IsOK(ecode5)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode5), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "5"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  temp5 = static_cast< iDynTree::FrameIndex >(val5);
-  arg5 = &temp5;
-  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res6)) {
-    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "6"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  if (!argp6) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "6"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  arg6 = reinterpret_cast< iDynTree::Vector3 * >(argp6);
-  res7 = SWIG_ConvertPtr(argv[6], &argp7, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res7)) {
-    SWIG_exception_fail(SWIG_ArgError(res7), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "7"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  if (!argp7) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "7"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  arg7 = reinterpret_cast< iDynTree::Vector3 * >(argp7);
-  res8 = SWIG_ConvertPtr(argv[7], &argp8, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res8)) {
-    SWIG_exception_fail(SWIG_ArgError(res8), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "8"" of type '" "iDynTree::Vector3 const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySensor_id_set" "', argument " "1"" of type '" "iDynTree::BerdySensor *""'"); 
   }
-  if (!argp8) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase" "', argument " "8"" of type '" "iDynTree::Vector3 const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(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 '" "BerdySensor_id_set" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySensor_id_set" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
   }
-  arg8 = reinterpret_cast< iDynTree::Vector3 * >(argp8);
-  result = (bool)(arg1)->updateKinematicsFromFloatingBase((iDynTree::JointPosDoubleArray const &)*arg2,(iDynTree::JointDOFsDoubleArray const &)*arg3,(iDynTree::JointDOFsDoubleArray const &)*arg4,(iDynTree::FrameIndex const &)*arg5,(iDynTree::Vector3 const &)*arg6,(iDynTree::Vector3 const &)*arg7,(iDynTree::Vector3 const &)*arg8);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (arg1) (arg1)->id = *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_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
-  iDynTree::JointPosDoubleArray *arg2 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg3 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg4 = 0 ;
-  iDynTree::FrameIndex *arg5 = 0 ;
-  iDynTree::Vector3 *arg6 = 0 ;
+int _wrap_BerdySensor_id_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
-  iDynTree::FrameIndex temp5 ;
-  int val5 ;
-  int ecode5 = 0 ;
-  void *argp6 ;
-  int res6 = 0 ;
   mxArray * _out;
-  bool result;
+  std::string *result = 0 ;
   
-  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase",argc,6,6,0)) {
+  if (!SWIG_check_num_args("BerdySensor_id_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "4"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "4"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp4);
-  ecode5 = SWIG_AsVal_int(argv[4], &val5);
-  if (!SWIG_IsOK(ecode5)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode5), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "5"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  temp5 = static_cast< iDynTree::FrameIndex >(val5);
-  arg5 = &temp5;
-  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res6)) {
-    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "6"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  if (!argp6) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase" "', argument " "6"" of type '" "iDynTree::Vector3 const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySensor_id_get" "', argument " "1"" of type '" "iDynTree::BerdySensor *""'"); 
   }
-  arg6 = reinterpret_cast< iDynTree::Vector3 * >(argp6);
-  result = (bool)(arg1)->updateKinematicsFromFixedBase((iDynTree::JointPosDoubleArray const &)*arg2,(iDynTree::JointDOFsDoubleArray const &)*arg3,(iDynTree::JointDOFsDoubleArray const &)*arg4,(iDynTree::FrameIndex const &)*arg5,(iDynTree::Vector3 const &)*arg6);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(argp1);
+  result = (std::string *) & ((arg1)->id);
+  _out = SWIG_From_std_string(static_cast< std::string >(*result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -71899,67 +74344,30 @@ int _wrap_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase(int
 }
 
 
-int _wrap_ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
-  iDynTree::LinkUnknownWrenchContacts *arg2 = 0 ;
-  iDynTree::SensorsMeasurements *arg3 = 0 ;
-  iDynTree::LinkContactWrenches *arg4 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg5 = 0 ;
+int _wrap_BerdySensor_range_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
+  iDynTree::IndexRange *arg2 = (iDynTree::IndexRange *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
+  void *argp2 = 0 ;
   int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
-  void *argp4 = 0 ;
-  int res4 = 0 ;
-  void *argp5 = 0 ;
-  int res5 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements",argc,5,5,0)) {
+  if (!SWIG_check_num_args("BerdySensor_range_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySensor_range_set" "', argument " "1"" of type '" "iDynTree::BerdySensor *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts,  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__IndexRange, 0 |  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "2"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "2"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsMeasurements,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "3"" of type '" "iDynTree::SensorsMeasurements &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "3"" of type '" "iDynTree::SensorsMeasurements &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::SensorsMeasurements * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__LinkContactWrenches,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "4"" of type '" "iDynTree::LinkContactWrenches &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "4"" of type '" "iDynTree::LinkContactWrenches &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::LinkContactWrenches * >(argp4);
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "5"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements" "', argument " "5"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySensor_range_set" "', argument " "2"" of type '" "iDynTree::IndexRange *""'"); 
   }
-  arg5 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp5);
-  result = (bool)(arg1)->computeExpectedFTSensorsMeasurements((iDynTree::LinkUnknownWrenchContacts const &)*arg2,*arg3,*arg4,*arg5);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg2 = reinterpret_cast< iDynTree::IndexRange * >(argp2);
+  if (arg1) (arg1)->range = *arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -71967,67 +74375,23 @@ int _wrap_ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasuremen
 }
 
 
-int _wrap_ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
-  iDynTree::LinkUnknownWrenchContacts *arg2 = 0 ;
-  iDynTree::SensorsMeasurements *arg3 = 0 ;
-  iDynTree::LinkContactWrenches *arg4 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg5 = 0 ;
+int _wrap_BerdySensor_range_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 = 0 ;
-  int res4 = 0 ;
-  void *argp5 = 0 ;
-  int res5 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::IndexRange *result = 0 ;
   
-  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques",argc,5,5,0)) {
+  if (!SWIG_check_num_args("BerdySensor_range_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__LinkUnknownWrenchContacts,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "2"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "2"" of type '" "iDynTree::LinkUnknownWrenchContacts const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::LinkUnknownWrenchContacts * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsMeasurements,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "3"" of type '" "iDynTree::SensorsMeasurements const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "3"" of type '" "iDynTree::SensorsMeasurements const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::SensorsMeasurements * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__LinkContactWrenches,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "4"" of type '" "iDynTree::LinkContactWrenches &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "4"" of type '" "iDynTree::LinkContactWrenches &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::LinkContactWrenches * >(argp4);
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "5"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques" "', argument " "5"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySensor_range_get" "', argument " "1"" of type '" "iDynTree::BerdySensor *""'"); 
   }
-  arg5 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp5);
-  result = (bool)(arg1)->estimateExtWrenchesAndJointTorques((iDynTree::LinkUnknownWrenchContacts const &)*arg2,(iDynTree::SensorsMeasurements const &)*arg3,*arg4,*arg5);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(argp1);
+  result = (iDynTree::IndexRange *)& ((arg1)->range);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__IndexRange, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -72035,46 +74399,33 @@ int _wrap_ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques
 }
 
 
-int _wrap_ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
-  double arg2 ;
-  double arg3 ;
-  double arg4 ;
+int _wrap_BerdySensor_eq(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
+  iDynTree::BerdySensor *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
-  double val3 ;
-  int ecode3 = 0 ;
-  double val4 ;
-  int ecode4 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill",argc,4,4,0)) {
+  if (!SWIG_check_num_args("BerdySensor_eq",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySensor_eq" "', argument " "1"" of type '" "iDynTree::BerdySensor const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  ecode3 = SWIG_AsVal_double(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill" "', argument " "3"" of type '" "double""'");
-  } 
-  arg3 = static_cast< double >(val3);
-  ecode4 = SWIG_AsVal_double(argv[3], &val4);
-  if (!SWIG_IsOK(ecode4)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill" "', argument " "4"" of type '" "double""'");
-  } 
-  arg4 = static_cast< double >(val4);
-  result = (bool)(arg1)->checkThatTheModelIsStill(arg2,arg3,arg4);
+  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__BerdySensor,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySensor_eq" "', argument " "2"" of type '" "iDynTree::BerdySensor const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySensor_eq" "', argument " "2"" of type '" "iDynTree::BerdySensor const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::BerdySensor * >(argp2);
+  result = (bool)((iDynTree::BerdySensor const *)arg1)->operator ==((iDynTree::BerdySensor const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -72083,33 +74434,33 @@ int _wrap_ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill(int resc,
 }
 
 
-int _wrap_ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::ExtWrenchesAndJointTorquesEstimator *arg1 = (iDynTree::ExtWrenchesAndJointTorquesEstimator *) 0 ;
-  iDynTree::LinkNetTotalWrenchesWithoutGravity *arg2 = 0 ;
+int _wrap_BerdySensor_lt(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
+  iDynTree::BerdySensor *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdySensor_lt",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__ExtWrenchesAndJointTorquesEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity" "', argument " "1"" of type '" "iDynTree::ExtWrenchesAndJointTorquesEstimator *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySensor_lt" "', argument " "1"" of type '" "iDynTree::BerdySensor const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::ExtWrenchesAndJointTorquesEstimator * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__BerdySensor,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity" "', argument " "2"" of type '" "iDynTree::LinkNetTotalWrenchesWithoutGravity &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySensor_lt" "', argument " "2"" of type '" "iDynTree::BerdySensor const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity" "', argument " "2"" of type '" "iDynTree::LinkNetTotalWrenchesWithoutGravity &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySensor_lt" "', argument " "2"" of type '" "iDynTree::BerdySensor const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::LinkNetTotalWrenchesWithoutGravity * >(argp2);
-  result = (bool)(arg1)->estimateLinkNetWrenchesWithoutGravity(*arg2);
+  arg2 = reinterpret_cast< iDynTree::BerdySensor * >(argp2);
+  result = (bool)((iDynTree::BerdySensor const *)arg1)->operator <((iDynTree::BerdySensor const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -72118,16 +74469,16 @@ int _wrap_ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGrav
 }
 
 
-int _wrap_new_SimpleLeggedOdometry(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_new_BerdySensor(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
-  iDynTree::SimpleLeggedOdometry *result = 0 ;
+  iDynTree::BerdySensor *result = 0 ;
   
-  if (!SWIG_check_num_args("new_SimpleLeggedOdometry",argc,0,0,0)) {
+  if (!SWIG_check_num_args("new_BerdySensor",argc,0,0,0)) {
     SWIG_fail;
   }
   (void)argv;
-  result = (iDynTree::SimpleLeggedOdometry *)new iDynTree::SimpleLeggedOdometry();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 1 |  0 );
+  result = (iDynTree::BerdySensor *)new iDynTree::BerdySensor();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__BerdySensor, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -72135,22 +74486,22 @@ int _wrap_new_SimpleLeggedOdometry(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_delete_SimpleLeggedOdometry(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+int _wrap_delete_BerdySensor(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
   
   int is_owned;
-  if (!SWIG_check_num_args("delete_SimpleLeggedOdometry",argc,1,1,0)) {
+  if (!SWIG_check_num_args("delete_BerdySensor",argc,1,1,0)) {
     SWIG_fail;
   }
   is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_SimpleLeggedOdometry" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_BerdySensor" "', argument " "1"" of type '" "iDynTree::BerdySensor *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(argp1);
   if (is_owned) {
     delete arg1;
   }
@@ -72162,34 +74513,54 @@ int _wrap_delete_SimpleLeggedOdometry(int resc, mxArray *resv[], int argc, mxArr
 }
 
 
-int _wrap_SimpleLeggedOdometry_setModel(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  iDynTree::Model *arg2 = 0 ;
+int _wrap_BerdyDynamicVariable_type_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
+  iDynTree::BerdyDynamicVariablesTypes arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_setModel",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyDynamicVariable_type_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_setModel" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyDynamicVariable_type_set" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "SimpleLeggedOdometry_setModel" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyDynamicVariable_type_set" "', argument " "2"" of type '" "iDynTree::BerdyDynamicVariablesTypes""'");
+  } 
+  arg2 = static_cast< iDynTree::BerdyDynamicVariablesTypes >(val2);
+  if (arg1) (arg1)->type = arg2;
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_BerdyDynamicVariable_type_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::BerdyDynamicVariablesTypes result;
+  
+  if (!SWIG_check_num_args("BerdyDynamicVariable_type_get",argc,1,1,0)) {
+    SWIG_fail;
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_setModel" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyDynamicVariable_type_get" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  result = (bool)(arg1)->setModel((iDynTree::Model const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
+  result = (iDynTree::BerdyDynamicVariablesTypes) ((arg1)->type);
+  _out = SWIG_From_int(static_cast< int >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -72197,77 +74568,61 @@ int _wrap_SimpleLeggedOdometry_setModel(int resc, mxArray *resv[], int argc, mxA
 }
 
 
-int _wrap_SimpleLeggedOdometry_loadModelFromFile__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  std::string arg2 ;
-  std::string arg3 ;
+int _wrap_BerdyDynamicVariable_id_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
+  std::string *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_loadModelFromFile",argc,3,3,0)) {
+  if (!SWIG_check_num_args("BerdyDynamicVariable_id_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_loadModelFromFile" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyDynamicVariable_id_set" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
   {
     std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "SimpleLeggedOdometry_loadModelFromFile" "', argument " "2"" of type '" "std::string const""'"); 
+    res2 = SWIG_AsPtr_std_string(argv[1], &ptr);
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyDynamicVariable_id_set" "', argument " "2"" of type '" "std::string const &""'"); 
     }
-    arg2 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
-  }
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[2], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "SimpleLeggedOdometry_loadModelFromFile" "', argument " "3"" of type '" "std::string const""'"); 
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyDynamicVariable_id_set" "', argument " "2"" of type '" "std::string const &""'"); 
     }
-    arg3 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
+    arg2 = ptr;
   }
-  result = (bool)(arg1)->loadModelFromFile(arg2,arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (arg1) (arg1)->id = *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_SimpleLeggedOdometry_loadModelFromFile__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  std::string arg2 ;
+int _wrap_BerdyDynamicVariable_id_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  bool result;
+  std::string *result = 0 ;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_loadModelFromFile",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyDynamicVariable_id_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_loadModelFromFile" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "SimpleLeggedOdometry_loadModelFromFile" "', argument " "2"" of type '" "std::string const""'"); 
-    }
-    arg2 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyDynamicVariable_id_get" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable *""'"); 
   }
-  result = (bool)(arg1)->loadModelFromFile(arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
+  result = (std::string *) & ((arg1)->id);
+  _out = SWIG_From_std_string(static_cast< std::string >(*result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -72275,219 +74630,168 @@ int _wrap_SimpleLeggedOdometry_loadModelFromFile__SWIG_1(int resc, mxArray *resv
 }
 
 
-int _wrap_SimpleLeggedOdometry_loadModelFromFile(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_SimpleLeggedOdometry_loadModelFromFile__SWIG_1(resc,resv,argc,argv);
-      }
-    }
+int _wrap_BerdyDynamicVariable_range_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
+  iDynTree::IndexRange *arg2 = (iDynTree::IndexRange *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("BerdyDynamicVariable_range_set",argc,2,2,0)) {
+    SWIG_fail;
   }
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_SimpleLeggedOdometry_loadModelFromFile__SWIG_0(resc,resv,argc,argv);
-        }
-      }
-    }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyDynamicVariable_range_set" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__IndexRange, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyDynamicVariable_range_set" "', argument " "2"" of type '" "iDynTree::IndexRange *""'"); 
   }
+  arg2 = reinterpret_cast< iDynTree::IndexRange * >(argp2);
+  if (arg1) (arg1)->range = *arg2;
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_BerdyDynamicVariable_range_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::IndexRange *result = 0 ;
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'SimpleLeggedOdometry_loadModelFromFile'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::SimpleLeggedOdometry::loadModelFromFile(std::string const,std::string const)\n"
-    "    iDynTree::SimpleLeggedOdometry::loadModelFromFile(std::string const)\n");
+  if (!SWIG_check_num_args("BerdyDynamicVariable_range_get",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyDynamicVariable_range_get" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
+  result = (iDynTree::IndexRange *)& ((arg1)->range);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__IndexRange, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
   return 1;
 }
 
 
-int _wrap_SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  std::string arg2 ;
-  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
-  std::string arg4 ;
+int _wrap_BerdyDynamicVariable_eq(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
+  iDynTree::BerdyDynamicVariable *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res3 = SWIG_OLDOBJ ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs",argc,4,4,0)) {
+  if (!SWIG_check_num_args("BerdyDynamicVariable_eq",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs" "', argument " "2"" of type '" "std::string const""'"); 
-    }
-    arg2 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyDynamicVariable_eq" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable const *""'"); 
   }
-  {
-    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
-    res3 = swig::asptr(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
-    }
-    arg3 = ptr;
+  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__BerdyDynamicVariable,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyDynamicVariable_eq" "', argument " "2"" of type '" "iDynTree::BerdyDynamicVariable const &""'"); 
   }
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[3], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs" "', argument " "4"" of type '" "std::string const""'"); 
-    }
-    arg4 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyDynamicVariable_eq" "', argument " "2"" of type '" "iDynTree::BerdyDynamicVariable const &""'"); 
   }
-  result = (bool)(arg1)->loadModelFromFileWithSpecifiedDOFs(arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3,arg4);
+  arg2 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp2);
+  result = (bool)((iDynTree::BerdyDynamicVariable const *)arg1)->operator ==((iDynTree::BerdyDynamicVariable const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  std::string arg2 ;
-  std::vector< std::string,std::allocator< std::string > > *arg3 = 0 ;
+int _wrap_BerdyDynamicVariable_lt(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
+  iDynTree::BerdyDynamicVariable *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res3 = SWIG_OLDOBJ ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs",argc,3,3,0)) {
+  if (!SWIG_check_num_args("BerdyDynamicVariable_lt",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyDynamicVariable_lt" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
-  {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs" "', argument " "2"" of type '" "std::string const""'"); 
-    }
-    arg2 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
+  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__BerdyDynamicVariable,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyDynamicVariable_lt" "', argument " "2"" of type '" "iDynTree::BerdyDynamicVariable const &""'"); 
   }
-  {
-    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
-    res3 = swig::asptr(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs" "', argument " "3"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
-    }
-    arg3 = ptr;
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyDynamicVariable_lt" "', argument " "2"" of type '" "iDynTree::BerdyDynamicVariable const &""'"); 
   }
-  result = (bool)(arg1)->loadModelFromFileWithSpecifiedDOFs(arg2,(std::vector< std::string,std::allocator< std::string > > const &)*arg3);
+  arg2 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp2);
+  result = (bool)((iDynTree::BerdyDynamicVariable const *)arg1)->operator <((iDynTree::BerdyDynamicVariable const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs__SWIG_1(resc,resv,argc,argv);
-        }
-      }
-    }
-  }
-  if (argc == 4) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        int res = swig::asptr(argv[2], (std::vector< std::string,std::allocator< std::string > >**)(0));
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          int res = SWIG_AsPtr_std_string(argv[3], (std::string**)(0));
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            return _wrap_SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs__SWIG_0(resc,resv,argc,argv);
-          }
-        }
-      }
-    }
-  }
+int _wrap_new_BerdyDynamicVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  mxArray * _out;
+  iDynTree::BerdyDynamicVariable *result = 0 ;
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::SimpleLeggedOdometry::loadModelFromFileWithSpecifiedDOFs(std::string const,std::vector< std::string,std::allocator< std::string > > const &,std::string const)\n"
-    "    iDynTree::SimpleLeggedOdometry::loadModelFromFileWithSpecifiedDOFs(std::string const,std::vector< std::string,std::allocator< std::string > > const &)\n");
+  if (!SWIG_check_num_args("new_BerdyDynamicVariable",argc,0,0,0)) {
+    SWIG_fail;
+  }
+  (void)argv;
+  result = (iDynTree::BerdyDynamicVariable *)new iDynTree::BerdyDynamicVariable();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
   return 1;
 }
 
 
-int _wrap_SimpleLeggedOdometry_model(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+int _wrap_delete_BerdyDynamicVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::Model *result = 0 ;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_model",argc,1,1,0)) {
+  int is_owned;
+  if (!SWIG_check_num_args("delete_BerdyDynamicVariable",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_model" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_BerdyDynamicVariable" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
-  result = (iDynTree::Model *) &((iDynTree::SimpleLeggedOdometry const *)arg1)->model();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
+  if (is_owned) {
+    delete arg1;
+  }
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -72495,34 +74799,16 @@ int _wrap_SimpleLeggedOdometry_model(int resc, mxArray *resv[], int argc, mxArra
 }
 
 
-int _wrap_SimpleLeggedOdometry_updateKinematics(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  iDynTree::JointPosDoubleArray *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+int _wrap_new_BerdyHelper(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
-  bool result;
+  iDynTree::BerdyHelper *result = 0 ;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_updateKinematics",argc,2,2,0)) {
+  if (!SWIG_check_num_args("new_BerdyHelper",argc,0,0,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_updateKinematics" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "SimpleLeggedOdometry_updateKinematics" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_updateKinematics" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp2);
-  result = (bool)(arg1)->updateKinematics(*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  (void)argv;
+  result = (iDynTree::BerdyHelper *)new iDynTree::BerdyHelper();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__BerdyHelper, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -72530,137 +74816,71 @@ int _wrap_SimpleLeggedOdometry_updateKinematics(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_SimpleLeggedOdometry_init__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  std::string *arg2 = 0 ;
-  iDynTree::Transform arg3 ;
+int _wrap_BerdyHelper_model__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
-  void *argp3 ;
-  int res3 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::Model *result = 0 ;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_init",argc,3,3,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_model",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_init" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(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 '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
-  }
-  {
-    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Transform,  0 );
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "iDynTree::Transform const""'"); 
-    }  
-    if (!argp3) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "iDynTree::Transform const""'");
-    } else {
-      arg3 = *(reinterpret_cast< iDynTree::Transform * >(argp3));
-    }
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_model" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
   }
-  result = (bool)(arg1)->init((std::string const &)*arg2,arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  result = (iDynTree::Model *) &(arg1)->model();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  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_SimpleLeggedOdometry_init__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  std::string *arg2 = 0 ;
+int _wrap_BerdyHelper_sensors__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
-  bool result;
+  iDynTree::SensorsList *result = 0 ;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_init",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_sensors",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_init" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(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 '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_sensors" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
   }
-  result = (bool)(arg1)->init((std::string const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  result = (iDynTree::SensorsList *) &(arg1)->sensors();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SensorsList, 0 |  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_SimpleLeggedOdometry_init__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  iDynTree::FrameIndex arg2 ;
-  iDynTree::Transform arg3 ;
+int _wrap_BerdyHelper_dynamicTraversal(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
   void *argp1 = 0 ;
-  int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
+  int res1 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::Traversal *result = 0 ;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_init",argc,3,3,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_dynamicTraversal",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_init" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg2 = static_cast< iDynTree::FrameIndex >(val2);
-  {
-    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Transform,  0 );
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "iDynTree::Transform const""'"); 
-    }  
-    if (!argp3) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "iDynTree::Transform const""'");
-    } else {
-      arg3 = *(reinterpret_cast< iDynTree::Transform * >(argp3));
-    }
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_dynamicTraversal" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  result = (bool)(arg1)->init(arg2,arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  result = (iDynTree::Traversal *) &((iDynTree::BerdyHelper const *)arg1)->dynamicTraversal();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Traversal, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -72668,31 +74888,23 @@ int _wrap_SimpleLeggedOdometry_init__SWIG_2(int resc, mxArray *resv[], int argc,
 }
 
 
-int _wrap_SimpleLeggedOdometry_init__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  iDynTree::FrameIndex arg2 ;
+int _wrap_BerdyHelper_model__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::Model *result = 0 ;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_init",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_model",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_init" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_model" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg2 = static_cast< iDynTree::FrameIndex >(val2);
-  result = (bool)(arg1)->init(arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  result = (iDynTree::Model *) &((iDynTree::BerdyHelper const *)arg1)->model();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -72700,174 +74912,162 @@ int _wrap_SimpleLeggedOdometry_init__SWIG_3(int resc, mxArray *resv[], int argc,
 }
 
 
-int _wrap_SimpleLeggedOdometry_init__SWIG_4(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  std::string *arg2 = 0 ;
-  std::string *arg3 = 0 ;
-  iDynTree::Transform arg4 ;
+int _wrap_BerdyHelper_model(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_BerdyHelper_model__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_BerdyHelper_model__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdyHelper_model'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::BerdyHelper::model()\n"
+    "    iDynTree::BerdyHelper::model() const\n");
+  return 1;
+}
+
+
+int _wrap_BerdyHelper_sensors__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
-  int res3 = SWIG_OLDOBJ ;
-  void *argp4 ;
-  int res4 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::SensorsList *result = 0 ;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_init",argc,4,4,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_sensors",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_init" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(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 '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_sensors" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  {
-    std::string *ptr = (std::string *)0;
-    res3 = SWIG_AsPtr_std_string(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "std::string const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  result = (iDynTree::SensorsList *) &((iDynTree::BerdyHelper const *)arg1)->sensors();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SensorsList, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_BerdyHelper_sensors(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_BerdyHelper_sensors__SWIG_0(resc,resv,argc,argv);
     }
-    arg3 = ptr;
   }
-  {
-    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__Transform,  0 );
-    if (!SWIG_IsOK(res4)) {
-      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "SimpleLeggedOdometry_init" "', argument " "4"" of type '" "iDynTree::Transform const""'"); 
-    }  
-    if (!argp4) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "4"" of type '" "iDynTree::Transform const""'");
-    } else {
-      arg4 = *(reinterpret_cast< iDynTree::Transform * >(argp4));
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_BerdyHelper_sensors__SWIG_1(resc,resv,argc,argv);
     }
   }
-  result = (bool)(arg1)->init((std::string const &)*arg2,(std::string const &)*arg3,arg4);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res2)) delete arg2;
-  if (SWIG_IsNewObj(res3)) delete arg3;
-  return 0;
-fail:
-  if (SWIG_IsNewObj(res2)) delete arg2;
-  if (SWIG_IsNewObj(res3)) delete arg3;
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdyHelper_sensors'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::BerdyHelper::sensors()\n"
+    "    iDynTree::BerdyHelper::sensors() const\n");
   return 1;
 }
 
 
-int _wrap_SimpleLeggedOdometry_init__SWIG_5(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  std::string *arg2 = 0 ;
-  std::string *arg3 = 0 ;
+int _wrap_BerdyHelper_isValid(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
-  int res3 = SWIG_OLDOBJ ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_init",argc,3,3,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_isValid",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_init" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(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 '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
-  }
-  {
-    std::string *ptr = (std::string *)0;
-    res3 = SWIG_AsPtr_std_string(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "std::string const &""'"); 
-    }
-    arg3 = ptr;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_isValid" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  result = (bool)(arg1)->init((std::string const &)*arg2,(std::string const &)*arg3);
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  result = (bool)((iDynTree::BerdyHelper const *)arg1)->isValid();
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res2)) delete arg2;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res2)) delete arg2;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_SimpleLeggedOdometry_init__SWIG_6(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  iDynTree::FrameIndex arg2 ;
-  iDynTree::FrameIndex arg3 ;
-  iDynTree::Transform arg4 ;
+int _wrap_BerdyHelper_init__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::Model *arg2 = 0 ;
+  iDynTree::SensorsList *arg3 = 0 ;
+  iDynTree::BerdyOptions arg4 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  int val3 ;
-  int ecode3 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
   void *argp4 ;
   int res4 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_init",argc,4,4,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_init",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_init" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_init" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SimpleLeggedOdometry_init" "', 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 '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg3 = static_cast< iDynTree::FrameIndex >(val3);
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsList,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_init" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_init" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::SensorsList * >(argp3);
   {
-    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__Transform,  0 );
+    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__BerdyOptions,  0 );
     if (!SWIG_IsOK(res4)) {
-      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "SimpleLeggedOdometry_init" "', argument " "4"" of type '" "iDynTree::Transform const""'"); 
+      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_init" "', argument " "4"" of type '" "iDynTree::BerdyOptions const""'"); 
     }  
     if (!argp4) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_init" "', argument " "4"" of type '" "iDynTree::Transform const""'");
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_init" "', argument " "4"" of type '" "iDynTree::BerdyOptions const""'");
     } else {
-      arg4 = *(reinterpret_cast< iDynTree::Transform * >(argp4));
+      arg4 = *(reinterpret_cast< iDynTree::BerdyOptions * >(argp4));
     }
   }
-  result = (bool)(arg1)->init(arg2,arg3,arg4);
+  result = (bool)(arg1)->init((iDynTree::Model const &)*arg2,(iDynTree::SensorsList const &)*arg3,arg4);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -72876,38 +75076,44 @@ int _wrap_SimpleLeggedOdometry_init__SWIG_6(int resc, mxArray *resv[], int argc,
 }
 
 
-int _wrap_SimpleLeggedOdometry_init__SWIG_7(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  iDynTree::FrameIndex arg2 ;
-  iDynTree::FrameIndex arg3 ;
+int _wrap_BerdyHelper_init__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::Model *arg2 = 0 ;
+  iDynTree::SensorsList *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  int val3 ;
-  int ecode3 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_init",argc,3,3,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_init",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_init" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_init" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SimpleLeggedOdometry_init" "', 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 '" "SimpleLeggedOdometry_init" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg3 = static_cast< iDynTree::FrameIndex >(val3);
-  result = (bool)(arg1)->init(arg2,arg3);
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsList,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_init" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_init" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::SensorsList * >(argp3);
+  result = (bool)(arg1)->init((iDynTree::Model const &)*arg2,(iDynTree::SensorsList const &)*arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -72916,133 +75122,22 @@ int _wrap_SimpleLeggedOdometry_init__SWIG_7(int resc, mxArray *resv[], int argc,
 }
 
 
-int _wrap_SimpleLeggedOdometry_init(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      {
-        int res = SWIG_AsVal_int(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
-      if (_v) {
-        return _wrap_SimpleLeggedOdometry_init__SWIG_3(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_SimpleLeggedOdometry_init__SWIG_1(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      {
-        int res = SWIG_AsVal_int(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_SimpleLeggedOdometry_init__SWIG_2(resc,resv,argc,argv);
-        }
-      }
-    }
-  }
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      {
-        int res = SWIG_AsVal_int(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
-      if (_v) {
-        {
-          int res = SWIG_AsVal_int(argv[2], NULL);
-          _v = SWIG_CheckState(res);
-        }
-        if (_v) {
-          return _wrap_SimpleLeggedOdometry_init__SWIG_7(resc,resv,argc,argv);
-        }
-      }
-    }
-  }
+int _wrap_BerdyHelper_init(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 3) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
         void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_SimpleLeggedOdometry_init__SWIG_0(resc,resv,argc,argv);
-        }
-      }
-    }
-  }
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_SimpleLeggedOdometry_init__SWIG_5(resc,resv,argc,argv);
-        }
-      }
-    }
-  }
-  if (argc == 4) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      {
-        int res = SWIG_AsVal_int(argv[1], NULL);
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SensorsList, 0);
         _v = SWIG_CheckState(res);
-      }
-      if (_v) {
-        {
-          int res = SWIG_AsVal_int(argv[2], NULL);
-          _v = SWIG_CheckState(res);
-        }
         if (_v) {
-          void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            return _wrap_SimpleLeggedOdometry_init__SWIG_6(resc,resv,argc,argv);
-          }
+          return _wrap_BerdyHelper_init__SWIG_1(resc,resv,argc,argv);
         }
       }
     }
@@ -73050,104 +75145,125 @@ int _wrap_SimpleLeggedOdometry_init(int resc, mxArray *resv[], int argc, mxArray
   if (argc == 4) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SensorsList, 0);
         _v = SWIG_CheckState(res);
         if (_v) {
           void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__BerdyOptions, 0);
           _v = SWIG_CheckState(res);
           if (_v) {
-            return _wrap_SimpleLeggedOdometry_init__SWIG_4(resc,resv,argc,argv);
+            return _wrap_BerdyHelper_init__SWIG_0(resc,resv,argc,argv);
           }
         }
       }
     }
   }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'SimpleLeggedOdometry_init'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::SimpleLeggedOdometry::init(std::string const &,iDynTree::Transform const)\n"
-    "    iDynTree::SimpleLeggedOdometry::init(std::string const &)\n"
-    "    iDynTree::SimpleLeggedOdometry::init(iDynTree::FrameIndex const,iDynTree::Transform const)\n"
-    "    iDynTree::SimpleLeggedOdometry::init(iDynTree::FrameIndex const)\n"
-    "    iDynTree::SimpleLeggedOdometry::init(std::string const &,std::string const &,iDynTree::Transform const)\n"
-    "    iDynTree::SimpleLeggedOdometry::init(std::string const &,std::string const &)\n"
-    "    iDynTree::SimpleLeggedOdometry::init(iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::Transform const)\n"
-    "    iDynTree::SimpleLeggedOdometry::init(iDynTree::FrameIndex const,iDynTree::FrameIndex const)\n");
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdyHelper_init'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::BerdyHelper::init(iDynTree::Model const &,iDynTree::SensorsList const &,iDynTree::BerdyOptions const)\n"
+    "    iDynTree::BerdyHelper::init(iDynTree::Model const &,iDynTree::SensorsList const &)\n");
+  return 1;
+}
+
+
+int _wrap_BerdyHelper_getOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::BerdyOptions result;
+  
+  if (!SWIG_check_num_args("BerdyHelper_getOptions",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getOptions" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  result = ((iDynTree::BerdyHelper const *)arg1)->getOptions();
+  _out = SWIG_NewPointerObj((new iDynTree::BerdyOptions(static_cast< const iDynTree::BerdyOptions& >(result))), SWIGTYPE_p_iDynTree__BerdyOptions, SWIG_POINTER_OWN |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_BerdyHelper_getNrOfDynamicVariables(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  size_t result;
+  
+  if (!SWIG_check_num_args("BerdyHelper_getNrOfDynamicVariables",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getNrOfDynamicVariables" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  result = ((iDynTree::BerdyHelper const *)arg1)->getNrOfDynamicVariables();
+  _out = SWIG_From_size_t(static_cast< size_t >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
   return 1;
 }
 
 
-int _wrap_SimpleLeggedOdometry_changeFixedFrame__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  std::string *arg2 = 0 ;
+int _wrap_BerdyHelper_getNrOfDynamicEquations(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
-  bool result;
+  size_t result;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_changeFixedFrame",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_getNrOfDynamicEquations",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(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 '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getNrOfDynamicEquations" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  result = (bool)(arg1)->changeFixedFrame((std::string const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  result = ((iDynTree::BerdyHelper const *)arg1)->getNrOfDynamicEquations();
+  _out = SWIG_From_size_t(static_cast< size_t >(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_SimpleLeggedOdometry_changeFixedFrame__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  iDynTree::FrameIndex arg2 ;
+int _wrap_BerdyHelper_getNrOfSensorsMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
+  size_t result;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_changeFixedFrame",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_getNrOfSensorsMeasurements",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getNrOfSensorsMeasurements" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg2 = static_cast< iDynTree::FrameIndex >(val2);
-  result = (bool)(arg1)->changeFixedFrame(arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  result = ((iDynTree::BerdyHelper const *)arg1)->getNrOfSensorsMeasurements();
+  _out = SWIG_From_size_t(static_cast< size_t >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -73155,91 +75271,134 @@ int _wrap_SimpleLeggedOdometry_changeFixedFrame__SWIG_1(int resc, mxArray *resv[
 }
 
 
-int _wrap_SimpleLeggedOdometry_changeFixedFrame__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  std::string *arg2 = 0 ;
-  iDynTree::Transform *arg3 = 0 ;
+int _wrap_BerdyHelper_resizeAndZeroBerdyMatrices__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *arg4 = 0 ;
+  iDynTree::VectorDynSize *arg5 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
-  void *argp3 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  void *argp3 = 0 ;
   int res3 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
+  void *argp5 = 0 ;
+  int res5 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_changeFixedFrame",argc,3,3,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_resizeAndZeroBerdyMatrices",argc,5,5,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(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 '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > &""'"); 
   }
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Transform,  0 );
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::SparseMatrix< iDynTree::ColumnMajor > * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
   if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "3"" of type '" "iDynTree::Transform const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
   }
   if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "3"" of type '" "iDynTree::Transform const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::Transform * >(argp3);
-  result = (bool)(arg1)->changeFixedFrame((std::string const &)*arg2,(iDynTree::Transform const &)*arg3);
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "4"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "4"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::SparseMatrix< iDynTree::ColumnMajor > * >(argp4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::VectorDynSize * >(argp5);
+  result = (bool)(arg1)->resizeAndZeroBerdyMatrices(*arg2,*arg3,*arg4,*arg5);
   _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_SimpleLeggedOdometry_changeFixedFrame__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  iDynTree::FrameIndex arg2 ;
-  iDynTree::Transform *arg3 = 0 ;
+int _wrap_BerdyHelper_resizeAndZeroBerdyMatrices__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::MatrixDynSize *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  iDynTree::MatrixDynSize *arg4 = 0 ;
+  iDynTree::VectorDynSize *arg5 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  void *argp3 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  void *argp3 = 0 ;
   int res3 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
+  void *argp5 = 0 ;
+  int res5 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_changeFixedFrame",argc,3,3,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_resizeAndZeroBerdyMatrices",argc,5,5,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg2 = static_cast< iDynTree::FrameIndex >(val2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Transform,  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
   if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "3"" of type '" "iDynTree::Transform const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
   }
   if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "SimpleLeggedOdometry_changeFixedFrame" "', argument " "3"" of type '" "iDynTree::Transform const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::Transform * >(argp3);
-  result = (bool)(arg1)->changeFixedFrame(arg2,(iDynTree::Transform const &)*arg3);
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::VectorDynSize * >(argp5);
+  result = (bool)(arg1)->resizeAndZeroBerdyMatrices(*arg2,*arg3,*arg4,*arg5);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -73248,101 +75407,135 @@ int _wrap_SimpleLeggedOdometry_changeFixedFrame__SWIG_3(int resc, mxArray *resv[
 }
 
 
-int _wrap_SimpleLeggedOdometry_changeFixedFrame(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      {
-        int res = SWIG_AsVal_int(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
-      if (_v) {
-        return _wrap_SimpleLeggedOdometry_changeFixedFrame__SWIG_1(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 2) {
+int _wrap_BerdyHelper_resizeAndZeroBerdyMatrices(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 5) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0);
       _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_SimpleLeggedOdometry_changeFixedFrame__SWIG_0(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      {
-        int res = SWIG_AsVal_int(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
       if (_v) {
         void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
         _v = SWIG_CheckState(res);
         if (_v) {
-          return _wrap_SimpleLeggedOdometry_changeFixedFrame__SWIG_3(resc,resv,argc,argv);
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            void *vptr = 0;
+            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+            _v = SWIG_CheckState(res);
+            if (_v) {
+              return _wrap_BerdyHelper_resizeAndZeroBerdyMatrices__SWIG_0(resc,resv,argc,argv);
+            }
+          }
         }
       }
     }
   }
-  if (argc == 3) {
+  if (argc == 5) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
         void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
         _v = SWIG_CheckState(res);
         if (_v) {
-          return _wrap_SimpleLeggedOdometry_changeFixedFrame__SWIG_2(resc,resv,argc,argv);
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            void *vptr = 0;
+            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+            _v = SWIG_CheckState(res);
+            if (_v) {
+              return _wrap_BerdyHelper_resizeAndZeroBerdyMatrices__SWIG_1(resc,resv,argc,argv);
+            }
+          }
         }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'SimpleLeggedOdometry_changeFixedFrame'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdyHelper_resizeAndZeroBerdyMatrices'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::SimpleLeggedOdometry::changeFixedFrame(std::string const &)\n"
-    "    iDynTree::SimpleLeggedOdometry::changeFixedFrame(iDynTree::FrameIndex const)\n"
-    "    iDynTree::SimpleLeggedOdometry::changeFixedFrame(std::string const &,iDynTree::Transform const &)\n"
-    "    iDynTree::SimpleLeggedOdometry::changeFixedFrame(iDynTree::FrameIndex const,iDynTree::Transform const &)\n");
+    "    iDynTree::BerdyHelper::resizeAndZeroBerdyMatrices(iDynTree::SparseMatrix< iDynTree::ColumnMajor > &,iDynTree::VectorDynSize &,iDynTree::SparseMatrix< iDynTree::ColumnMajor > &,iDynTree::VectorDynSize &)\n"
+    "    iDynTree::BerdyHelper::resizeAndZeroBerdyMatrices(iDynTree::MatrixDynSize &,iDynTree::VectorDynSize &,iDynTree::MatrixDynSize &,iDynTree::VectorDynSize &)\n");
   return 1;
 }
 
 
-int _wrap_SimpleLeggedOdometry_getCurrentFixedLink(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
+int _wrap_BerdyHelper_getBerdyMatrices__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *arg4 = 0 ;
+  iDynTree::VectorDynSize *arg5 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
+  void *argp5 = 0 ;
+  int res5 = 0 ;
   mxArray * _out;
-  std::string result;
+  bool result;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_getCurrentFixedLink",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_getBerdyMatrices",argc,5,5,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_getCurrentFixedLink" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
-  result = (arg1)->getCurrentFixedLink();
-  _out = SWIG_From_std_string(static_cast< std::string >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::SparseMatrix< iDynTree::ColumnMajor > * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "4"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "4"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::SparseMatrix< iDynTree::ColumnMajor > * >(argp4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::VectorDynSize * >(argp5);
+  result = (bool)(arg1)->getBerdyMatrices(*arg2,*arg3,*arg4,*arg5);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -73350,31 +75543,159 @@ int _wrap_SimpleLeggedOdometry_getCurrentFixedLink(int resc, mxArray *resv[], in
 }
 
 
-int _wrap_SimpleLeggedOdometry_getWorldLinkTransform(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  iDynTree::LinkIndex arg2 ;
+int _wrap_BerdyHelper_getBerdyMatrices__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::MatrixDynSize *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  iDynTree::MatrixDynSize *arg4 = 0 ;
+  iDynTree::VectorDynSize *arg5 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
+  void *argp5 = 0 ;
+  int res5 = 0 ;
   mxArray * _out;
-  iDynTree::Transform result;
+  bool result;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_getWorldLinkTransform",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_getBerdyMatrices",argc,5,5,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_getWorldLinkTransform" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SimpleLeggedOdometry_getWorldLinkTransform" "', argument " "2"" of type '" "iDynTree::LinkIndex""'");
-  } 
-  arg2 = static_cast< iDynTree::LinkIndex >(val2);
-  result = (arg1)->getWorldLinkTransform(arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::Transform(static_cast< const iDynTree::Transform& >(result))), SWIGTYPE_p_iDynTree__Transform, SWIG_POINTER_OWN |  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::VectorDynSize * >(argp5);
+  result = (bool)(arg1)->getBerdyMatrices(*arg2,*arg3,*arg4,*arg5);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_BerdyHelper_getBerdyMatrices(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 5) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            void *vptr = 0;
+            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+            _v = SWIG_CheckState(res);
+            if (_v) {
+              return _wrap_BerdyHelper_getBerdyMatrices__SWIG_0(resc,resv,argc,argv);
+            }
+          }
+        }
+      }
+    }
+  }
+  if (argc == 5) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            void *vptr = 0;
+            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+            _v = SWIG_CheckState(res);
+            if (_v) {
+              return _wrap_BerdyHelper_getBerdyMatrices__SWIG_1(resc,resv,argc,argv);
+            }
+          }
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdyHelper_getBerdyMatrices'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::BerdyHelper::getBerdyMatrices(iDynTree::SparseMatrix< iDynTree::ColumnMajor > &,iDynTree::VectorDynSize &,iDynTree::SparseMatrix< iDynTree::ColumnMajor > &,iDynTree::VectorDynSize &)\n"
+    "    iDynTree::BerdyHelper::getBerdyMatrices(iDynTree::MatrixDynSize &,iDynTree::VectorDynSize &,iDynTree::MatrixDynSize &,iDynTree::VectorDynSize &)\n");
+  return 1;
+}
+
+
+int _wrap_BerdyHelper_getSensorsOrdering(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::vector< iDynTree::BerdySensor,std::allocator< iDynTree::BerdySensor > > *result = 0 ;
+  
+  if (!SWIG_check_num_args("BerdyHelper_getSensorsOrdering",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getSensorsOrdering" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  result = (std::vector< iDynTree::BerdySensor,std::allocator< iDynTree::BerdySensor > > *) &((iDynTree::BerdyHelper const *)arg1)->getSensorsOrdering();
+  _out = swig::from(static_cast< std::vector< iDynTree::BerdySensor,std::allocator< iDynTree::BerdySensor > > >(*result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -73382,55 +75703,39 @@ int _wrap_SimpleLeggedOdometry_getWorldLinkTransform(int resc, mxArray *resv[],
 }
 
 
-int _wrap_SimpleLeggedOdometry_getWorldFrameTransform(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::SimpleLeggedOdometry *arg1 = (iDynTree::SimpleLeggedOdometry *) 0 ;
-  iDynTree::FrameIndex arg2 ;
+int _wrap_BerdyHelper_getRangeSensorVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::SensorType arg2 ;
+  unsigned int arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   int val2 ;
   int ecode2 = 0 ;
+  unsigned int val3 ;
+  int ecode3 = 0 ;
   mxArray * _out;
-  iDynTree::Transform result;
+  iDynTree::IndexRange result;
   
-  if (!SWIG_check_num_args("SimpleLeggedOdometry_getWorldFrameTransform",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_getRangeSensorVariable",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__SimpleLeggedOdometry, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "SimpleLeggedOdometry_getWorldFrameTransform" "', argument " "1"" of type '" "iDynTree::SimpleLeggedOdometry *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getRangeSensorVariable" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::SimpleLeggedOdometry * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
   ecode2 = SWIG_AsVal_int(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "SimpleLeggedOdometry_getWorldFrameTransform" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_getRangeSensorVariable" "', argument " "2"" of type '" "iDynTree::SensorType""'");
   } 
-  arg2 = static_cast< iDynTree::FrameIndex >(val2);
-  result = (arg1)->getWorldFrameTransform(arg2);
-  _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_isLinkBerdyDynamicVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyDynamicVariablesTypes arg1 ;
-  int val1 ;
-  int ecode1 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("isLinkBerdyDynamicVariable",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  ecode1 = SWIG_AsVal_int(argv[0], &val1);
-  if (!SWIG_IsOK(ecode1)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "isLinkBerdyDynamicVariable" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariablesTypes""'");
+  arg2 = static_cast< iDynTree::SensorType >(val2);
+  ecode3 = SWIG_AsVal_unsigned_SS_int(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "BerdyHelper_getRangeSensorVariable" "', argument " "3"" of type '" "unsigned int""'");
   } 
-  arg1 = static_cast< iDynTree::BerdyDynamicVariablesTypes >(val1);
-  result = (bool)iDynTree::isLinkBerdyDynamicVariable(arg1);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg3 = static_cast< unsigned int >(val3);
+  result = ((iDynTree::BerdyHelper const *)arg1)->getRangeSensorVariable(arg2,arg3);
+  _out = SWIG_NewPointerObj((new iDynTree::IndexRange(static_cast< const iDynTree::IndexRange& >(result))), SWIGTYPE_p_iDynTree__IndexRange, SWIG_POINTER_OWN |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -73438,64 +75743,39 @@ int _wrap_isLinkBerdyDynamicVariable(int resc, mxArray *resv[], int argc, mxArra
 }
 
 
-int _wrap_isJointBerdyDynamicVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyDynamicVariablesTypes arg1 ;
-  int val1 ;
-  int ecode1 = 0 ;
+int _wrap_BerdyHelper_getRangeDOFSensorVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::BerdySensorTypes arg2 ;
+  iDynTree::DOFIndex arg3 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::IndexRange result;
   
-  if (!SWIG_check_num_args("isJointBerdyDynamicVariable",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_getRangeDOFSensorVariable",argc,3,3,0)) {
     SWIG_fail;
   }
-  ecode1 = SWIG_AsVal_int(argv[0], &val1);
-  if (!SWIG_IsOK(ecode1)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "isJointBerdyDynamicVariable" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariablesTypes""'");
-  } 
-  arg1 = static_cast< iDynTree::BerdyDynamicVariablesTypes >(val1);
-  result = (bool)iDynTree::isJointBerdyDynamicVariable(arg1);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_isDOFBerdyDynamicVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyDynamicVariablesTypes arg1 ;
-  int val1 ;
-  int ecode1 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("isDOFBerdyDynamicVariable",argc,1,1,0)) {
-    SWIG_fail;
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getRangeDOFSensorVariable" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  ecode1 = SWIG_AsVal_int(argv[0], &val1);
-  if (!SWIG_IsOK(ecode1)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "isDOFBerdyDynamicVariable" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariablesTypes""'");
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_getRangeDOFSensorVariable" "', argument " "2"" of type '" "iDynTree::BerdySensorTypes""'");
   } 
-  arg1 = static_cast< iDynTree::BerdyDynamicVariablesTypes >(val1);
-  result = (bool)iDynTree::isDOFBerdyDynamicVariable(arg1);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_new_BerdyOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  mxArray * _out;
-  iDynTree::BerdyOptions *result = 0 ;
-  
-  if (!SWIG_check_num_args("new_BerdyOptions",argc,0,0,0)) {
-    SWIG_fail;
-  }
-  (void)argv;
-  result = (iDynTree::BerdyOptions *)new iDynTree::BerdyOptions();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__BerdyOptions, 1 |  0 );
+  arg2 = static_cast< iDynTree::BerdySensorTypes >(val2);
+  ecode3 = SWIG_AsVal_int(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "BerdyHelper_getRangeDOFSensorVariable" "', argument " "3"" of type '" "iDynTree::DOFIndex""'");
+  } 
+  arg3 = static_cast< iDynTree::DOFIndex >(val3);
+  result = ((iDynTree::BerdyHelper const *)arg1)->getRangeDOFSensorVariable(arg2,arg3);
+  _out = SWIG_NewPointerObj((new iDynTree::IndexRange(static_cast< const iDynTree::IndexRange& >(result))), SWIGTYPE_p_iDynTree__IndexRange, SWIG_POINTER_OWN |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -73503,30 +75783,39 @@ int _wrap_new_BerdyOptions(int resc, mxArray *resv[], int argc, mxArray *argv[])
 }
 
 
-int _wrap_BerdyOptions_berdyVariant_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
-  iDynTree::BerdyVariants arg2 ;
+int _wrap_BerdyHelper_getRangeJointSensorVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::BerdySensorTypes arg2 ;
+  iDynTree::JointIndex arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   int val2 ;
   int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
   mxArray * _out;
+  iDynTree::IndexRange result;
   
-  if (!SWIG_check_num_args("BerdyOptions_berdyVariant_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_getRangeJointSensorVariable",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_berdyVariant_set" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getRangeJointSensorVariable" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
   ecode2 = SWIG_AsVal_int(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyOptions_berdyVariant_set" "', argument " "2"" of type '" "iDynTree::BerdyVariants""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_getRangeJointSensorVariable" "', argument " "2"" of type '" "iDynTree::BerdySensorTypes""'");
   } 
-  arg2 = static_cast< iDynTree::BerdyVariants >(val2);
-  if (arg1) (arg1)->berdyVariant = arg2;
-  _out = (mxArray*)0;
+  arg2 = static_cast< iDynTree::BerdySensorTypes >(val2);
+  ecode3 = SWIG_AsVal_int(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "BerdyHelper_getRangeJointSensorVariable" "', argument " "3"" of type '" "iDynTree::JointIndex""'");
+  } 
+  arg3 = static_cast< iDynTree::JointIndex >(val3);
+  result = ((iDynTree::BerdyHelper const *)arg1)->getRangeJointSensorVariable(arg2,arg3);
+  _out = SWIG_NewPointerObj((new iDynTree::IndexRange(static_cast< const iDynTree::IndexRange& >(result))), SWIGTYPE_p_iDynTree__IndexRange, SWIG_POINTER_OWN |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -73534,23 +75823,39 @@ int _wrap_BerdyOptions_berdyVariant_set(int resc, mxArray *resv[], int argc, mxA
 }
 
 
-int _wrap_BerdyOptions_berdyVariant_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+int _wrap_BerdyHelper_getRangeLinkSensorVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::BerdySensorTypes arg2 ;
+  iDynTree::LinkIndex arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
   mxArray * _out;
-  iDynTree::BerdyVariants result;
+  iDynTree::IndexRange result;
   
-  if (!SWIG_check_num_args("BerdyOptions_berdyVariant_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_getRangeLinkSensorVariable",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_berdyVariant_get" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getRangeLinkSensorVariable" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
-  result = (iDynTree::BerdyVariants) ((arg1)->berdyVariant);
-  _out = SWIG_From_int(static_cast< int >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_getRangeLinkSensorVariable" "', argument " "2"" of type '" "iDynTree::BerdySensorTypes""'");
+  } 
+  arg2 = static_cast< iDynTree::BerdySensorTypes >(val2);
+  ecode3 = SWIG_AsVal_int(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "BerdyHelper_getRangeLinkSensorVariable" "', argument " "3"" of type '" "iDynTree::LinkIndex""'");
+  } 
+  arg3 = static_cast< iDynTree::LinkIndex >(val3);
+  result = ((iDynTree::BerdyHelper const *)arg1)->getRangeLinkSensorVariable(arg2,arg3);
+  _out = SWIG_NewPointerObj((new iDynTree::IndexRange(static_cast< const iDynTree::IndexRange& >(result))), SWIGTYPE_p_iDynTree__IndexRange, SWIG_POINTER_OWN |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -73558,30 +75863,39 @@ int _wrap_BerdyOptions_berdyVariant_get(int resc, mxArray *resv[], int argc, mxA
 }
 
 
-int _wrap_BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
-  bool arg2 ;
+int _wrap_BerdyHelper_getRangeLinkVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::BerdyDynamicVariablesTypes arg2 ;
+  iDynTree::LinkIndex arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  bool val2 ;
+  int val2 ;
   int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
   mxArray * _out;
+  iDynTree::IndexRange result;
   
-  if (!SWIG_check_num_args("BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_getRangeLinkVariable",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getRangeLinkVariable" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
-  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set" "', argument " "2"" of type '" "bool""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_getRangeLinkVariable" "', argument " "2"" of type '" "iDynTree::BerdyDynamicVariablesTypes""'");
   } 
-  arg2 = static_cast< bool >(val2);
-  if (arg1) (arg1)->includeAllNetExternalWrenchesAsDynamicVariables = arg2;
-  _out = (mxArray*)0;
+  arg2 = static_cast< iDynTree::BerdyDynamicVariablesTypes >(val2);
+  ecode3 = SWIG_AsVal_int(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "BerdyHelper_getRangeLinkVariable" "', argument " "3"" of type '" "iDynTree::LinkIndex""'");
+  } 
+  arg3 = static_cast< iDynTree::LinkIndex >(val3);
+  result = ((iDynTree::BerdyHelper const *)arg1)->getRangeLinkVariable(arg2,arg3);
+  _out = SWIG_NewPointerObj((new iDynTree::IndexRange(static_cast< const iDynTree::IndexRange& >(result))), SWIGTYPE_p_iDynTree__IndexRange, SWIG_POINTER_OWN |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -73589,23 +75903,39 @@ int _wrap_BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_set(int r
 }
 
 
-int _wrap_BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+int _wrap_BerdyHelper_getRangeJointVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::BerdyDynamicVariablesTypes arg2 ;
+  iDynTree::JointIndex arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::IndexRange result;
   
-  if (!SWIG_check_num_args("BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_getRangeJointVariable",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_get" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getRangeJointVariable" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
-  result = (bool) ((arg1)->includeAllNetExternalWrenchesAsDynamicVariables);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_getRangeJointVariable" "', argument " "2"" of type '" "iDynTree::BerdyDynamicVariablesTypes""'");
+  } 
+  arg2 = static_cast< iDynTree::BerdyDynamicVariablesTypes >(val2);
+  ecode3 = SWIG_AsVal_int(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "BerdyHelper_getRangeJointVariable" "', argument " "3"" of type '" "iDynTree::JointIndex""'");
+  } 
+  arg3 = static_cast< iDynTree::JointIndex >(val3);
+  result = ((iDynTree::BerdyHelper const *)arg1)->getRangeJointVariable(arg2,arg3);
+  _out = SWIG_NewPointerObj((new iDynTree::IndexRange(static_cast< const iDynTree::IndexRange& >(result))), SWIGTYPE_p_iDynTree__IndexRange, SWIG_POINTER_OWN |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -73613,30 +75943,39 @@ int _wrap_BerdyOptions_includeAllNetExternalWrenchesAsDynamicVariables_get(int r
 }
 
 
-int _wrap_BerdyOptions_includeAllJointAccelerationsAsSensors_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
-  bool arg2 ;
+int _wrap_BerdyHelper_getRangeDOFVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::BerdyDynamicVariablesTypes arg2 ;
+  iDynTree::DOFIndex arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  bool val2 ;
+  int val2 ;
   int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
   mxArray * _out;
+  iDynTree::IndexRange result;
   
-  if (!SWIG_check_num_args("BerdyOptions_includeAllJointAccelerationsAsSensors_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_getRangeDOFVariable",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeAllJointAccelerationsAsSensors_set" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getRangeDOFVariable" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
-  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyOptions_includeAllJointAccelerationsAsSensors_set" "', argument " "2"" of type '" "bool""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_getRangeDOFVariable" "', argument " "2"" of type '" "iDynTree::BerdyDynamicVariablesTypes""'");
   } 
-  arg2 = static_cast< bool >(val2);
-  if (arg1) (arg1)->includeAllJointAccelerationsAsSensors = arg2;
-  _out = (mxArray*)0;
+  arg2 = static_cast< iDynTree::BerdyDynamicVariablesTypes >(val2);
+  ecode3 = SWIG_AsVal_int(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "BerdyHelper_getRangeDOFVariable" "', argument " "3"" of type '" "iDynTree::DOFIndex""'");
+  } 
+  arg3 = static_cast< iDynTree::DOFIndex >(val3);
+  result = ((iDynTree::BerdyHelper const *)arg1)->getRangeDOFVariable(arg2,arg3);
+  _out = SWIG_NewPointerObj((new iDynTree::IndexRange(static_cast< const iDynTree::IndexRange& >(result))), SWIGTYPE_p_iDynTree__IndexRange, SWIG_POINTER_OWN |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -73644,23 +75983,23 @@ int _wrap_BerdyOptions_includeAllJointAccelerationsAsSensors_set(int resc, mxArr
 }
 
 
-int _wrap_BerdyOptions_includeAllJointAccelerationsAsSensors_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+int _wrap_BerdyHelper_getDynamicVariablesOrdering(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  bool result;
+  std::vector< iDynTree::BerdyDynamicVariable,std::allocator< iDynTree::BerdyDynamicVariable > > *result = 0 ;
   
-  if (!SWIG_check_num_args("BerdyOptions_includeAllJointAccelerationsAsSensors_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_getDynamicVariablesOrdering",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeAllJointAccelerationsAsSensors_get" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getDynamicVariablesOrdering" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
-  result = (bool) ((arg1)->includeAllJointAccelerationsAsSensors);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  result = (std::vector< iDynTree::BerdyDynamicVariable,std::allocator< iDynTree::BerdyDynamicVariable > > *) &((iDynTree::BerdyHelper const *)arg1)->getDynamicVariablesOrdering();
+  _out = swig::from(static_cast< std::vector< iDynTree::BerdyDynamicVariable,std::allocator< iDynTree::BerdyDynamicVariable > > >(*result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -73668,30 +76007,100 @@ int _wrap_BerdyOptions_includeAllJointAccelerationsAsSensors_get(int resc, mxArr
 }
 
 
-int _wrap_BerdyOptions_includeAllJointTorquesAsSensors_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
-  bool arg2 ;
+int _wrap_BerdyHelper_serializeDynamicVariables(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::LinkProperAccArray *arg2 = 0 ;
+  iDynTree::LinkNetTotalWrenchesWithoutGravity *arg3 = 0 ;
+  iDynTree::LinkNetExternalWrenches *arg4 = 0 ;
+  iDynTree::LinkInternalWrenches *arg5 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg6 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg7 = 0 ;
+  iDynTree::VectorDynSize *arg8 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  bool val2 ;
-  int ecode2 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
+  void *argp5 = 0 ;
+  int res5 = 0 ;
+  void *argp6 = 0 ;
+  int res6 = 0 ;
+  void *argp7 = 0 ;
+  int res7 = 0 ;
+  void *argp8 = 0 ;
+  int res8 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdyOptions_includeAllJointTorquesAsSensors_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_serializeDynamicVariables",argc,8,8,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeAllJointTorquesAsSensors_set" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
-  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyOptions_includeAllJointTorquesAsSensors_set" "', argument " "2"" of type '" "bool""'");
-  } 
-  arg2 = static_cast< bool >(val2);
-  if (arg1) (arg1)->includeAllJointTorquesAsSensors = arg2;
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__LinkAccArray,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "2"" of type '" "iDynTree::LinkProperAccArray &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "2"" of type '" "iDynTree::LinkProperAccArray &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::LinkProperAccArray * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "3"" of type '" "iDynTree::LinkNetTotalWrenchesWithoutGravity &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "3"" of type '" "iDynTree::LinkNetTotalWrenchesWithoutGravity &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::LinkNetTotalWrenchesWithoutGravity * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "4"" of type '" "iDynTree::LinkNetExternalWrenches &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "4"" of type '" "iDynTree::LinkNetExternalWrenches &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::LinkNetExternalWrenches * >(argp4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "5"" of type '" "iDynTree::LinkInternalWrenches &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "5"" of type '" "iDynTree::LinkInternalWrenches &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::LinkInternalWrenches * >(argp5);
+  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res6)) {
+    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "6"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
+  }
+  if (!argp6) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "6"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
+  }
+  arg6 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp6);
+  res7 = SWIG_ConvertPtr(argv[6], &argp7, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res7)) {
+    SWIG_exception_fail(SWIG_ArgError(res7), "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "7"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
+  }
+  if (!argp7) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "7"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
+  }
+  arg7 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp7);
+  res8 = SWIG_ConvertPtr(argv[7], &argp8, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res8)) {
+    SWIG_exception_fail(SWIG_ArgError(res8), "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "8"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp8) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "8"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg8 = reinterpret_cast< iDynTree::VectorDynSize * >(argp8);
+  result = (bool)(arg1)->serializeDynamicVariables(*arg2,*arg3,*arg4,*arg5,*arg6,*arg7,*arg8);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -73699,22 +76108,88 @@ int _wrap_BerdyOptions_includeAllJointTorquesAsSensors_set(int resc, mxArray *re
 }
 
 
-int _wrap_BerdyOptions_includeAllJointTorquesAsSensors_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+int _wrap_BerdyHelper_serializeSensorVariables(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::SensorsMeasurements *arg2 = 0 ;
+  iDynTree::LinkNetExternalWrenches *arg3 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg4 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg5 = 0 ;
+  iDynTree::LinkInternalWrenches *arg6 = 0 ;
+  iDynTree::VectorDynSize *arg7 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
+  void *argp5 = 0 ;
+  int res5 = 0 ;
+  void *argp6 = 0 ;
+  int res6 = 0 ;
+  void *argp7 = 0 ;
+  int res7 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("BerdyOptions_includeAllJointTorquesAsSensors_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_serializeSensorVariables",argc,7,7,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeAllJointTorquesAsSensors_get" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
-  result = (bool) ((arg1)->includeAllJointTorquesAsSensors);
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SensorsMeasurements,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "2"" of type '" "iDynTree::SensorsMeasurements &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "2"" of type '" "iDynTree::SensorsMeasurements &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::SensorsMeasurements * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "3"" of type '" "iDynTree::LinkNetExternalWrenches &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "3"" of type '" "iDynTree::LinkNetExternalWrenches &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::LinkNetExternalWrenches * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "4"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "4"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "5"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "5"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp5);
+  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
+  if (!SWIG_IsOK(res6)) {
+    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "6"" of type '" "iDynTree::LinkInternalWrenches &""'"); 
+  }
+  if (!argp6) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "6"" of type '" "iDynTree::LinkInternalWrenches &""'"); 
+  }
+  arg6 = reinterpret_cast< iDynTree::LinkInternalWrenches * >(argp6);
+  res7 = SWIG_ConvertPtr(argv[6], &argp7, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res7)) {
+    SWIG_exception_fail(SWIG_ArgError(res7), "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "7"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp7) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "7"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg7 = reinterpret_cast< iDynTree::VectorDynSize * >(argp7);
+  result = (bool)(arg1)->serializeSensorVariables(*arg2,*arg3,*arg4,*arg5,*arg6,*arg7);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -73723,30 +76198,56 @@ int _wrap_BerdyOptions_includeAllJointTorquesAsSensors_get(int resc, mxArray *re
 }
 
 
-int _wrap_BerdyOptions_includeAllNetExternalWrenchesAsSensors_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
-  bool arg2 ;
+int _wrap_BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::JointDOFsDoubleArray *arg2 = 0 ;
+  iDynTree::LinkNetExternalWrenches *arg3 = 0 ;
+  iDynTree::VectorDynSize *arg4 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  bool val2 ;
-  int ecode2 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdyOptions_includeAllNetExternalWrenchesAsSensors_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeAllNetExternalWrenchesAsSensors_set" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
-  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyOptions_includeAllNetExternalWrenchesAsSensors_set" "', argument " "2"" of type '" "bool""'");
-  } 
-  arg2 = static_cast< bool >(val2);
-  if (arg1) (arg1)->includeAllNetExternalWrenchesAsSensors = arg2;
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA" "', argument " "2"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA" "', argument " "2"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA" "', argument " "3"" of type '" "iDynTree::LinkNetExternalWrenches &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA" "', argument " "3"" of type '" "iDynTree::LinkNetExternalWrenches &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::LinkNetExternalWrenches * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA" "', argument " "4"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA" "', argument " "4"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::VectorDynSize * >(argp4);
+  result = (bool)(arg1)->serializeDynamicVariablesComputedFromFixedBaseRNEA(*arg2,*arg3,*arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -73754,22 +76255,55 @@ int _wrap_BerdyOptions_includeAllNetExternalWrenchesAsSensors_set(int resc, mxAr
 }
 
 
-int _wrap_BerdyOptions_includeAllNetExternalWrenchesAsSensors_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+int _wrap_BerdyHelper_extractJointTorquesFromDynamicVariables(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::VectorDynSize *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  iDynTree::VectorDynSize *arg4 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("BerdyOptions_includeAllNetExternalWrenchesAsSensors_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_extractJointTorquesFromDynamicVariables",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeAllNetExternalWrenchesAsSensors_get" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_extractJointTorquesFromDynamicVariables" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
-  result = (bool) ((arg1)->includeAllNetExternalWrenchesAsSensors);
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_extractJointTorquesFromDynamicVariables" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_extractJointTorquesFromDynamicVariables" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_extractJointTorquesFromDynamicVariables" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_extractJointTorquesFromDynamicVariables" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_extractJointTorquesFromDynamicVariables" "', argument " "4"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_extractJointTorquesFromDynamicVariables" "', argument " "4"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::VectorDynSize * >(argp4);
+  result = (bool)((iDynTree::BerdyHelper const *)arg1)->extractJointTorquesFromDynamicVariables((iDynTree::VectorDynSize const &)*arg2,(iDynTree::VectorDynSize const &)*arg3,*arg4);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -73778,30 +76312,45 @@ int _wrap_BerdyOptions_includeAllNetExternalWrenchesAsSensors_get(int resc, mxAr
 }
 
 
-int _wrap_BerdyOptions_includeFixedBaseExternalWrench_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
-  bool arg2 ;
+int _wrap_BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::VectorDynSize *arg2 = 0 ;
+  iDynTree::LinkNetExternalWrenches *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  bool val2 ;
-  int ecode2 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdyOptions_includeFixedBaseExternalWrench_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeFixedBaseExternalWrench_set" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
-  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyOptions_includeFixedBaseExternalWrench_set" "', argument " "2"" of type '" "bool""'");
-  } 
-  arg2 = static_cast< bool >(val2);
-  if (arg1) (arg1)->includeFixedBaseExternalWrench = arg2;
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables" "', argument " "3"" of type '" "iDynTree::LinkNetExternalWrenches &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables" "', argument " "3"" of type '" "iDynTree::LinkNetExternalWrenches &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::LinkNetExternalWrenches * >(argp3);
+  result = (bool)((iDynTree::BerdyHelper const *)arg1)->extractLinkNetExternalWrenchesFromDynamicVariables((iDynTree::VectorDynSize const &)*arg2,*arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -73809,22 +76358,65 @@ int _wrap_BerdyOptions_includeFixedBaseExternalWrench_set(int resc, mxArray *res
 }
 
 
-int _wrap_BerdyOptions_includeFixedBaseExternalWrench_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+int _wrap_BerdyHelper_updateKinematicsFromFloatingBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::JointPosDoubleArray *arg2 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg3 = 0 ;
+  iDynTree::FrameIndex *arg4 = 0 ;
+  iDynTree::Vector3 *arg5 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  iDynTree::FrameIndex temp4 ;
+  int val4 ;
+  int ecode4 = 0 ;
+  void *argp5 ;
+  int res5 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("BerdyOptions_includeFixedBaseExternalWrench_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_updateKinematicsFromFloatingBase",argc,5,5,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_includeFixedBaseExternalWrench_get" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_updateKinematicsFromFloatingBase" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
-  result = (bool) ((arg1)->includeFixedBaseExternalWrench);
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_updateKinematicsFromFloatingBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromFloatingBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_updateKinematicsFromFloatingBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromFloatingBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp3);
+  ecode4 = SWIG_AsVal_int(argv[3], &val4);
+  if (!SWIG_IsOK(ecode4)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "BerdyHelper_updateKinematicsFromFloatingBase" "', argument " "4"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  temp4 = static_cast< iDynTree::FrameIndex >(val4);
+  arg4 = &temp4;
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdyHelper_updateKinematicsFromFloatingBase" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromFloatingBase" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::Vector3 * >(argp5);
+  result = (bool)(arg1)->updateKinematicsFromFloatingBase((iDynTree::JointPosDoubleArray const &)*arg2,(iDynTree::JointDOFsDoubleArray const &)*arg3,(iDynTree::FrameIndex const &)*arg4,(iDynTree::Vector3 const &)*arg5);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -73833,54 +76425,66 @@ int _wrap_BerdyOptions_includeFixedBaseExternalWrench_get(int resc, mxArray *res
 }
 
 
-int _wrap_BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
-  std::vector< std::string,std::allocator< std::string > > *arg2 = (std::vector< std::string,std::allocator< std::string > > *) 0 ;
+int _wrap_BerdyHelper_updateKinematicsFromFixedBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::JointPosDoubleArray *arg2 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg3 = 0 ;
+  iDynTree::FrameIndex *arg4 = 0 ;
+  iDynTree::Vector3 *arg5 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  iDynTree::FrameIndex temp4 ;
+  int val4 ;
+  int ecode4 = 0 ;
+  void *argp5 ;
+  int res5 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_updateKinematicsFromFixedBase",argc,5,5,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_set" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_updateKinematicsFromFixedBase" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_std__vectorT_std__string_std__allocatorT_std__string_t_t, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_set" "', argument " "2"" of type '" "std::vector< std::string,std::allocator< std::string > > *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_updateKinematicsFromFixedBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
   }
-  arg2 = reinterpret_cast< std::vector< std::string,std::allocator< std::string > > * >(argp2);
-  if (arg1) (arg1)->jointOnWhichTheInternalWrenchIsMeasured = *arg2;
-  _out = (mxArray*)0;
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  std::vector< std::string,std::allocator< std::string > > *result = 0 ;
-  
-  if (!SWIG_check_num_args("BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_get",argc,1,1,0)) {
-    SWIG_fail;
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromFixedBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_get" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+  arg2 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_updateKinematicsFromFixedBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
-  result = (std::vector< std::string,std::allocator< std::string > > *)& ((arg1)->jointOnWhichTheInternalWrenchIsMeasured);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_std__vectorT_std__string_std__allocatorT_std__string_t_t, 0 |  0 );
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromFixedBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp3);
+  ecode4 = SWIG_AsVal_int(argv[3], &val4);
+  if (!SWIG_IsOK(ecode4)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "BerdyHelper_updateKinematicsFromFixedBase" "', argument " "4"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  temp4 = static_cast< iDynTree::FrameIndex >(val4);
+  arg4 = &temp4;
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdyHelper_updateKinematicsFromFixedBase" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromFixedBase" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::Vector3 * >(argp5);
+  result = (bool)(arg1)->updateKinematicsFromFixedBase((iDynTree::JointPosDoubleArray const &)*arg2,(iDynTree::JointDOFsDoubleArray const &)*arg3,(iDynTree::FrameIndex const &)*arg4,(iDynTree::Vector3 const &)*arg5);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -73888,61 +76492,99 @@ int _wrap_BerdyOptions_jointOnWhichTheInternalWrenchIsMeasured_get(int resc, mxA
 }
 
 
-int _wrap_BerdyOptions_baseLink_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
-  std::string *arg2 = 0 ;
+int _wrap_BerdyHelper_updateKinematicsFromTraversalFixedBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::JointPosDoubleArray *arg2 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg3 = 0 ;
+  iDynTree::Vector3 *arg4 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdyOptions_baseLink_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_updateKinematicsFromTraversalFixedBase",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_baseLink_set" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_updateKinematicsFromTraversalFixedBase" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(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 '" "BerdyOptions_baseLink_set" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyOptions_baseLink_set" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_updateKinematicsFromTraversalFixedBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
   }
-  if (arg1) (arg1)->baseLink = *arg2;
-  _out = (mxArray*)0;
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromTraversalFixedBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_updateKinematicsFromTraversalFixedBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromTraversalFixedBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_updateKinematicsFromTraversalFixedBase" "', argument " "4"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromTraversalFixedBase" "', argument " "4"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::Vector3 * >(argp4);
+  result = (bool)(arg1)->updateKinematicsFromTraversalFixedBase((iDynTree::JointPosDoubleArray const &)*arg2,(iDynTree::JointDOFsDoubleArray const &)*arg3,(iDynTree::Vector3 const &)*arg4);
+  _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_BerdyOptions_baseLink_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+int _wrap_BerdyHelper_setNetExternalWrenchMeasurementFrame(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::LinkIndex arg2 ;
+  iDynTree::Transform *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
-  std::string *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdyOptions_baseLink_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_setNetExternalWrenchMeasurementFrame",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_baseLink_get" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_setNetExternalWrenchMeasurementFrame" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
-  result = (std::string *) & ((arg1)->baseLink);
-  _out = SWIG_From_std_string(static_cast< std::string >(*result));
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_setNetExternalWrenchMeasurementFrame" "', argument " "2"" of type '" "iDynTree::LinkIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::LinkIndex >(val2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Transform,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_setNetExternalWrenchMeasurementFrame" "', argument " "3"" of type '" "iDynTree::Transform const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_setNetExternalWrenchMeasurementFrame" "', argument " "3"" of type '" "iDynTree::Transform const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::Transform * >(argp3);
+  result = (bool)(arg1)->setNetExternalWrenchMeasurementFrame(arg2,(iDynTree::Transform const &)*arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -73950,22 +76592,41 @@ int _wrap_BerdyOptions_baseLink_get(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_BerdyOptions_checkConsistency(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+int _wrap_BerdyHelper_getNetExternalWrenchMeasurementFrame(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+  iDynTree::LinkIndex arg2 ;
+  iDynTree::Transform *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("BerdyOptions_checkConsistency",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdyHelper_getNetExternalWrenchMeasurementFrame",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyOptions_checkConsistency" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getNetExternalWrenchMeasurementFrame" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
-  result = (bool)(arg1)->checkConsistency();
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_getNetExternalWrenchMeasurementFrame" "', argument " "2"" of type '" "iDynTree::LinkIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::LinkIndex >(val2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Transform,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_getNetExternalWrenchMeasurementFrame" "', argument " "3"" of type '" "iDynTree::Transform &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getNetExternalWrenchMeasurementFrame" "', argument " "3"" of type '" "iDynTree::Transform &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::Transform * >(argp3);
+  result = (bool)((iDynTree::BerdyHelper const *)arg1)->getNetExternalWrenchMeasurementFrame(arg2,*arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -73974,22 +76635,22 @@ int _wrap_BerdyOptions_checkConsistency(int resc, mxArray *resv[], int argc, mxA
 }
 
 
-int _wrap_delete_BerdyOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyOptions *arg1 = (iDynTree::BerdyOptions *) 0 ;
+int _wrap_delete_BerdyHelper(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
   
   int is_owned;
-  if (!SWIG_check_num_args("delete_BerdyOptions",argc,1,1,0)) {
+  if (!SWIG_check_num_args("delete_BerdyHelper",argc,1,1,0)) {
     SWIG_fail;
   }
   is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyOptions, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_BerdyOptions" "', argument " "1"" of type '" "iDynTree::BerdyOptions *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_BerdyHelper" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyOptions * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
   if (is_owned) {
     delete arg1;
   }
@@ -74001,54 +76662,26 @@ int _wrap_delete_BerdyOptions(int resc, mxArray *resv[], int argc, mxArray *argv
 }
 
 
-int _wrap_BerdySensor_type_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
-  iDynTree::BerdySensorTypes arg2 ;
+int _wrap_new_BerdySparseMAPSolver(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdyHelper *arg1 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
+  iDynTree::BerdySparseMAPSolver *result = 0 ;
   
-  if (!SWIG_check_num_args("BerdySensor_type_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("new_BerdySparseMAPSolver",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__BerdyHelper,  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySensor_type_set" "', argument " "1"" of type '" "iDynTree::BerdySensor *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdySensor_type_set" "', argument " "2"" of type '" "iDynTree::BerdySensorTypes""'");
-  } 
-  arg2 = static_cast< iDynTree::BerdySensorTypes >(val2);
-  if (arg1) (arg1)->type = arg2;
-  _out = (mxArray*)0;
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_BerdySensor_type_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::BerdySensorTypes result;
-  
-  if (!SWIG_check_num_args("BerdySensor_type_get",argc,1,1,0)) {
-    SWIG_fail;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_BerdySparseMAPSolver" "', argument " "1"" of type '" "iDynTree::BerdyHelper &""'"); 
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySensor_type_get" "', argument " "1"" of type '" "iDynTree::BerdySensor *""'"); 
+  if (!argp1) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_BerdySparseMAPSolver" "', argument " "1"" of type '" "iDynTree::BerdyHelper &""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(argp1);
-  result = (iDynTree::BerdySensorTypes) ((arg1)->type);
-  _out = SWIG_From_int(static_cast< int >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
+  result = (iDynTree::BerdySparseMAPSolver *)new iDynTree::BerdySparseMAPSolver(*arg1);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74056,61 +76689,60 @@ int _wrap_BerdySensor_type_get(int resc, mxArray *resv[], int argc, mxArray *arg
 }
 
 
-int _wrap_BerdySensor_id_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
-  std::string *arg2 = 0 ;
+int _wrap_delete_BerdySparseMAPSolver(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("BerdySensor_id_set",argc,2,2,0)) {
+  int is_owned;
+  if (!SWIG_check_num_args("delete_BerdySparseMAPSolver",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySensor_id_set" "', argument " "1"" of type '" "iDynTree::BerdySensor *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(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 '" "BerdySensor_id_set" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySensor_id_set" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, SWIG_POINTER_DISOWN |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_BerdySparseMAPSolver" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  if (is_owned) {
+    delete arg1;
   }
-  if (arg1) (arg1)->id = *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_BerdySensor_id_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
+int _wrap_BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  std::string *result = 0 ;
   
-  if (!SWIG_check_num_args("BerdySensor_id_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySensor_id_get" "', argument " "1"" of type '" "iDynTree::BerdySensor *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(argp1);
-  result = (std::string *) & ((arg1)->id);
-  _out = SWIG_From_std_string(static_cast< std::string >(*result));
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::SparseMatrix< iDynTree::ColumnMajor > * >(argp2);
+  (arg1)->setDynamicsConstraintsPriorCovariance((iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &)*arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74118,29 +76750,32 @@ int _wrap_BerdySensor_id_get(int resc, mxArray *resv[], int argc, mxArray *argv[
 }
 
 
-int _wrap_BerdySensor_range_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
-  iDynTree::IndexRange *arg2 = (iDynTree::IndexRange *) 0 ;
+int _wrap_BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("BerdySensor_range_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySensor_range_set" "', argument " "1"" of type '" "iDynTree::BerdySensor *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__IndexRange, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySensor_range_set" "', argument " "2"" of type '" "iDynTree::IndexRange *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::IndexRange * >(argp2);
-  if (arg1) (arg1)->range = *arg2;
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::SparseMatrix< iDynTree::ColumnMajor > * >(argp2);
+  (arg1)->setDynamicsRegularizationPriorCovariance((iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &)*arg2);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -74149,23 +76784,33 @@ int _wrap_BerdySensor_range_set(int resc, mxArray *resv[], int argc, mxArray *ar
 }
 
 
-int _wrap_BerdySensor_range_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
+int _wrap_BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+  iDynTree::VectorDynSize *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::IndexRange *result = 0 ;
   
-  if (!SWIG_check_num_args("BerdySensor_range_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySensor_range_get" "', argument " "1"" of type '" "iDynTree::BerdySensor *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(argp1);
-  result = (iDynTree::IndexRange *)& ((arg1)->range);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__IndexRange, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
+  (arg1)->setDynamicsRegularizationPriorExpectedValue((iDynTree::VectorDynSize const &)*arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74173,34 +76818,33 @@ int _wrap_BerdySensor_range_get(int resc, mxArray *resv[], int argc, mxArray *ar
 }
 
 
-int _wrap_BerdySensor_eq(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
-  iDynTree::BerdySensor *arg2 = 0 ;
+int _wrap_BerdySparseMAPSolver_setMeasurementsPriorCovariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("BerdySensor_eq",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_setMeasurementsPriorCovariance",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySensor_eq" "', argument " "1"" of type '" "iDynTree::BerdySensor const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_setMeasurementsPriorCovariance" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__BerdySensor,  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySensor_eq" "', argument " "2"" of type '" "iDynTree::BerdySensor const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySparseMAPSolver_setMeasurementsPriorCovariance" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySensor_eq" "', argument " "2"" of type '" "iDynTree::BerdySensor const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_setMeasurementsPriorCovariance" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::BerdySensor * >(argp2);
-  result = (bool)((iDynTree::BerdySensor const *)arg1)->operator ==((iDynTree::BerdySensor const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg2 = reinterpret_cast< iDynTree::SparseMatrix< iDynTree::ColumnMajor > * >(argp2);
+  (arg1)->setMeasurementsPriorCovariance((iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &)*arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74208,34 +76852,23 @@ int _wrap_BerdySensor_eq(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
 }
 
 
-int _wrap_BerdySensor_lt(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
-  iDynTree::BerdySensor *arg2 = 0 ;
+int _wrap_BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *result = 0 ;
   
-  if (!SWIG_check_num_args("BerdySensor_lt",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySensor_lt" "', argument " "1"" of type '" "iDynTree::BerdySensor const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__BerdySensor,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySensor_lt" "', argument " "2"" of type '" "iDynTree::BerdySensor const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySensor_lt" "', argument " "2"" of type '" "iDynTree::BerdySensor const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver const *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::BerdySensor * >(argp2);
-  result = (bool)((iDynTree::BerdySensor const *)arg1)->operator <((iDynTree::BerdySensor const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  result = (iDynTree::SparseMatrix< iDynTree::ColumnMajor > *) &((iDynTree::BerdySparseMAPSolver const *)arg1)->dynamicsConstraintsPriorCovarianceInverse();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74243,16 +76876,23 @@ int _wrap_BerdySensor_lt(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
 }
 
 
-int _wrap_new_BerdySensor(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
   mxArray * _out;
-  iDynTree::BerdySensor *result = 0 ;
+  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *result = 0 ;
   
-  if (!SWIG_check_num_args("new_BerdySensor",argc,0,0,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse",argc,1,1,0)) {
     SWIG_fail;
   }
-  (void)argv;
-  result = (iDynTree::BerdySensor *)new iDynTree::BerdySensor();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__BerdySensor, 1 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  result = (iDynTree::SparseMatrix< iDynTree::ColumnMajor > *) &(arg1)->dynamicsConstraintsPriorCovarianceInverse();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74260,26 +76900,51 @@ int _wrap_new_BerdySensor(int resc, mxArray *resv[], int argc, mxArray *argv[])
 }
 
 
-int _wrap_delete_BerdySensor(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySensor *arg1 = (iDynTree::BerdySensor *) 0 ;
+int _wrap_BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::BerdySparseMAPSolver::dynamicsConstraintsPriorCovarianceInverse() const\n"
+    "    iDynTree::BerdySparseMAPSolver::dynamicsConstraintsPriorCovarianceInverse()\n");
+  return 1;
+}
+
+
+int _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
+  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *result = 0 ;
   
-  int is_owned;
-  if (!SWIG_check_num_args("delete_BerdySensor",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse",argc,1,1,0)) {
     SWIG_fail;
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySensor, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_BerdySensor" "', argument " "1"" of type '" "iDynTree::BerdySensor *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdySensor * >(argp1);
-  if (is_owned) {
-    delete arg1;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver const *""'"); 
   }
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  result = (iDynTree::SparseMatrix< iDynTree::ColumnMajor > *) &((iDynTree::BerdySparseMAPSolver const *)arg1)->dynamicsRegularizationPriorCovarianceInverse();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74287,30 +76952,23 @@ int _wrap_delete_BerdySensor(int resc, mxArray *resv[], int argc, mxArray *argv[
 }
 
 
-int _wrap_BerdyDynamicVariable_type_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
-  iDynTree::BerdyDynamicVariablesTypes arg2 ;
+int _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
+  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *result = 0 ;
   
-  if (!SWIG_check_num_args("BerdyDynamicVariable_type_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyDynamicVariable_type_set" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyDynamicVariable_type_set" "', argument " "2"" of type '" "iDynTree::BerdyDynamicVariablesTypes""'");
-  } 
-  arg2 = static_cast< iDynTree::BerdyDynamicVariablesTypes >(val2);
-  if (arg1) (arg1)->type = arg2;
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  result = (iDynTree::SparseMatrix< iDynTree::ColumnMajor > *) &(arg1)->dynamicsRegularizationPriorCovarianceInverse();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74318,23 +76976,51 @@ int _wrap_BerdyDynamicVariable_type_set(int resc, mxArray *resv[], int argc, mxA
 }
 
 
-int _wrap_BerdyDynamicVariable_type_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
+int _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::BerdySparseMAPSolver::dynamicsRegularizationPriorCovarianceInverse() const\n"
+    "    iDynTree::BerdySparseMAPSolver::dynamicsRegularizationPriorCovarianceInverse()\n");
+  return 1;
+}
+
+
+int _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::BerdyDynamicVariablesTypes result;
+  iDynTree::VectorDynSize *result = 0 ;
   
-  if (!SWIG_check_num_args("BerdyDynamicVariable_type_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyDynamicVariable_type_get" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
-  result = (iDynTree::BerdyDynamicVariablesTypes) ((arg1)->type);
-  _out = SWIG_From_int(static_cast< int >(result));
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  result = (iDynTree::VectorDynSize *) &((iDynTree::BerdySparseMAPSolver const *)arg1)->dynamicsRegularizationPriorExpectedValue();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorDynSize, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74342,61 +77028,99 @@ int _wrap_BerdyDynamicVariable_type_get(int resc, mxArray *resv[], int argc, mxA
 }
 
 
-int _wrap_BerdyDynamicVariable_id_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
-  std::string *arg2 = 0 ;
+int _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
+  iDynTree::VectorDynSize *result = 0 ;
   
-  if (!SWIG_check_num_args("BerdyDynamicVariable_id_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyDynamicVariable_id_set" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(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 '" "BerdyDynamicVariable_id_set" "', argument " "2"" of type '" "std::string const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  result = (iDynTree::VectorDynSize *) &(arg1)->dynamicsRegularizationPriorExpectedValue();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorDynSize, 0 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue__SWIG_1(resc,resv,argc,argv);
     }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyDynamicVariable_id_set" "', argument " "2"" of type '" "std::string const &""'"); 
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue__SWIG_0(resc,resv,argc,argv);
     }
-    arg2 = ptr;
   }
-  if (arg1) (arg1)->id = *arg2;
-  _out = (mxArray*)0;
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::BerdySparseMAPSolver::dynamicsRegularizationPriorExpectedValue() const\n"
+    "    iDynTree::BerdySparseMAPSolver::dynamicsRegularizationPriorExpectedValue()\n");
+  return 1;
+}
+
+
+int _wrap_BerdySparseMAPSolver_measurementsPriorCovarianceInverse__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *result = 0 ;
+  
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_measurementsPriorCovarianceInverse",argc,1,1,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_measurementsPriorCovarianceInverse" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  result = (iDynTree::SparseMatrix< iDynTree::ColumnMajor > *) &((iDynTree::BerdySparseMAPSolver const *)arg1)->measurementsPriorCovarianceInverse();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0 |  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_BerdyDynamicVariable_id_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
+int _wrap_BerdySparseMAPSolver_measurementsPriorCovarianceInverse__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  std::string *result = 0 ;
+  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *result = 0 ;
   
-  if (!SWIG_check_num_args("BerdyDynamicVariable_id_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_measurementsPriorCovarianceInverse",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyDynamicVariable_id_get" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_measurementsPriorCovarianceInverse" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
-  result = (std::string *) & ((arg1)->id);
-  _out = SWIG_From_std_string(static_cast< std::string >(*result));
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  result = (iDynTree::SparseMatrix< iDynTree::ColumnMajor > *) &(arg1)->measurementsPriorCovarianceInverse();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74404,30 +77128,51 @@ int _wrap_BerdyDynamicVariable_id_get(int resc, mxArray *resv[], int argc, mxArr
 }
 
 
-int _wrap_BerdyDynamicVariable_range_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
-  iDynTree::IndexRange *arg2 = (iDynTree::IndexRange *) 0 ;
+int _wrap_BerdySparseMAPSolver_measurementsPriorCovarianceInverse(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_BerdySparseMAPSolver_measurementsPriorCovarianceInverse__SWIG_1(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_BerdySparseMAPSolver_measurementsPriorCovarianceInverse__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdySparseMAPSolver_measurementsPriorCovarianceInverse'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::BerdySparseMAPSolver::measurementsPriorCovarianceInverse() const\n"
+    "    iDynTree::BerdySparseMAPSolver::measurementsPriorCovarianceInverse()\n");
+  return 1;
+}
+
+
+int _wrap_BerdySparseMAPSolver_isValid(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdyDynamicVariable_range_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_isValid",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyDynamicVariable_range_set" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__IndexRange, 0 |  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyDynamicVariable_range_set" "', argument " "2"" of type '" "iDynTree::IndexRange *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_isValid" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::IndexRange * >(argp2);
-  if (arg1) (arg1)->range = *arg2;
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  result = (bool)(arg1)->isValid();
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74435,23 +77180,23 @@ int _wrap_BerdyDynamicVariable_range_set(int resc, mxArray *resv[], int argc, mx
 }
 
 
-int _wrap_BerdyDynamicVariable_range_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
+int _wrap_BerdySparseMAPSolver_initialize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::IndexRange *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdyDynamicVariable_range_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_initialize",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyDynamicVariable_range_get" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_initialize" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
-  result = (iDynTree::IndexRange *)& ((arg1)->range);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__IndexRange, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  result = (bool)(arg1)->initialize();
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74459,34 +77204,74 @@ int _wrap_BerdyDynamicVariable_range_get(int resc, mxArray *resv[], int argc, mx
 }
 
 
-int _wrap_BerdyDynamicVariable_eq(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
-  iDynTree::BerdyDynamicVariable *arg2 = 0 ;
+int _wrap_BerdySparseMAPSolver_updateEstimateInformationFixedBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+  iDynTree::JointPosDoubleArray *arg2 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg3 = 0 ;
+  iDynTree::FrameIndex arg4 ;
+  iDynTree::Vector3 *arg5 = 0 ;
+  iDynTree::VectorDynSize *arg6 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  int val4 ;
+  int ecode4 = 0 ;
+  void *argp5 ;
+  int res5 = 0 ;
+  void *argp6 ;
+  int res6 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("BerdyDynamicVariable_eq",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_updateEstimateInformationFixedBase",argc,6,6,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyDynamicVariable_eq" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__BerdyDynamicVariable,  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyDynamicVariable_eq" "', argument " "2"" of type '" "iDynTree::BerdyDynamicVariable const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp3);
+  ecode4 = SWIG_AsVal_int(argv[3], &val4);
+  if (!SWIG_IsOK(ecode4)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "4"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg4 = static_cast< iDynTree::FrameIndex >(val4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::Vector3 * >(argp5);
+  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res6)) {
+    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "6"" of type '" "iDynTree::VectorDynSize const &""'"); 
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyDynamicVariable_eq" "', argument " "2"" of type '" "iDynTree::BerdyDynamicVariable const &""'"); 
+  if (!argp6) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "6"" of type '" "iDynTree::VectorDynSize const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp2);
-  result = (bool)((iDynTree::BerdyDynamicVariable const *)arg1)->operator ==((iDynTree::BerdyDynamicVariable const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg6 = reinterpret_cast< iDynTree::VectorDynSize * >(argp6);
+  (arg1)->updateEstimateInformationFixedBase((iDynTree::JointPosDoubleArray const &)*arg2,(iDynTree::JointDOFsDoubleArray const &)*arg3,arg4,(iDynTree::Vector3 const &)*arg5,(iDynTree::VectorDynSize const &)*arg6);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74494,95 +77279,74 @@ int _wrap_BerdyDynamicVariable_eq(int resc, mxArray *resv[], int argc, mxArray *
 }
 
 
-int _wrap_BerdyDynamicVariable_lt(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
-  iDynTree::BerdyDynamicVariable *arg2 = 0 ;
+int _wrap_BerdySparseMAPSolver_updateEstimateInformationFloatingBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+  iDynTree::JointPosDoubleArray *arg2 = 0 ;
+  iDynTree::JointDOFsDoubleArray *arg3 = 0 ;
+  iDynTree::FrameIndex arg4 ;
+  iDynTree::Vector3 *arg5 = 0 ;
+  iDynTree::VectorDynSize *arg6 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  int val4 ;
+  int ecode4 = 0 ;
+  void *argp5 ;
+  int res5 = 0 ;
+  void *argp6 ;
+  int res6 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("BerdyDynamicVariable_lt",argc,2,2,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_updateEstimateInformationFloatingBase",argc,6,6,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyDynamicVariable_lt" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__BerdyDynamicVariable,  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyDynamicVariable_lt" "', argument " "2"" of type '" "iDynTree::BerdyDynamicVariable const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyDynamicVariable_lt" "', argument " "2"" of type '" "iDynTree::BerdyDynamicVariable const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp2);
-  result = (bool)((iDynTree::BerdyDynamicVariable const *)arg1)->operator <((iDynTree::BerdyDynamicVariable const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_new_BerdyDynamicVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  mxArray * _out;
-  iDynTree::BerdyDynamicVariable *result = 0 ;
-  
-  if (!SWIG_check_num_args("new_BerdyDynamicVariable",argc,0,0,0)) {
-    SWIG_fail;
+  arg2 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
   }
-  (void)argv;
-  result = (iDynTree::BerdyDynamicVariable *)new iDynTree::BerdyDynamicVariable();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__BerdyDynamicVariable, 1 |  0 );
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_delete_BerdyDynamicVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyDynamicVariable *arg1 = (iDynTree::BerdyDynamicVariable *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  
-  int is_owned;
-  if (!SWIG_check_num_args("delete_BerdyDynamicVariable",argc,1,1,0)) {
-    SWIG_fail;
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyDynamicVariable, SWIG_POINTER_DISOWN |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_BerdyDynamicVariable" "', argument " "1"" of type '" "iDynTree::BerdyDynamicVariable *""'"); 
+  arg3 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp3);
+  ecode4 = SWIG_AsVal_int(argv[3], &val4);
+  if (!SWIG_IsOK(ecode4)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "4"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg4 = static_cast< iDynTree::FrameIndex >(val4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyDynamicVariable * >(argp1);
-  if (is_owned) {
-    delete arg1;
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
   }
-  _out = (mxArray*)0;
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_new_BerdyHelper(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  mxArray * _out;
-  iDynTree::BerdyHelper *result = 0 ;
-  
-  if (!SWIG_check_num_args("new_BerdyHelper",argc,0,0,0)) {
-    SWIG_fail;
+  arg5 = reinterpret_cast< iDynTree::Vector3 * >(argp5);
+  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res6)) {
+    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "6"" of type '" "iDynTree::VectorDynSize const &""'"); 
   }
-  (void)argv;
-  result = (iDynTree::BerdyHelper *)new iDynTree::BerdyHelper();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__BerdyHelper, 1 |  0 );
+  if (!argp6) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "6"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg6 = reinterpret_cast< iDynTree::VectorDynSize * >(argp6);
+  (arg1)->updateEstimateInformationFloatingBase((iDynTree::JointPosDoubleArray const &)*arg2,(iDynTree::JointDOFsDoubleArray const &)*arg3,arg4,(iDynTree::Vector3 const &)*arg5,(iDynTree::VectorDynSize const &)*arg6);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74590,23 +77354,23 @@ int _wrap_new_BerdyHelper(int resc, mxArray *resv[], int argc, mxArray *argv[])
 }
 
 
-int _wrap_BerdyHelper_model__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+int _wrap_BerdySparseMAPSolver_doEstimate(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::Model *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_model",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_doEstimate",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_model" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_doEstimate" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  result = (iDynTree::Model *) &(arg1)->model();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  result = (bool)(arg1)->doEstimate();
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74614,47 +77378,33 @@ int _wrap_BerdyHelper_model__SWIG_0(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_BerdyHelper_sensors__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+int _wrap_BerdySparseMAPSolver_getLastEstimate__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+  iDynTree::VectorDynSize *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::SensorsList *result = 0 ;
   
-  if (!SWIG_check_num_args("BerdyHelper_sensors",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_getLastEstimate",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_sensors" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_getLastEstimate" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  result = (iDynTree::SensorsList *) &(arg1)->sensors();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SensorsList, 0 |  0 );
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_BerdyHelper_dynamicTraversal(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::Traversal *result = 0 ;
-  
-  if (!SWIG_check_num_args("BerdyHelper_dynamicTraversal",argc,1,1,0)) {
-    SWIG_fail;
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySparseMAPSolver_getLastEstimate" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_dynamicTraversal" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_getLastEstimate" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  result = (iDynTree::Traversal *) &((iDynTree::BerdyHelper const *)arg1)->dynamicTraversal();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Traversal, 0 |  0 );
+  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
+  ((iDynTree::BerdySparseMAPSolver const *)arg1)->getLastEstimate(*arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74662,23 +77412,23 @@ int _wrap_BerdyHelper_dynamicTraversal(int resc, mxArray *resv[], int argc, mxAr
 }
 
 
-int _wrap_BerdyHelper_model__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+int _wrap_BerdySparseMAPSolver_getLastEstimate__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::Model *result = 0 ;
+  iDynTree::VectorDynSize *result = 0 ;
   
-  if (!SWIG_check_num_args("BerdyHelper_model",argc,1,1,0)) {
+  if (!SWIG_check_num_args("BerdySparseMAPSolver_getLastEstimate",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_model" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_getLastEstimate" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  result = (iDynTree::Model *) &((iDynTree::BerdyHelper const *)arg1)->model();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  result = (iDynTree::VectorDynSize *) &((iDynTree::BerdySparseMAPSolver const *)arg1)->getLastEstimate();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorDynSize, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74686,51 +77436,63 @@ int _wrap_BerdyHelper_model__SWIG_1(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_BerdyHelper_model(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_BerdySparseMAPSolver_getLastEstimate(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 1) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      return _wrap_BerdyHelper_model__SWIG_0(resc,resv,argc,argv);
+      return _wrap_BerdySparseMAPSolver_getLastEstimate__SWIG_1(resc,resv,argc,argv);
     }
   }
-  if (argc == 1) {
+  if (argc == 2) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      return _wrap_BerdyHelper_model__SWIG_1(resc,resv,argc,argv);
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_BerdySparseMAPSolver_getLastEstimate__SWIG_0(resc,resv,argc,argv);
+      }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdyHelper_model'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdySparseMAPSolver_getLastEstimate'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::BerdyHelper::model()\n"
-    "    iDynTree::BerdyHelper::model() const\n");
+    "    iDynTree::BerdySparseMAPSolver::getLastEstimate(iDynTree::VectorDynSize &) const\n"
+    "    iDynTree::BerdySparseMAPSolver::getLastEstimate() const\n");
   return 1;
 }
 
 
-int _wrap_BerdyHelper_sensors__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+int _wrap_AttitudeEstimatorState_m_orientation_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeEstimatorState *arg1 = (iDynTree::AttitudeEstimatorState *) 0 ;
+  iDynTree::UnitQuaternion *arg2 = (iDynTree::UnitQuaternion *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::SensorsList *result = 0 ;
   
-  if (!SWIG_check_num_args("BerdyHelper_sensors",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeEstimatorState_m_orientation_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeEstimatorState, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_sensors" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeEstimatorState_m_orientation_set" "', argument " "1"" of type '" "iDynTree::AttitudeEstimatorState *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  result = (iDynTree::SensorsList *) &((iDynTree::BerdyHelper const *)arg1)->sensors();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SensorsList, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeEstimatorState * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeEstimatorState_m_orientation_set" "', argument " "2"" of type '" "iDynTree::UnitQuaternion *""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::UnitQuaternion * >(argp2);
+  if (arg1) (arg1)->m_orientation = *arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74738,51 +77500,23 @@ int _wrap_BerdyHelper_sensors__SWIG_1(int resc, mxArray *resv[], int argc, mxArr
 }
 
 
-int _wrap_BerdyHelper_sensors(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_BerdyHelper_sensors__SWIG_0(resc,resv,argc,argv);
-    }
-  }
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_BerdyHelper_sensors__SWIG_1(resc,resv,argc,argv);
-    }
-  }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdyHelper_sensors'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::BerdyHelper::sensors()\n"
-    "    iDynTree::BerdyHelper::sensors() const\n");
-  return 1;
-}
-
-
-int _wrap_BerdyHelper_isValid(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+int _wrap_AttitudeEstimatorState_m_orientation_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeEstimatorState *arg1 = (iDynTree::AttitudeEstimatorState *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::UnitQuaternion *result = 0 ;
   
-  if (!SWIG_check_num_args("BerdyHelper_isValid",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeEstimatorState_m_orientation_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeEstimatorState, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_isValid" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeEstimatorState_m_orientation_get" "', argument " "1"" of type '" "iDynTree::AttitudeEstimatorState *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  result = (bool)((iDynTree::BerdyHelper const *)arg1)->isValid();
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::AttitudeEstimatorState * >(argp1);
+  result = (iDynTree::UnitQuaternion *)& ((arg1)->m_orientation);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74790,59 +77524,30 @@ int _wrap_BerdyHelper_isValid(int resc, mxArray *resv[], int argc, mxArray *argv
 }
 
 
-int _wrap_BerdyHelper_init__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::Model *arg2 = 0 ;
-  iDynTree::SensorsList *arg3 = 0 ;
-  iDynTree::BerdyOptions arg4 ;
+int _wrap_AttitudeEstimatorState_m_angular_velocity_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeEstimatorState *arg1 = (iDynTree::AttitudeEstimatorState *) 0 ;
+  iDynTree::Vector3 *arg2 = (iDynTree::Vector3 *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
+  void *argp2 = 0 ;
   int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_init",argc,4,4,0)) {
+  if (!SWIG_check_num_args("AttitudeEstimatorState_m_angular_velocity_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeEstimatorState, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_init" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeEstimatorState_m_angular_velocity_set" "', argument " "1"" of type '" "iDynTree::AttitudeEstimatorState *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeEstimatorState * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsList,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_init" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_init" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::SensorsList * >(argp3);
-  {
-    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__BerdyOptions,  0 );
-    if (!SWIG_IsOK(res4)) {
-      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_init" "', argument " "4"" of type '" "iDynTree::BerdyOptions const""'"); 
-    }  
-    if (!argp4) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_init" "', argument " "4"" of type '" "iDynTree::BerdyOptions const""'");
-    } else {
-      arg4 = *(reinterpret_cast< iDynTree::BerdyOptions * >(argp4));
-    }
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeEstimatorState_m_angular_velocity_set" "', argument " "2"" of type '" "iDynTree::Vector3 *""'"); 
   }
-  result = (bool)(arg1)->init((iDynTree::Model const &)*arg2,(iDynTree::SensorsList const &)*arg3,arg4);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg2 = reinterpret_cast< iDynTree::Vector3 * >(argp2);
+  if (arg1) (arg1)->m_angular_velocity = *arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74850,45 +77555,23 @@ int _wrap_BerdyHelper_init__SWIG_0(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_BerdyHelper_init__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::Model *arg2 = 0 ;
-  iDynTree::SensorsList *arg3 = 0 ;
+int _wrap_AttitudeEstimatorState_m_angular_velocity_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeEstimatorState *arg1 = (iDynTree::AttitudeEstimatorState *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::Vector3 *result = 0 ;
   
-  if (!SWIG_check_num_args("BerdyHelper_init",argc,3,3,0)) {
+  if (!SWIG_check_num_args("AttitudeEstimatorState_m_angular_velocity_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeEstimatorState, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_init" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_init" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SensorsList,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_init" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_init" "', argument " "3"" of type '" "iDynTree::SensorsList const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeEstimatorState_m_angular_velocity_get" "', argument " "1"" of type '" "iDynTree::AttitudeEstimatorState *""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::SensorsList * >(argp3);
-  result = (bool)(arg1)->init((iDynTree::Model const &)*arg2,(iDynTree::SensorsList const &)*arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::AttitudeEstimatorState * >(argp1);
+  result = (iDynTree::Vector3 *)& ((arg1)->m_angular_velocity);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74896,76 +77579,54 @@ int _wrap_BerdyHelper_init__SWIG_1(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_BerdyHelper_init(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SensorsList, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_BerdyHelper_init__SWIG_1(resc,resv,argc,argv);
-        }
-      }
-    }
+int _wrap_AttitudeEstimatorState_m_gyroscope_bias_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeEstimatorState *arg1 = (iDynTree::AttitudeEstimatorState *) 0 ;
+  iDynTree::Vector3 *arg2 = (iDynTree::Vector3 *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("AttitudeEstimatorState_m_gyroscope_bias_set",argc,2,2,0)) {
+    SWIG_fail;
   }
-  if (argc == 4) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Model, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SensorsList, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__BerdyOptions, 0);
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            return _wrap_BerdyHelper_init__SWIG_0(resc,resv,argc,argv);
-          }
-        }
-      }
-    }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeEstimatorState, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeEstimatorState_m_gyroscope_bias_set" "', argument " "1"" of type '" "iDynTree::AttitudeEstimatorState *""'"); 
   }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdyHelper_init'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::BerdyHelper::init(iDynTree::Model const &,iDynTree::SensorsList const &,iDynTree::BerdyOptions const)\n"
-    "    iDynTree::BerdyHelper::init(iDynTree::Model const &,iDynTree::SensorsList const &)\n");
+  arg1 = reinterpret_cast< iDynTree::AttitudeEstimatorState * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeEstimatorState_m_gyroscope_bias_set" "', argument " "2"" of type '" "iDynTree::Vector3 *""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Vector3 * >(argp2);
+  if (arg1) (arg1)->m_gyroscope_bias = *arg2;
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
   return 1;
 }
 
 
-int _wrap_BerdyHelper_getOptions(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+int _wrap_AttitudeEstimatorState_m_gyroscope_bias_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeEstimatorState *arg1 = (iDynTree::AttitudeEstimatorState *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::BerdyOptions result;
+  iDynTree::Vector3 *result = 0 ;
   
-  if (!SWIG_check_num_args("BerdyHelper_getOptions",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeEstimatorState_m_gyroscope_bias_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeEstimatorState, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getOptions" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeEstimatorState_m_gyroscope_bias_get" "', argument " "1"" of type '" "iDynTree::AttitudeEstimatorState *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  result = ((iDynTree::BerdyHelper const *)arg1)->getOptions();
-  _out = SWIG_NewPointerObj((new iDynTree::BerdyOptions(static_cast< const iDynTree::BerdyOptions& >(result))), SWIGTYPE_p_iDynTree__BerdyOptions, SWIG_POINTER_OWN |  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeEstimatorState * >(argp1);
+  result = (iDynTree::Vector3 *)& ((arg1)->m_gyroscope_bias);
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74973,23 +77634,16 @@ int _wrap_BerdyHelper_getOptions(int resc, mxArray *resv[], int argc, mxArray *a
 }
 
 
-int _wrap_BerdyHelper_getNrOfDynamicVariables(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
+int _wrap_new_AttitudeEstimatorState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
-  size_t result;
+  iDynTree::AttitudeEstimatorState *result = 0 ;
   
-  if (!SWIG_check_num_args("BerdyHelper_getNrOfDynamicVariables",argc,1,1,0)) {
+  if (!SWIG_check_num_args("new_AttitudeEstimatorState",argc,0,0,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getNrOfDynamicVariables" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  result = ((iDynTree::BerdyHelper const *)arg1)->getNrOfDynamicVariables();
-  _out = SWIG_From_size_t(static_cast< size_t >(result));
+  (void)argv;
+  result = (iDynTree::AttitudeEstimatorState *)new iDynTree::AttitudeEstimatorState();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__AttitudeEstimatorState, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -74997,23 +77651,26 @@ int _wrap_BerdyHelper_getNrOfDynamicVariables(int resc, mxArray *resv[], int arg
 }
 
 
-int _wrap_BerdyHelper_getNrOfDynamicEquations(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+int _wrap_delete_AttitudeEstimatorState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeEstimatorState *arg1 = (iDynTree::AttitudeEstimatorState *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  size_t result;
   
-  if (!SWIG_check_num_args("BerdyHelper_getNrOfDynamicEquations",argc,1,1,0)) {
+  int is_owned;
+  if (!SWIG_check_num_args("delete_AttitudeEstimatorState",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeEstimatorState, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getNrOfDynamicEquations" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_AttitudeEstimatorState" "', argument " "1"" of type '" "iDynTree::AttitudeEstimatorState *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  result = ((iDynTree::BerdyHelper const *)arg1)->getNrOfDynamicEquations();
-  _out = SWIG_From_size_t(static_cast< size_t >(result));
+  arg1 = reinterpret_cast< iDynTree::AttitudeEstimatorState * >(argp1);
+  if (is_owned) {
+    delete arg1;
+  }
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -75021,23 +77678,26 @@ int _wrap_BerdyHelper_getNrOfDynamicEquations(int resc, mxArray *resv[], int arg
 }
 
 
-int _wrap_BerdyHelper_getNrOfSensorsMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+int _wrap_delete_IAttitudeEstimator(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  size_t result;
   
-  if (!SWIG_check_num_args("BerdyHelper_getNrOfSensorsMeasurements",argc,1,1,0)) {
+  int is_owned;
+  if (!SWIG_check_num_args("delete_IAttitudeEstimator",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getNrOfSensorsMeasurements" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_IAttitudeEstimator" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  result = ((iDynTree::BerdyHelper const *)arg1)->getNrOfSensorsMeasurements();
-  _out = SWIG_From_size_t(static_cast< size_t >(result));
+  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
+  if (is_owned) {
+    delete arg1;
+  }
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -75045,66 +77705,44 @@ int _wrap_BerdyHelper_getNrOfSensorsMeasurements(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_BerdyHelper_resizeAndZeroBerdyMatrices__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *arg4 = 0 ;
-  iDynTree::VectorDynSize *arg5 = 0 ;
+int _wrap_IAttitudeEstimator_updateFilterWithMeasurements__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
+  iDynTree::LinearAccelerometerMeasurements *arg2 = 0 ;
+  iDynTree::GyroscopeMeasurements *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
-  void *argp3 = 0 ;
+  void *argp3 ;
   int res3 = 0 ;
-  void *argp4 = 0 ;
-  int res4 = 0 ;
-  void *argp5 = 0 ;
-  int res5 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_resizeAndZeroBerdyMatrices",argc,5,5,0)) {
+  if (!SWIG_check_num_args("IAttitudeEstimator_updateFilterWithMeasurements",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t,  0 );
+  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::SparseMatrix< iDynTree::ColumnMajor > * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  arg2 = reinterpret_cast< iDynTree::LinearAccelerometerMeasurements * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
   if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
   }
   if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "4"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "4"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::SparseMatrix< iDynTree::ColumnMajor > * >(argp4);
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
   }
-  arg5 = reinterpret_cast< iDynTree::VectorDynSize * >(argp5);
-  result = (bool)(arg1)->resizeAndZeroBerdyMatrices(*arg2,*arg3,*arg4,*arg5);
+  arg3 = reinterpret_cast< iDynTree::GyroscopeMeasurements * >(argp3);
+  result = (bool)(arg1)->updateFilterWithMeasurements((iDynTree::LinearAccelerometerMeasurements const &)*arg2,(iDynTree::GyroscopeMeasurements const &)*arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -75113,66 +77751,55 @@ int _wrap_BerdyHelper_resizeAndZeroBerdyMatrices__SWIG_0(int resc, mxArray *resv
 }
 
 
-int _wrap_BerdyHelper_resizeAndZeroBerdyMatrices__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::MatrixDynSize *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  iDynTree::MatrixDynSize *arg4 = 0 ;
-  iDynTree::VectorDynSize *arg5 = 0 ;
+int _wrap_IAttitudeEstimator_updateFilterWithMeasurements__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
+  iDynTree::LinearAccelerometerMeasurements *arg2 = 0 ;
+  iDynTree::GyroscopeMeasurements *arg3 = 0 ;
+  iDynTree::MagnetometerMeasurements *arg4 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
-  void *argp3 = 0 ;
+  void *argp3 ;
   int res3 = 0 ;
-  void *argp4 = 0 ;
+  void *argp4 ;
   int res4 = 0 ;
-  void *argp5 = 0 ;
-  int res5 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_resizeAndZeroBerdyMatrices",argc,5,5,0)) {
+  if (!SWIG_check_num_args("IAttitudeEstimator_updateFilterWithMeasurements",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  arg2 = reinterpret_cast< iDynTree::LinearAccelerometerMeasurements * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
   if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
   }
   if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  arg3 = reinterpret_cast< iDynTree::GyroscopeMeasurements * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
   if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "4"" of type '" "iDynTree::MagnetometerMeasurements const &""'"); 
   }
   if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp4);
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_resizeAndZeroBerdyMatrices" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "4"" of type '" "iDynTree::MagnetometerMeasurements const &""'"); 
   }
-  arg5 = reinterpret_cast< iDynTree::VectorDynSize * >(argp5);
-  result = (bool)(arg1)->resizeAndZeroBerdyMatrices(*arg2,*arg3,*arg4,*arg5);
+  arg4 = reinterpret_cast< iDynTree::MagnetometerMeasurements * >(argp4);
+  result = (bool)(arg1)->updateFilterWithMeasurements((iDynTree::LinearAccelerometerMeasurements const &)*arg2,(iDynTree::GyroscopeMeasurements const &)*arg3,(iDynTree::MagnetometerMeasurements const &)*arg4);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -75181,134 +77808,75 @@ int _wrap_BerdyHelper_resizeAndZeroBerdyMatrices__SWIG_1(int resc, mxArray *resv
 }
 
 
-int _wrap_BerdyHelper_resizeAndZeroBerdyMatrices(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 5) {
+int _wrap_IAttitudeEstimator_updateFilterWithMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 3) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0);
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
         void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
         _v = SWIG_CheckState(res);
         if (_v) {
-          void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0);
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            void *vptr = 0;
-            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-            _v = SWIG_CheckState(res);
-            if (_v) {
-              return _wrap_BerdyHelper_resizeAndZeroBerdyMatrices__SWIG_0(resc,resv,argc,argv);
-            }
-          }
+          return _wrap_IAttitudeEstimator_updateFilterWithMeasurements__SWIG_0(resc,resv,argc,argv);
         }
       }
     }
   }
-  if (argc == 5) {
+  if (argc == 4) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
         void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
         _v = SWIG_CheckState(res);
         if (_v) {
           void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
           _v = SWIG_CheckState(res);
           if (_v) {
-            void *vptr = 0;
-            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-            _v = SWIG_CheckState(res);
-            if (_v) {
-              return _wrap_BerdyHelper_resizeAndZeroBerdyMatrices__SWIG_1(resc,resv,argc,argv);
-            }
+            return _wrap_IAttitudeEstimator_updateFilterWithMeasurements__SWIG_1(resc,resv,argc,argv);
           }
         }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdyHelper_resizeAndZeroBerdyMatrices'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'IAttitudeEstimator_updateFilterWithMeasurements'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::BerdyHelper::resizeAndZeroBerdyMatrices(iDynTree::SparseMatrix< iDynTree::ColumnMajor > &,iDynTree::VectorDynSize &,iDynTree::SparseMatrix< iDynTree::ColumnMajor > &,iDynTree::VectorDynSize &)\n"
-    "    iDynTree::BerdyHelper::resizeAndZeroBerdyMatrices(iDynTree::MatrixDynSize &,iDynTree::VectorDynSize &,iDynTree::MatrixDynSize &,iDynTree::VectorDynSize &)\n");
+    "    iDynTree::IAttitudeEstimator::updateFilterWithMeasurements(iDynTree::LinearAccelerometerMeasurements const &,iDynTree::GyroscopeMeasurements const &)\n"
+    "    iDynTree::IAttitudeEstimator::updateFilterWithMeasurements(iDynTree::LinearAccelerometerMeasurements const &,iDynTree::GyroscopeMeasurements const &,iDynTree::MagnetometerMeasurements const &)\n");
   return 1;
 }
 
 
-int _wrap_BerdyHelper_getBerdyMatrices__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *arg4 = 0 ;
-  iDynTree::VectorDynSize *arg5 = 0 ;
+int _wrap_IAttitudeEstimator_propagateStates(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
-  void *argp4 = 0 ;
-  int res4 = 0 ;
-  void *argp5 = 0 ;
-  int res5 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_getBerdyMatrices",argc,5,5,0)) {
+  if (!SWIG_check_num_args("IAttitudeEstimator_propagateStates",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::SparseMatrix< iDynTree::ColumnMajor > * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "4"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "4"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::SparseMatrix< iDynTree::ColumnMajor > * >(argp4);
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_propagateStates" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
   }
-  arg5 = reinterpret_cast< iDynTree::VectorDynSize * >(argp5);
-  result = (bool)(arg1)->getBerdyMatrices(*arg2,*arg3,*arg4,*arg5);
+  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
+  result = (bool)(arg1)->propagateStates();
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -75317,66 +77885,33 @@ int _wrap_BerdyHelper_getBerdyMatrices__SWIG_0(int resc, mxArray *resv[], int ar
 }
 
 
-int _wrap_BerdyHelper_getBerdyMatrices__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::MatrixDynSize *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  iDynTree::MatrixDynSize *arg4 = 0 ;
-  iDynTree::VectorDynSize *arg5 = 0 ;
+int _wrap_IAttitudeEstimator_getOrientationEstimateAsRotationMatrix(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
+  iDynTree::Rotation *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 = 0 ;
   int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
-  void *argp4 = 0 ;
-  int res4 = 0 ;
-  void *argp5 = 0 ;
-  int res5 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_getBerdyMatrices",argc,5,5,0)) {
+  if (!SWIG_check_num_args("IAttitudeEstimator_getOrientationEstimateAsRotationMatrix",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_getOrientationEstimateAsRotationMatrix" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Rotation,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_getOrientationEstimateAsRotationMatrix" "', argument " "2"" of type '" "iDynTree::Rotation &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp4);
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getBerdyMatrices" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_getOrientationEstimateAsRotationMatrix" "', argument " "2"" of type '" "iDynTree::Rotation &""'"); 
   }
-  arg5 = reinterpret_cast< iDynTree::VectorDynSize * >(argp5);
-  result = (bool)(arg1)->getBerdyMatrices(*arg2,*arg3,*arg4,*arg5);
+  arg2 = reinterpret_cast< iDynTree::Rotation * >(argp2);
+  result = (bool)(arg1)->getOrientationEstimateAsRotationMatrix(*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -75385,91 +77920,34 @@ int _wrap_BerdyHelper_getBerdyMatrices__SWIG_1(int resc, mxArray *resv[], int ar
 }
 
 
-int _wrap_BerdyHelper_getBerdyMatrices(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 5) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0);
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            void *vptr = 0;
-            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-            _v = SWIG_CheckState(res);
-            if (_v) {
-              return _wrap_BerdyHelper_getBerdyMatrices__SWIG_0(resc,resv,argc,argv);
-            }
-          }
-        }
-      }
-    }
-  }
-  if (argc == 5) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdyHelper, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            void *vptr = 0;
-            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-            _v = SWIG_CheckState(res);
-            if (_v) {
-              return _wrap_BerdyHelper_getBerdyMatrices__SWIG_1(resc,resv,argc,argv);
-            }
-          }
-        }
-      }
-    }
-  }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdyHelper_getBerdyMatrices'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::BerdyHelper::getBerdyMatrices(iDynTree::SparseMatrix< iDynTree::ColumnMajor > &,iDynTree::VectorDynSize &,iDynTree::SparseMatrix< iDynTree::ColumnMajor > &,iDynTree::VectorDynSize &)\n"
-    "    iDynTree::BerdyHelper::getBerdyMatrices(iDynTree::MatrixDynSize &,iDynTree::VectorDynSize &,iDynTree::MatrixDynSize &,iDynTree::VectorDynSize &)\n");
-  return 1;
-}
-
-
-int _wrap_BerdyHelper_getSensorsOrdering(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+int _wrap_IAttitudeEstimator_getOrientationEstimateAsQuaternion(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
+  iDynTree::UnitQuaternion *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
-  std::vector< iDynTree::BerdySensor,std::allocator< iDynTree::BerdySensor > > *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_getSensorsOrdering",argc,1,1,0)) {
+  if (!SWIG_check_num_args("IAttitudeEstimator_getOrientationEstimateAsQuaternion",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getSensorsOrdering" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_getOrientationEstimateAsQuaternion" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  result = (std::vector< iDynTree::BerdySensor,std::allocator< iDynTree::BerdySensor > > *) &((iDynTree::BerdyHelper const *)arg1)->getSensorsOrdering();
-  _out = swig::from(static_cast< std::vector< iDynTree::BerdySensor,std::allocator< iDynTree::BerdySensor > > >(*result));
+  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_getOrientationEstimateAsQuaternion" "', argument " "2"" of type '" "iDynTree::UnitQuaternion &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_getOrientationEstimateAsQuaternion" "', argument " "2"" of type '" "iDynTree::UnitQuaternion &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::UnitQuaternion * >(argp2);
+  result = (bool)(arg1)->getOrientationEstimateAsQuaternion(*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -75477,39 +77955,34 @@ int _wrap_BerdyHelper_getSensorsOrdering(int resc, mxArray *resv[], int argc, mx
 }
 
 
-int _wrap_BerdyHelper_getRangeSensorVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::SensorType arg2 ;
-  unsigned int arg3 ;
+int _wrap_IAttitudeEstimator_getOrientationEstimateAsRPY(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
+  iDynTree::RPY *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  unsigned int val3 ;
-  int ecode3 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::IndexRange result;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_getRangeSensorVariable",argc,3,3,0)) {
+  if (!SWIG_check_num_args("IAttitudeEstimator_getOrientationEstimateAsRPY",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getRangeSensorVariable" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_getOrientationEstimateAsRPY" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_getRangeSensorVariable" "', argument " "2"" of type '" "iDynTree::SensorType""'");
-  } 
-  arg2 = static_cast< iDynTree::SensorType >(val2);
-  ecode3 = SWIG_AsVal_unsigned_SS_int(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "BerdyHelper_getRangeSensorVariable" "', argument " "3"" of type '" "unsigned int""'");
-  } 
-  arg3 = static_cast< unsigned int >(val3);
-  result = ((iDynTree::BerdyHelper const *)arg1)->getRangeSensorVariable(arg2,arg3);
-  _out = SWIG_NewPointerObj((new iDynTree::IndexRange(static_cast< const iDynTree::IndexRange& >(result))), SWIGTYPE_p_iDynTree__IndexRange, SWIG_POINTER_OWN |  0 );
+  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_getOrientationEstimateAsRPY" "', argument " "2"" of type '" "iDynTree::RPY &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_getOrientationEstimateAsRPY" "', argument " "2"" of type '" "iDynTree::RPY &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::RPY * >(argp2);
+  result = (bool)(arg1)->getOrientationEstimateAsRPY(*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -75517,39 +77990,23 @@ int _wrap_BerdyHelper_getRangeSensorVariable(int resc, mxArray *resv[], int argc
 }
 
 
-int _wrap_BerdyHelper_getRangeDOFSensorVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::BerdySensorTypes arg2 ;
-  iDynTree::DOFIndex arg3 ;
+int _wrap_IAttitudeEstimator_getInternalStateSize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  int val3 ;
-  int ecode3 = 0 ;
   mxArray * _out;
-  iDynTree::IndexRange result;
+  size_t result;
   
-  if (!SWIG_check_num_args("BerdyHelper_getRangeDOFSensorVariable",argc,3,3,0)) {
+  if (!SWIG_check_num_args("IAttitudeEstimator_getInternalStateSize",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getRangeDOFSensorVariable" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_getInternalStateSize" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_getRangeDOFSensorVariable" "', argument " "2"" of type '" "iDynTree::BerdySensorTypes""'");
-  } 
-  arg2 = static_cast< iDynTree::BerdySensorTypes >(val2);
-  ecode3 = SWIG_AsVal_int(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "BerdyHelper_getRangeDOFSensorVariable" "', argument " "3"" of type '" "iDynTree::DOFIndex""'");
-  } 
-  arg3 = static_cast< iDynTree::DOFIndex >(val3);
-  result = ((iDynTree::BerdyHelper const *)arg1)->getRangeDOFSensorVariable(arg2,arg3);
-  _out = SWIG_NewPointerObj((new iDynTree::IndexRange(static_cast< const iDynTree::IndexRange& >(result))), SWIGTYPE_p_iDynTree__IndexRange, SWIG_POINTER_OWN |  0 );
+  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
+  result = ((iDynTree::IAttitudeEstimator const *)arg1)->getInternalStateSize();
+  _out = SWIG_From_size_t(static_cast< size_t >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -75557,39 +78014,34 @@ int _wrap_BerdyHelper_getRangeDOFSensorVariable(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_BerdyHelper_getRangeJointSensorVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::BerdySensorTypes arg2 ;
-  iDynTree::JointIndex arg3 ;
+int _wrap_IAttitudeEstimator_getInternalState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
+  iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
-  int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  int val3 ;
-  int ecode3 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::IndexRange result;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_getRangeJointSensorVariable",argc,3,3,0)) {
+  if (!SWIG_check_num_args("IAttitudeEstimator_getInternalState",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getRangeJointSensorVariable" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_getInternalState" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_getRangeJointSensorVariable" "', argument " "2"" of type '" "iDynTree::BerdySensorTypes""'");
-  } 
-  arg2 = static_cast< iDynTree::BerdySensorTypes >(val2);
-  ecode3 = SWIG_AsVal_int(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "BerdyHelper_getRangeJointSensorVariable" "', argument " "3"" of type '" "iDynTree::JointIndex""'");
-  } 
-  arg3 = static_cast< iDynTree::JointIndex >(val3);
-  result = ((iDynTree::BerdyHelper const *)arg1)->getRangeJointSensorVariable(arg2,arg3);
-  _out = SWIG_NewPointerObj((new iDynTree::IndexRange(static_cast< const iDynTree::IndexRange& >(result))), SWIGTYPE_p_iDynTree__IndexRange, SWIG_POINTER_OWN |  0 );
+  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_getInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_getInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
+  result = (bool)((iDynTree::IAttitudeEstimator const *)arg1)->getInternalState((iDynTree::Span< double,-1 > const &)*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -75597,39 +78049,34 @@ int _wrap_BerdyHelper_getRangeJointSensorVariable(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_BerdyHelper_getRangeLinkSensorVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::BerdySensorTypes arg2 ;
-  iDynTree::LinkIndex arg3 ;
+int _wrap_IAttitudeEstimator_getDefaultInternalInitialState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
+  iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  int val3 ;
-  int ecode3 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::IndexRange result;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_getRangeLinkSensorVariable",argc,3,3,0)) {
+  if (!SWIG_check_num_args("IAttitudeEstimator_getDefaultInternalInitialState",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getRangeLinkSensorVariable" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_getDefaultInternalInitialState" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_getRangeLinkSensorVariable" "', argument " "2"" of type '" "iDynTree::BerdySensorTypes""'");
-  } 
-  arg2 = static_cast< iDynTree::BerdySensorTypes >(val2);
-  ecode3 = SWIG_AsVal_int(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "BerdyHelper_getRangeLinkSensorVariable" "', argument " "3"" of type '" "iDynTree::LinkIndex""'");
-  } 
-  arg3 = static_cast< iDynTree::LinkIndex >(val3);
-  result = ((iDynTree::BerdyHelper const *)arg1)->getRangeLinkSensorVariable(arg2,arg3);
-  _out = SWIG_NewPointerObj((new iDynTree::IndexRange(static_cast< const iDynTree::IndexRange& >(result))), SWIGTYPE_p_iDynTree__IndexRange, SWIG_POINTER_OWN |  0 );
+  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_getDefaultInternalInitialState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_getDefaultInternalInitialState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
+  result = (bool)((iDynTree::IAttitudeEstimator const *)arg1)->getDefaultInternalInitialState((iDynTree::Span< double,-1 > const &)*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -75637,39 +78084,34 @@ int _wrap_BerdyHelper_getRangeLinkSensorVariable(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_BerdyHelper_getRangeLinkVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::BerdyDynamicVariablesTypes arg2 ;
-  iDynTree::LinkIndex arg3 ;
+int _wrap_IAttitudeEstimator_setInternalState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
+  iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  int val3 ;
-  int ecode3 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::IndexRange result;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_getRangeLinkVariable",argc,3,3,0)) {
+  if (!SWIG_check_num_args("IAttitudeEstimator_setInternalState",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getRangeLinkVariable" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_setInternalState" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_getRangeLinkVariable" "', argument " "2"" of type '" "iDynTree::BerdyDynamicVariablesTypes""'");
-  } 
-  arg2 = static_cast< iDynTree::BerdyDynamicVariablesTypes >(val2);
-  ecode3 = SWIG_AsVal_int(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "BerdyHelper_getRangeLinkVariable" "', argument " "3"" of type '" "iDynTree::LinkIndex""'");
-  } 
-  arg3 = static_cast< iDynTree::LinkIndex >(val3);
-  result = ((iDynTree::BerdyHelper const *)arg1)->getRangeLinkVariable(arg2,arg3);
-  _out = SWIG_NewPointerObj((new iDynTree::IndexRange(static_cast< const iDynTree::IndexRange& >(result))), SWIGTYPE_p_iDynTree__IndexRange, SWIG_POINTER_OWN |  0 );
+  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_setInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_setInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
+  result = (bool)(arg1)->setInternalState((iDynTree::Span< double,-1 > const &)*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -75677,39 +78119,34 @@ int _wrap_BerdyHelper_getRangeLinkVariable(int resc, mxArray *resv[], int argc,
 }
 
 
-int _wrap_BerdyHelper_getRangeJointVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::BerdyDynamicVariablesTypes arg2 ;
-  iDynTree::JointIndex arg3 ;
+int _wrap_IAttitudeEstimator_setInternalStateInitialOrientation(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
+  iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  int val3 ;
-  int ecode3 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::IndexRange result;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_getRangeJointVariable",argc,3,3,0)) {
+  if (!SWIG_check_num_args("IAttitudeEstimator_setInternalStateInitialOrientation",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getRangeJointVariable" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_setInternalStateInitialOrientation" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_getRangeJointVariable" "', argument " "2"" of type '" "iDynTree::BerdyDynamicVariablesTypes""'");
-  } 
-  arg2 = static_cast< iDynTree::BerdyDynamicVariablesTypes >(val2);
-  ecode3 = SWIG_AsVal_int(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "BerdyHelper_getRangeJointVariable" "', argument " "3"" of type '" "iDynTree::JointIndex""'");
-  } 
-  arg3 = static_cast< iDynTree::JointIndex >(val3);
-  result = ((iDynTree::BerdyHelper const *)arg1)->getRangeJointVariable(arg2,arg3);
-  _out = SWIG_NewPointerObj((new iDynTree::IndexRange(static_cast< const iDynTree::IndexRange& >(result))), SWIGTYPE_p_iDynTree__IndexRange, SWIG_POINTER_OWN |  0 );
+  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_setInternalStateInitialOrientation" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_setInternalStateInitialOrientation" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
+  result = (bool)(arg1)->setInternalStateInitialOrientation((iDynTree::Span< double,-1 > const &)*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -75717,39 +78154,30 @@ int _wrap_BerdyHelper_getRangeJointVariable(int resc, mxArray *resv[], int argc,
 }
 
 
-int _wrap_BerdyHelper_getRangeDOFVariable(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::BerdyDynamicVariablesTypes arg2 ;
-  iDynTree::DOFIndex arg3 ;
+int _wrap_AttitudeMahonyFilterParameters_time_step_in_seconds_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
+  double val2 ;
   int ecode2 = 0 ;
-  int val3 ;
-  int ecode3 = 0 ;
   mxArray * _out;
-  iDynTree::IndexRange result;
   
-  if (!SWIG_check_num_args("BerdyHelper_getRangeDOFVariable",argc,3,3,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_time_step_in_seconds_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getRangeDOFVariable" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_time_step_in_seconds_set" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_getRangeDOFVariable" "', argument " "2"" of type '" "iDynTree::BerdyDynamicVariablesTypes""'");
-  } 
-  arg2 = static_cast< iDynTree::BerdyDynamicVariablesTypes >(val2);
-  ecode3 = SWIG_AsVal_int(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "BerdyHelper_getRangeDOFVariable" "', argument " "3"" of type '" "iDynTree::DOFIndex""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilterParameters_time_step_in_seconds_set" "', argument " "2"" of type '" "double""'");
   } 
-  arg3 = static_cast< iDynTree::DOFIndex >(val3);
-  result = ((iDynTree::BerdyHelper const *)arg1)->getRangeDOFVariable(arg2,arg3);
-  _out = SWIG_NewPointerObj((new iDynTree::IndexRange(static_cast< const iDynTree::IndexRange& >(result))), SWIGTYPE_p_iDynTree__IndexRange, SWIG_POINTER_OWN |  0 );
+  arg2 = static_cast< double >(val2);
+  if (arg1) (arg1)->time_step_in_seconds = arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -75757,23 +78185,23 @@ int _wrap_BerdyHelper_getRangeDOFVariable(int resc, mxArray *resv[], int argc, m
 }
 
 
-int _wrap_BerdyHelper_getDynamicVariablesOrdering(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+int _wrap_AttitudeMahonyFilterParameters_time_step_in_seconds_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  std::vector< iDynTree::BerdyDynamicVariable,std::allocator< iDynTree::BerdyDynamicVariable > > *result = 0 ;
+  double result;
   
-  if (!SWIG_check_num_args("BerdyHelper_getDynamicVariablesOrdering",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_time_step_in_seconds_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getDynamicVariablesOrdering" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_time_step_in_seconds_get" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  result = (std::vector< iDynTree::BerdyDynamicVariable,std::allocator< iDynTree::BerdyDynamicVariable > > *) &((iDynTree::BerdyHelper const *)arg1)->getDynamicVariablesOrdering();
-  _out = swig::from(static_cast< std::vector< iDynTree::BerdyDynamicVariable,std::allocator< iDynTree::BerdyDynamicVariable > > >(*result));
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
+  result = (double) ((arg1)->time_step_in_seconds);
+  _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -75781,100 +78209,30 @@ int _wrap_BerdyHelper_getDynamicVariablesOrdering(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_BerdyHelper_serializeDynamicVariables(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::LinkProperAccArray *arg2 = 0 ;
-  iDynTree::LinkNetTotalWrenchesWithoutGravity *arg3 = 0 ;
-  iDynTree::LinkNetExternalWrenches *arg4 = 0 ;
-  iDynTree::LinkInternalWrenches *arg5 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg6 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg7 = 0 ;
-  iDynTree::VectorDynSize *arg8 = 0 ;
+int _wrap_AttitudeMahonyFilterParameters_kp_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
-  void *argp4 = 0 ;
-  int res4 = 0 ;
-  void *argp5 = 0 ;
-  int res5 = 0 ;
-  void *argp6 = 0 ;
-  int res6 = 0 ;
-  void *argp7 = 0 ;
-  int res7 = 0 ;
-  void *argp8 = 0 ;
-  int res8 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_serializeDynamicVariables",argc,8,8,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_kp_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__LinkAccArray,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "2"" of type '" "iDynTree::LinkProperAccArray &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "2"" of type '" "iDynTree::LinkProperAccArray &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::LinkProperAccArray * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "3"" of type '" "iDynTree::LinkNetTotalWrenchesWithoutGravity &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "3"" of type '" "iDynTree::LinkNetTotalWrenchesWithoutGravity &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::LinkNetTotalWrenchesWithoutGravity * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "4"" of type '" "iDynTree::LinkNetExternalWrenches &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "4"" of type '" "iDynTree::LinkNetExternalWrenches &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::LinkNetExternalWrenches * >(argp4);
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "5"" of type '" "iDynTree::LinkInternalWrenches &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "5"" of type '" "iDynTree::LinkInternalWrenches &""'"); 
-  }
-  arg5 = reinterpret_cast< iDynTree::LinkInternalWrenches * >(argp5);
-  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res6)) {
-    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "6"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
-  }
-  if (!argp6) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "6"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
-  }
-  arg6 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp6);
-  res7 = SWIG_ConvertPtr(argv[6], &argp7, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res7)) {
-    SWIG_exception_fail(SWIG_ArgError(res7), "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "7"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
-  }
-  if (!argp7) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "7"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
-  }
-  arg7 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp7);
-  res8 = SWIG_ConvertPtr(argv[7], &argp8, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res8)) {
-    SWIG_exception_fail(SWIG_ArgError(res8), "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "8"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp8) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariables" "', argument " "8"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_kp_set" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
   }
-  arg8 = reinterpret_cast< iDynTree::VectorDynSize * >(argp8);
-  result = (bool)(arg1)->serializeDynamicVariables(*arg2,*arg3,*arg4,*arg5,*arg6,*arg7,*arg8);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilterParameters_kp_set" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  if (arg1) (arg1)->kp = arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -75882,89 +78240,23 @@ int _wrap_BerdyHelper_serializeDynamicVariables(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_BerdyHelper_serializeSensorVariables(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::SensorsMeasurements *arg2 = 0 ;
-  iDynTree::LinkNetExternalWrenches *arg3 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg4 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg5 = 0 ;
-  iDynTree::LinkInternalWrenches *arg6 = 0 ;
-  iDynTree::VectorDynSize *arg7 = 0 ;
+int _wrap_AttitudeMahonyFilterParameters_kp_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
-  void *argp4 = 0 ;
-  int res4 = 0 ;
-  void *argp5 = 0 ;
-  int res5 = 0 ;
-  void *argp6 = 0 ;
-  int res6 = 0 ;
-  void *argp7 = 0 ;
-  int res7 = 0 ;
   mxArray * _out;
-  bool result;
+  double result;
   
-  if (!SWIG_check_num_args("BerdyHelper_serializeSensorVariables",argc,7,7,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_kp_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SensorsMeasurements,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "2"" of type '" "iDynTree::SensorsMeasurements &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "2"" of type '" "iDynTree::SensorsMeasurements &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::SensorsMeasurements * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "3"" of type '" "iDynTree::LinkNetExternalWrenches &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "3"" of type '" "iDynTree::LinkNetExternalWrenches &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::LinkNetExternalWrenches * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "4"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "4"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp4);
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "5"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "5"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
-  }
-  arg5 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp5);
-  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
-  if (!SWIG_IsOK(res6)) {
-    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "6"" of type '" "iDynTree::LinkInternalWrenches &""'"); 
-  }
-  if (!argp6) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "6"" of type '" "iDynTree::LinkInternalWrenches &""'"); 
-  }
-  arg6 = reinterpret_cast< iDynTree::LinkInternalWrenches * >(argp6);
-  res7 = SWIG_ConvertPtr(argv[6], &argp7, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res7)) {
-    SWIG_exception_fail(SWIG_ArgError(res7), "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "7"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp7) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeSensorVariables" "', argument " "7"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_kp_get" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
   }
-  arg7 = reinterpret_cast< iDynTree::VectorDynSize * >(argp7);
-  result = (bool)(arg1)->serializeSensorVariables(*arg2,*arg3,*arg4,*arg5,*arg6,*arg7);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
+  result = (double) ((arg1)->kp);
+  _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -75972,56 +78264,30 @@ int _wrap_BerdyHelper_serializeSensorVariables(int resc, mxArray *resv[], int ar
 }
 
 
-int _wrap_BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::JointDOFsDoubleArray *arg2 = 0 ;
-  iDynTree::LinkNetExternalWrenches *arg3 = 0 ;
-  iDynTree::VectorDynSize *arg4 = 0 ;
+int _wrap_AttitudeMahonyFilterParameters_ki_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
-  void *argp4 = 0 ;
-  int res4 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA",argc,4,4,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_ki_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA" "', argument " "2"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA" "', argument " "2"" of type '" "iDynTree::JointDOFsDoubleArray &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA" "', argument " "3"" of type '" "iDynTree::LinkNetExternalWrenches &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA" "', argument " "3"" of type '" "iDynTree::LinkNetExternalWrenches &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::LinkNetExternalWrenches * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA" "', argument " "4"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA" "', argument " "4"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_ki_set" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
   }
-  arg4 = reinterpret_cast< iDynTree::VectorDynSize * >(argp4);
-  result = (bool)(arg1)->serializeDynamicVariablesComputedFromFixedBaseRNEA(*arg2,*arg3,*arg4);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilterParameters_ki_set" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  if (arg1) (arg1)->ki = arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76029,56 +78295,23 @@ int _wrap_BerdyHelper_serializeDynamicVariablesComputedFromFixedBaseRNEA(int res
 }
 
 
-int _wrap_BerdyHelper_extractJointTorquesFromDynamicVariables(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::VectorDynSize *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  iDynTree::VectorDynSize *arg4 = 0 ;
+int _wrap_AttitudeMahonyFilterParameters_ki_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 = 0 ;
-  int res4 = 0 ;
   mxArray * _out;
-  bool result;
+  double result;
   
-  if (!SWIG_check_num_args("BerdyHelper_extractJointTorquesFromDynamicVariables",argc,4,4,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_ki_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_extractJointTorquesFromDynamicVariables" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_extractJointTorquesFromDynamicVariables" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_extractJointTorquesFromDynamicVariables" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_extractJointTorquesFromDynamicVariables" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_extractJointTorquesFromDynamicVariables" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_extractJointTorquesFromDynamicVariables" "', argument " "4"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_extractJointTorquesFromDynamicVariables" "', argument " "4"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::VectorDynSize * >(argp4);
-  result = (bool)((iDynTree::BerdyHelper const *)arg1)->extractJointTorquesFromDynamicVariables((iDynTree::VectorDynSize const &)*arg2,(iDynTree::VectorDynSize const &)*arg3,*arg4);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_ki_get" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
+  result = (double) ((arg1)->ki);
+  _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76086,45 +78319,30 @@ int _wrap_BerdyHelper_extractJointTorquesFromDynamicVariables(int resc, mxArray
 }
 
 
-int _wrap_BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::VectorDynSize *arg2 = 0 ;
-  iDynTree::LinkNetExternalWrenches *arg3 = 0 ;
+int _wrap_AttitudeMahonyFilterParameters_use_magnetometer_measurements_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
+  bool arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
+  bool val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables",argc,3,3,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_use_magnetometer_measurements_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables" "', argument " "3"" of type '" "iDynTree::LinkNetExternalWrenches &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables" "', argument " "3"" of type '" "iDynTree::LinkNetExternalWrenches &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_use_magnetometer_measurements_set" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::LinkNetExternalWrenches * >(argp3);
-  result = (bool)((iDynTree::BerdyHelper const *)arg1)->extractLinkNetExternalWrenchesFromDynamicVariables((iDynTree::VectorDynSize const &)*arg2,*arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
+  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilterParameters_use_magnetometer_measurements_set" "', argument " "2"" of type '" "bool""'");
+  } 
+  arg2 = static_cast< bool >(val2);
+  if (arg1) (arg1)->use_magnetometer_measurements = arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76132,65 +78350,22 @@ int _wrap_BerdyHelper_extractLinkNetExternalWrenchesFromDynamicVariables(int res
 }
 
 
-int _wrap_BerdyHelper_updateKinematicsFromFloatingBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::JointPosDoubleArray *arg2 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg3 = 0 ;
-  iDynTree::FrameIndex *arg4 = 0 ;
-  iDynTree::Vector3 *arg5 = 0 ;
+int _wrap_AttitudeMahonyFilterParameters_use_magnetometer_measurements_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  iDynTree::FrameIndex temp4 ;
-  int val4 ;
-  int ecode4 = 0 ;
-  void *argp5 ;
-  int res5 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_updateKinematicsFromFloatingBase",argc,5,5,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_use_magnetometer_measurements_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_updateKinematicsFromFloatingBase" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_updateKinematicsFromFloatingBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromFloatingBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_updateKinematicsFromFloatingBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromFloatingBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp3);
-  ecode4 = SWIG_AsVal_int(argv[3], &val4);
-  if (!SWIG_IsOK(ecode4)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "BerdyHelper_updateKinematicsFromFloatingBase" "', argument " "4"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  temp4 = static_cast< iDynTree::FrameIndex >(val4);
-  arg4 = &temp4;
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdyHelper_updateKinematicsFromFloatingBase" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromFloatingBase" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_use_magnetometer_measurements_get" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
   }
-  arg5 = reinterpret_cast< iDynTree::Vector3 * >(argp5);
-  result = (bool)(arg1)->updateKinematicsFromFloatingBase((iDynTree::JointPosDoubleArray const &)*arg2,(iDynTree::JointDOFsDoubleArray const &)*arg3,(iDynTree::FrameIndex const &)*arg4,(iDynTree::Vector3 const &)*arg5);
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
+  result = (bool) ((arg1)->use_magnetometer_measurements);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -76199,66 +78374,30 @@ int _wrap_BerdyHelper_updateKinematicsFromFloatingBase(int resc, mxArray *resv[]
 }
 
 
-int _wrap_BerdyHelper_updateKinematicsFromFixedBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::JointPosDoubleArray *arg2 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg3 = 0 ;
-  iDynTree::FrameIndex *arg4 = 0 ;
-  iDynTree::Vector3 *arg5 = 0 ;
+int _wrap_AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  iDynTree::FrameIndex temp4 ;
-  int val4 ;
-  int ecode4 = 0 ;
-  void *argp5 ;
-  int res5 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_updateKinematicsFromFixedBase",argc,5,5,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_updateKinematicsFromFixedBase" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_updateKinematicsFromFixedBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromFixedBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_updateKinematicsFromFixedBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromFixedBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_set" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp3);
-  ecode4 = SWIG_AsVal_int(argv[3], &val4);
-  if (!SWIG_IsOK(ecode4)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "BerdyHelper_updateKinematicsFromFixedBase" "', argument " "4"" of type '" "iDynTree::FrameIndex""'");
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_set" "', argument " "2"" of type '" "double""'");
   } 
-  temp4 = static_cast< iDynTree::FrameIndex >(val4);
-  arg4 = &temp4;
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdyHelper_updateKinematicsFromFixedBase" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromFixedBase" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  arg5 = reinterpret_cast< iDynTree::Vector3 * >(argp5);
-  result = (bool)(arg1)->updateKinematicsFromFixedBase((iDynTree::JointPosDoubleArray const &)*arg2,(iDynTree::JointDOFsDoubleArray const &)*arg3,(iDynTree::FrameIndex const &)*arg4,(iDynTree::Vector3 const &)*arg5);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg2 = static_cast< double >(val2);
+  if (arg1) (arg1)->confidence_magnetometer_measurements = arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76266,56 +78405,40 @@ int _wrap_BerdyHelper_updateKinematicsFromFixedBase(int resc, mxArray *resv[], i
 }
 
 
-int _wrap_BerdyHelper_updateKinematicsFromTraversalFixedBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::JointPosDoubleArray *arg2 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg3 = 0 ;
-  iDynTree::Vector3 *arg4 = 0 ;
+int _wrap_AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
   mxArray * _out;
-  bool result;
+  double result;
   
-  if (!SWIG_check_num_args("BerdyHelper_updateKinematicsFromTraversalFixedBase",argc,4,4,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_updateKinematicsFromTraversalFixedBase" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdyHelper_updateKinematicsFromTraversalFixedBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromTraversalFixedBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_updateKinematicsFromTraversalFixedBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromTraversalFixedBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "BerdyHelper_updateKinematicsFromTraversalFixedBase" "', argument " "4"" of type '" "iDynTree::Vector3 const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_get" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
   }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_updateKinematicsFromTraversalFixedBase" "', argument " "4"" of type '" "iDynTree::Vector3 const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
+  result = (double) ((arg1)->confidence_magnetometer_measurements);
+  _out = SWIG_From_double(static_cast< double >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_AttitudeMahonyFilterParameters(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  mxArray * _out;
+  iDynTree::AttitudeMahonyFilterParameters *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_AttitudeMahonyFilterParameters",argc,0,0,0)) {
+    SWIG_fail;
   }
-  arg4 = reinterpret_cast< iDynTree::Vector3 * >(argp4);
-  result = (bool)(arg1)->updateKinematicsFromTraversalFixedBase((iDynTree::JointPosDoubleArray const &)*arg2,(iDynTree::JointDOFsDoubleArray const &)*arg3,(iDynTree::Vector3 const &)*arg4);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  (void)argv;
+  result = (iDynTree::AttitudeMahonyFilterParameters *)new iDynTree::AttitudeMahonyFilterParameters();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76323,42 +78446,43 @@ int _wrap_BerdyHelper_updateKinematicsFromTraversalFixedBase(int resc, mxArray *
 }
 
 
-int _wrap_BerdyHelper_setNetExternalWrenchMeasurementFrame(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::LinkIndex arg2 ;
-  iDynTree::Transform *arg3 = 0 ;
+int _wrap_delete_AttitudeMahonyFilterParameters(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_setNetExternalWrenchMeasurementFrame",argc,3,3,0)) {
+  int is_owned;
+  if (!SWIG_check_num_args("delete_AttitudeMahonyFilterParameters",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_setNetExternalWrenchMeasurementFrame" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_AttitudeMahonyFilterParameters" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_setNetExternalWrenchMeasurementFrame" "', argument " "2"" of type '" "iDynTree::LinkIndex""'");
-  } 
-  arg2 = static_cast< iDynTree::LinkIndex >(val2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Transform,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_setNetExternalWrenchMeasurementFrame" "', argument " "3"" of type '" "iDynTree::Transform const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
+  if (is_owned) {
+    delete arg1;
   }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_setNetExternalWrenchMeasurementFrame" "', argument " "3"" of type '" "iDynTree::Transform const &""'"); 
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_new_AttitudeMahonyFilter(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  mxArray * _out;
+  iDynTree::AttitudeMahonyFilter *result = 0 ;
+  
+  if (!SWIG_check_num_args("new_AttitudeMahonyFilter",argc,0,0,0)) {
+    SWIG_fail;
   }
-  arg3 = reinterpret_cast< iDynTree::Transform * >(argp3);
-  result = (bool)(arg1)->setNetExternalWrenchMeasurementFrame(arg2,(iDynTree::Transform const &)*arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  (void)argv;
+  result = (iDynTree::AttitudeMahonyFilter *)new iDynTree::AttitudeMahonyFilter();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76366,42 +78490,30 @@ int _wrap_BerdyHelper_setNetExternalWrenchMeasurementFrame(int resc, mxArray *re
 }
 
 
-int _wrap_BerdyHelper_getNetExternalWrenchMeasurementFrame(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
-  iDynTree::LinkIndex arg2 ;
-  iDynTree::Transform *arg3 = 0 ;
+int _wrap_AttitudeMahonyFilter_useMagnetoMeterMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  bool arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
+  bool val2 ;
   int ecode2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("BerdyHelper_getNetExternalWrenchMeasurementFrame",argc,3,3,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_useMagnetoMeterMeasurements",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdyHelper_getNetExternalWrenchMeasurementFrame" "', argument " "1"" of type '" "iDynTree::BerdyHelper const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_useMagnetoMeterMeasurements" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "BerdyHelper_getNetExternalWrenchMeasurementFrame" "', argument " "2"" of type '" "iDynTree::LinkIndex""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilter_useMagnetoMeterMeasurements" "', argument " "2"" of type '" "bool""'");
   } 
-  arg2 = static_cast< iDynTree::LinkIndex >(val2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__Transform,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdyHelper_getNetExternalWrenchMeasurementFrame" "', argument " "3"" of type '" "iDynTree::Transform &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdyHelper_getNetExternalWrenchMeasurementFrame" "', argument " "3"" of type '" "iDynTree::Transform &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::Transform * >(argp3);
-  result = (bool)((iDynTree::BerdyHelper const *)arg1)->getNetExternalWrenchMeasurementFrame(arg2,*arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg2 = static_cast< bool >(val2);
+  (arg1)->useMagnetoMeterMeasurements(arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76409,25 +78521,29 @@ int _wrap_BerdyHelper_getNetExternalWrenchMeasurementFrame(int resc, mxArray *re
 }
 
 
-int _wrap_delete_BerdyHelper(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = (iDynTree::BerdyHelper *) 0 ;
+int _wrap_AttitudeMahonyFilter_setConfidenceForMagnetometerMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
   
-  int is_owned;
-  if (!SWIG_check_num_args("delete_BerdyHelper",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_setConfidenceForMagnetometerMeasurements",argc,2,2,0)) {
     SWIG_fail;
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdyHelper, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_BerdyHelper" "', argument " "1"" of type '" "iDynTree::BerdyHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  if (is_owned) {
-    delete arg1;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_setConfidenceForMagnetometerMeasurements" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
   }
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilter_setConfidenceForMagnetometerMeasurements" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  (arg1)->setConfidenceForMagnetometerMeasurements(arg2);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -76436,26 +78552,30 @@ int _wrap_delete_BerdyHelper(int resc, mxArray *resv[], int argc, mxArray *argv[
 }
 
 
-int _wrap_new_BerdySparseMAPSolver(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdyHelper *arg1 = 0 ;
+int _wrap_AttitudeMahonyFilter_setGainkp(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  iDynTree::BerdySparseMAPSolver *result = 0 ;
   
-  if (!SWIG_check_num_args("new_BerdySparseMAPSolver",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_setGainkp",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1, SWIGTYPE_p_iDynTree__BerdyHelper,  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "new_BerdySparseMAPSolver" "', argument " "1"" of type '" "iDynTree::BerdyHelper &""'"); 
-  }
-  if (!argp1) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "new_BerdySparseMAPSolver" "', argument " "1"" of type '" "iDynTree::BerdyHelper &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_setGainkp" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdyHelper * >(argp1);
-  result = (iDynTree::BerdySparseMAPSolver *)new iDynTree::BerdySparseMAPSolver(*arg1);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 1 |  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilter_setGainkp" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  (arg1)->setGainkp(arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76463,25 +78583,29 @@ int _wrap_new_BerdySparseMAPSolver(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_delete_BerdySparseMAPSolver(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+int _wrap_AttitudeMahonyFilter_setGainki(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
   
-  int is_owned;
-  if (!SWIG_check_num_args("delete_BerdySparseMAPSolver",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_setGainki",argc,2,2,0)) {
     SWIG_fail;
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_BerdySparseMAPSolver" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  if (is_owned) {
-    delete arg1;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_setGainki" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
   }
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilter_setGainki" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  (arg1)->setGainki(arg2);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -76490,32 +78614,29 @@ int _wrap_delete_BerdySparseMAPSolver(int resc, mxArray *resv[], int argc, mxArr
 }
 
 
-int _wrap_BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
-  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *arg2 = 0 ;
+int _wrap_AttitudeMahonyFilter_setTimeStepInSeconds(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_setTimeStepInSeconds",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_setTimeStepInSeconds" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::SparseMatrix< iDynTree::ColumnMajor > * >(argp2);
-  (arg1)->setDynamicsConstraintsPriorCovariance((iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &)*arg2);
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilter_setTimeStepInSeconds" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  (arg1)->setTimeStepInSeconds(arg2);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -76524,32 +78645,32 @@ int _wrap_BerdySparseMAPSolver_setDynamicsConstraintsPriorCovariance(int resc, m
 }
 
 
-int _wrap_BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
-  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *arg2 = 0 ;
+int _wrap_AttitudeMahonyFilter_setGravityDirection(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  iDynTree::Direction *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_setGravityDirection",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_setGravityDirection" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t,  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Direction,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_setGravityDirection" "', argument " "2"" of type '" "iDynTree::Direction const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_setGravityDirection" "', argument " "2"" of type '" "iDynTree::Direction const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::SparseMatrix< iDynTree::ColumnMajor > * >(argp2);
-  (arg1)->setDynamicsRegularizationPriorCovariance((iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &)*arg2);
+  arg2 = reinterpret_cast< iDynTree::Direction * >(argp2);
+  (arg1)->setGravityDirection((iDynTree::Direction const &)*arg2);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -76558,33 +78679,34 @@ int _wrap_BerdySparseMAPSolver_setDynamicsRegularizationPriorCovariance(int resc
 }
 
 
-int _wrap_BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
-  iDynTree::VectorDynSize *arg2 = 0 ;
+int _wrap_AttitudeMahonyFilter_setParameters(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  iDynTree::AttitudeMahonyFilterParameters *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_setParameters",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_setParameters" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_setParameters" "', argument " "2"" of type '" "iDynTree::AttitudeMahonyFilterParameters const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_setParameters" "', argument " "2"" of type '" "iDynTree::AttitudeMahonyFilterParameters const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  (arg1)->setDynamicsRegularizationPriorExpectedValue((iDynTree::VectorDynSize const &)*arg2);
-  _out = (mxArray*)0;
+  arg2 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp2);
+  result = (bool)(arg1)->setParameters((iDynTree::AttitudeMahonyFilterParameters const &)*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76592,32 +78714,32 @@ int _wrap_BerdySparseMAPSolver_setDynamicsRegularizationPriorExpectedValue(int r
 }
 
 
-int _wrap_BerdySparseMAPSolver_setMeasurementsPriorCovariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
-  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *arg2 = 0 ;
+int _wrap_AttitudeMahonyFilter_getParameters(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  iDynTree::AttitudeMahonyFilterParameters *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
+  void *argp2 = 0 ;
   int res2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_setMeasurementsPriorCovariance",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_getParameters",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_setMeasurementsPriorCovariance" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_getParameters" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t,  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySparseMAPSolver_setMeasurementsPriorCovariance" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_getParameters" "', argument " "2"" of type '" "iDynTree::AttitudeMahonyFilterParameters &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_setMeasurementsPriorCovariance" "', argument " "2"" of type '" "iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_getParameters" "', argument " "2"" of type '" "iDynTree::AttitudeMahonyFilterParameters &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::SparseMatrix< iDynTree::ColumnMajor > * >(argp2);
-  (arg1)->setMeasurementsPriorCovariance((iDynTree::SparseMatrix< iDynTree::ColumnMajor > const &)*arg2);
+  arg2 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp2);
+  (arg1)->getParameters(*arg2);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -76626,23 +78748,45 @@ int _wrap_BerdySparseMAPSolver_setMeasurementsPriorCovariance(int resc, mxArray
 }
 
 
-int _wrap_BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+int _wrap_AttitudeMahonyFilter_updateFilterWithMeasurements__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  iDynTree::LinearAccelerometerMeasurements *arg2 = 0 ;
+  iDynTree::GyroscopeMeasurements *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
-  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_updateFilterWithMeasurements",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  result = (iDynTree::SparseMatrix< iDynTree::ColumnMajor > *) &((iDynTree::BerdySparseMAPSolver const *)arg1)->dynamicsConstraintsPriorCovarianceInverse();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::LinearAccelerometerMeasurements * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::GyroscopeMeasurements * >(argp3);
+  result = (bool)(arg1)->updateFilterWithMeasurements((iDynTree::LinearAccelerometerMeasurements const &)*arg2,(iDynTree::GyroscopeMeasurements const &)*arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76650,23 +78794,56 @@ int _wrap_BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse__SWIG_0
 }
 
 
-int _wrap_BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+int _wrap_AttitudeMahonyFilter_updateFilterWithMeasurements__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  iDynTree::LinearAccelerometerMeasurements *arg2 = 0 ;
+  iDynTree::GyroscopeMeasurements *arg3 = 0 ;
+  iDynTree::MagnetometerMeasurements *arg4 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
   mxArray * _out;
-  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_updateFilterWithMeasurements",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  result = (iDynTree::SparseMatrix< iDynTree::ColumnMajor > *) &(arg1)->dynamicsConstraintsPriorCovarianceInverse();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::LinearAccelerometerMeasurements * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::GyroscopeMeasurements * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "4"" of type '" "iDynTree::MagnetometerMeasurements const &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "4"" of type '" "iDynTree::MagnetometerMeasurements const &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::MagnetometerMeasurements * >(argp4);
+  result = (bool)(arg1)->updateFilterWithMeasurements((iDynTree::LinearAccelerometerMeasurements const &)*arg2,(iDynTree::GyroscopeMeasurements const &)*arg3,(iDynTree::MagnetometerMeasurements const &)*arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76674,51 +78851,76 @@ int _wrap_BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse__SWIG_1
 }
 
 
-int _wrap_BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 1) {
+int _wrap_AttitudeMahonyFilter_updateFilterWithMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 3) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      return _wrap_BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse__SWIG_1(resc,resv,argc,argv);
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_AttitudeMahonyFilter_updateFilterWithMeasurements__SWIG_0(resc,resv,argc,argv);
+        }
+      }
     }
   }
-  if (argc == 1) {
+  if (argc == 4) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      return _wrap_BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse__SWIG_0(resc,resv,argc,argv);
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_AttitudeMahonyFilter_updateFilterWithMeasurements__SWIG_1(resc,resv,argc,argv);
+          }
+        }
+      }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdySparseMAPSolver_dynamicsConstraintsPriorCovarianceInverse'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'AttitudeMahonyFilter_updateFilterWithMeasurements'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::BerdySparseMAPSolver::dynamicsConstraintsPriorCovarianceInverse() const\n"
-    "    iDynTree::BerdySparseMAPSolver::dynamicsConstraintsPriorCovarianceInverse()\n");
+    "    iDynTree::AttitudeMahonyFilter::updateFilterWithMeasurements(iDynTree::LinearAccelerometerMeasurements const &,iDynTree::GyroscopeMeasurements const &)\n"
+    "    iDynTree::AttitudeMahonyFilter::updateFilterWithMeasurements(iDynTree::LinearAccelerometerMeasurements const &,iDynTree::GyroscopeMeasurements const &,iDynTree::MagnetometerMeasurements const &)\n");
   return 1;
 }
 
 
-int _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+int _wrap_AttitudeMahonyFilter_propagateStates(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_propagateStates",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_propagateStates" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  result = (iDynTree::SparseMatrix< iDynTree::ColumnMajor > *) &((iDynTree::BerdySparseMAPSolver const *)arg1)->dynamicsRegularizationPriorCovarianceInverse();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  result = (bool)(arg1)->propagateStates();
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76726,23 +78928,34 @@ int _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse__SWI
 }
 
 
-int _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+int _wrap_AttitudeMahonyFilter_getOrientationEstimateAsRotationMatrix(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  iDynTree::Rotation *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_getOrientationEstimateAsRotationMatrix",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsRotationMatrix" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  result = (iDynTree::SparseMatrix< iDynTree::ColumnMajor > *) &(arg1)->dynamicsRegularizationPriorCovarianceInverse();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Rotation,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsRotationMatrix" "', argument " "2"" of type '" "iDynTree::Rotation &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsRotationMatrix" "', argument " "2"" of type '" "iDynTree::Rotation &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Rotation * >(argp2);
+  result = (bool)(arg1)->getOrientationEstimateAsRotationMatrix(*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76750,51 +78963,34 @@ int _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse__SWI
 }
 
 
-int _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse__SWIG_1(resc,resv,argc,argv);
-    }
-  }
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse__SWIG_0(resc,resv,argc,argv);
-    }
-  }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdySparseMAPSolver_dynamicsRegularizationPriorCovarianceInverse'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::BerdySparseMAPSolver::dynamicsRegularizationPriorCovarianceInverse() const\n"
-    "    iDynTree::BerdySparseMAPSolver::dynamicsRegularizationPriorCovarianceInverse()\n");
-  return 1;
-}
-
-
-int _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+int _wrap_AttitudeMahonyFilter_getOrientationEstimateAsQuaternion(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  iDynTree::UnitQuaternion *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::VectorDynSize *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_getOrientationEstimateAsQuaternion",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsQuaternion" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  result = (iDynTree::VectorDynSize *) &((iDynTree::BerdySparseMAPSolver const *)arg1)->dynamicsRegularizationPriorExpectedValue();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorDynSize, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsQuaternion" "', argument " "2"" of type '" "iDynTree::UnitQuaternion &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsQuaternion" "', argument " "2"" of type '" "iDynTree::UnitQuaternion &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::UnitQuaternion * >(argp2);
+  result = (bool)(arg1)->getOrientationEstimateAsQuaternion(*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76802,23 +78998,34 @@ int _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue__SWIG_0(
 }
 
 
-int _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+int _wrap_AttitudeMahonyFilter_getOrientationEstimateAsRPY(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  iDynTree::RPY *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::VectorDynSize *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_getOrientationEstimateAsRPY",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsRPY" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  result = (iDynTree::VectorDynSize *) &(arg1)->dynamicsRegularizationPriorExpectedValue();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorDynSize, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsRPY" "', argument " "2"" of type '" "iDynTree::RPY &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsRPY" "', argument " "2"" of type '" "iDynTree::RPY &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::RPY * >(argp2);
+  result = (bool)(arg1)->getOrientationEstimateAsRPY(*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76826,51 +79033,23 @@ int _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue__SWIG_1(
 }
 
 
-int _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue__SWIG_1(resc,resv,argc,argv);
-    }
-  }
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue__SWIG_0(resc,resv,argc,argv);
-    }
-  }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdySparseMAPSolver_dynamicsRegularizationPriorExpectedValue'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::BerdySparseMAPSolver::dynamicsRegularizationPriorExpectedValue() const\n"
-    "    iDynTree::BerdySparseMAPSolver::dynamicsRegularizationPriorExpectedValue()\n");
-  return 1;
-}
-
-
-int _wrap_BerdySparseMAPSolver_measurementsPriorCovarianceInverse__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+int _wrap_AttitudeMahonyFilter_getInternalStateSize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *result = 0 ;
+  size_t result;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_measurementsPriorCovarianceInverse",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_getInternalStateSize",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_measurementsPriorCovarianceInverse" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_getInternalStateSize" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  result = (iDynTree::SparseMatrix< iDynTree::ColumnMajor > *) &((iDynTree::BerdySparseMAPSolver const *)arg1)->measurementsPriorCovarianceInverse();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  result = ((iDynTree::AttitudeMahonyFilter const *)arg1)->getInternalStateSize();
+  _out = SWIG_From_size_t(static_cast< size_t >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76878,23 +79057,34 @@ int _wrap_BerdySparseMAPSolver_measurementsPriorCovarianceInverse__SWIG_0(int re
 }
 
 
-int _wrap_BerdySparseMAPSolver_measurementsPriorCovarianceInverse__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+int _wrap_AttitudeMahonyFilter_getInternalState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::SparseMatrix< iDynTree::ColumnMajor > *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_measurementsPriorCovarianceInverse",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_getInternalState",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_measurementsPriorCovarianceInverse" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_getInternalState" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  result = (iDynTree::SparseMatrix< iDynTree::ColumnMajor > *) &(arg1)->measurementsPriorCovarianceInverse();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_getInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_getInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
+  result = (bool)((iDynTree::AttitudeMahonyFilter const *)arg1)->getInternalState((iDynTree::Span< double,-1 > const &)*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -76902,50 +79092,33 @@ int _wrap_BerdySparseMAPSolver_measurementsPriorCovarianceInverse__SWIG_1(int re
 }
 
 
-int _wrap_BerdySparseMAPSolver_measurementsPriorCovarianceInverse(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_BerdySparseMAPSolver_measurementsPriorCovarianceInverse__SWIG_1(resc,resv,argc,argv);
-    }
-  }
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_BerdySparseMAPSolver_measurementsPriorCovarianceInverse__SWIG_0(resc,resv,argc,argv);
-    }
-  }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdySparseMAPSolver_measurementsPriorCovarianceInverse'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::BerdySparseMAPSolver::measurementsPriorCovarianceInverse() const\n"
-    "    iDynTree::BerdySparseMAPSolver::measurementsPriorCovarianceInverse()\n");
-  return 1;
-}
-
-
-int _wrap_BerdySparseMAPSolver_isValid(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+int _wrap_AttitudeMahonyFilter_getDefaultInternalInitialState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_isValid",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_getDefaultInternalInitialState",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_isValid" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_getDefaultInternalInitialState" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  result = (bool)(arg1)->isValid();
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_getDefaultInternalInitialState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_getDefaultInternalInitialState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
+  result = (bool)((iDynTree::AttitudeMahonyFilter const *)arg1)->getDefaultInternalInitialState((iDynTree::Span< double,-1 > const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -76954,22 +79127,33 @@ int _wrap_BerdySparseMAPSolver_isValid(int resc, mxArray *resv[], int argc, mxAr
 }
 
 
-int _wrap_BerdySparseMAPSolver_initialize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+int _wrap_AttitudeMahonyFilter_setInternalState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_initialize",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_setInternalState",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_initialize" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_setInternalState" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  result = (bool)(arg1)->initialize();
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_setInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_setInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
+  result = (bool)(arg1)->setInternalState((iDynTree::Span< double,-1 > const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -76978,73 +79162,60 @@ int _wrap_BerdySparseMAPSolver_initialize(int resc, mxArray *resv[], int argc, m
 }
 
 
-int _wrap_BerdySparseMAPSolver_updateEstimateInformationFixedBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
-  iDynTree::JointPosDoubleArray *arg2 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg3 = 0 ;
-  iDynTree::FrameIndex arg4 ;
-  iDynTree::Vector3 *arg5 = 0 ;
-  iDynTree::VectorDynSize *arg6 = 0 ;
+int _wrap_AttitudeMahonyFilter_setInternalStateInitialOrientation(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  int val4 ;
-  int ecode4 = 0 ;
-  void *argp5 ;
-  int res5 = 0 ;
-  void *argp6 ;
-  int res6 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_updateEstimateInformationFixedBase",argc,6,6,0)) {
+  if (!SWIG_check_num_args("AttitudeMahonyFilter_setInternalStateInitialOrientation",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_setInternalStateInitialOrientation" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_setInternalStateInitialOrientation" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp3);
-  ecode4 = SWIG_AsVal_int(argv[3], &val4);
-  if (!SWIG_IsOK(ecode4)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "4"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg4 = static_cast< iDynTree::FrameIndex >(val4);
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_setInternalStateInitialOrientation" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
-  arg5 = reinterpret_cast< iDynTree::Vector3 * >(argp5);
-  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res6)) {
-    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "6"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
+  result = (bool)(arg1)->setInternalStateInitialOrientation((iDynTree::Span< double,-1 > const &)*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_delete_AttitudeMahonyFilter(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  
+  int is_owned;
+  if (!SWIG_check_num_args("delete_AttitudeMahonyFilter",argc,1,1,0)) {
+    SWIG_fail;
   }
-  if (!argp6) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_updateEstimateInformationFixedBase" "', argument " "6"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, SWIG_POINTER_DISOWN |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_AttitudeMahonyFilter" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  if (is_owned) {
+    delete arg1;
   }
-  arg6 = reinterpret_cast< iDynTree::VectorDynSize * >(argp6);
-  (arg1)->updateEstimateInformationFixedBase((iDynTree::JointPosDoubleArray const &)*arg2,(iDynTree::JointDOFsDoubleArray const &)*arg3,arg4,(iDynTree::Vector3 const &)*arg5,(iDynTree::VectorDynSize const &)*arg6);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -77053,74 +79224,56 @@ int _wrap_BerdySparseMAPSolver_updateEstimateInformationFixedBase(int resc, mxAr
 }
 
 
-int _wrap_BerdySparseMAPSolver_updateEstimateInformationFloatingBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
-  iDynTree::JointPosDoubleArray *arg2 = 0 ;
-  iDynTree::JointDOFsDoubleArray *arg3 = 0 ;
-  iDynTree::FrameIndex arg4 ;
-  iDynTree::Vector3 *arg5 = 0 ;
-  iDynTree::VectorDynSize *arg6 = 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekf_f(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+  iDynTree::VectorDynSize *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  iDynTree::VectorDynSize *arg4 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
   void *argp3 ;
   int res3 = 0 ;
-  int val4 ;
-  int ecode4 = 0 ;
-  void *argp5 ;
-  int res5 = 0 ;
-  void *argp6 ;
-  int res6 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_updateEstimateInformationFloatingBase",argc,6,6,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekf_f",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_f" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__JointPosDoubleArray,  0 );
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_f" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "2"" of type '" "iDynTree::JointPosDoubleArray const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_f" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::JointPosDoubleArray * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__JointDOFsDoubleArray,  0 );
+  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
   if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_f" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
   }
   if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "3"" of type '" "iDynTree::JointDOFsDoubleArray const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::JointDOFsDoubleArray * >(argp3);
-  ecode4 = SWIG_AsVal_int(argv[3], &val4);
-  if (!SWIG_IsOK(ecode4)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "4"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg4 = static_cast< iDynTree::FrameIndex >(val4);
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "5"" of type '" "iDynTree::Vector3 const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_f" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
   }
-  arg5 = reinterpret_cast< iDynTree::Vector3 * >(argp5);
-  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res6)) {
-    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "6"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_f" "', argument " "4"" of type '" "iDynTree::VectorDynSize &""'"); 
   }
-  if (!argp6) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_updateEstimateInformationFloatingBase" "', argument " "6"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_f" "', argument " "4"" of type '" "iDynTree::VectorDynSize &""'"); 
   }
-  arg6 = reinterpret_cast< iDynTree::VectorDynSize * >(argp6);
-  (arg1)->updateEstimateInformationFloatingBase((iDynTree::JointPosDoubleArray const &)*arg2,(iDynTree::JointDOFsDoubleArray const &)*arg3,arg4,(iDynTree::Vector3 const &)*arg5,(iDynTree::VectorDynSize const &)*arg6);
-  _out = (mxArray*)0;
+  arg4 = reinterpret_cast< iDynTree::VectorDynSize * >(argp4);
+  result = (bool)(arg1)->ekf_f((iDynTree::VectorDynSize const &)*arg2,(iDynTree::VectorDynSize const &)*arg3,*arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -77128,22 +79281,44 @@ int _wrap_BerdySparseMAPSolver_updateEstimateInformationFloatingBase(int resc, m
 }
 
 
-int _wrap_BerdySparseMAPSolver_doEstimate(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekf_h(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+  iDynTree::VectorDynSize *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_doEstimate",argc,1,1,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekf_h",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_doEstimate" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_h" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  result = (bool)(arg1)->doEstimate();
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_h" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_h" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_h" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_h" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  result = (bool)(arg1)->ekf_h((iDynTree::VectorDynSize const &)*arg2,*arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -77152,33 +79327,45 @@ int _wrap_BerdySparseMAPSolver_doEstimate(int resc, mxArray *resv[], int argc, m
 }
 
 
-int _wrap_BerdySparseMAPSolver_getLastEstimate__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
   iDynTree::VectorDynSize *arg2 = 0 ;
+  iDynTree::MatrixDynSize *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 = 0 ;
   int res2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_getLastEstimate",argc,2,2,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_getLastEstimate" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "BerdySparseMAPSolver_getLastEstimate" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "BerdySparseMAPSolver_getLastEstimate" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  ((iDynTree::BerdySparseMAPSolver const *)arg1)->getLastEstimate(*arg2);
-  _out = (mxArray*)0;
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp3);
+  result = (bool)(arg1)->ekfComputeJacobianF(*arg2,*arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -77186,23 +79373,56 @@ int _wrap_BerdySparseMAPSolver_getLastEstimate__SWIG_0(int resc, mxArray *resv[]
 }
 
 
-int _wrap_BerdySparseMAPSolver_getLastEstimate__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::BerdySparseMAPSolver *arg1 = (iDynTree::BerdySparseMAPSolver *) 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+  iDynTree::VectorDynSize *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  iDynTree::MatrixDynSize *arg4 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
   mxArray * _out;
-  iDynTree::VectorDynSize *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("BerdySparseMAPSolver_getLastEstimate",argc,1,1,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "BerdySparseMAPSolver_getLastEstimate" "', argument " "1"" of type '" "iDynTree::BerdySparseMAPSolver const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::BerdySparseMAPSolver * >(argp1);
-  result = (iDynTree::VectorDynSize *) &((iDynTree::BerdySparseMAPSolver const *)arg1)->getLastEstimate();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorDynSize, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp4);
+  result = (bool)(arg1)->ekfComputeJacobianF(*arg2,*arg3,*arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -77210,118 +79430,98 @@ int _wrap_BerdySparseMAPSolver_getLastEstimate__SWIG_1(int resc, mxArray *resv[]
 }
 
 
-int _wrap_BerdySparseMAPSolver_getLastEstimate(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 1) {
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 3) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      return _wrap_BerdySparseMAPSolver_getLastEstimate__SWIG_1(resc,resv,argc,argv);
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF__SWIG_0(resc,resv,argc,argv);
+        }
+      }
     }
   }
-  if (argc == 2) {
+  if (argc == 4) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__BerdySparseMAPSolver, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       void *vptr = 0;
       int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_BerdySparseMAPSolver_getLastEstimate__SWIG_0(resc,resv,argc,argv);
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF__SWIG_1(resc,resv,argc,argv);
+          }
+        }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'BerdySparseMAPSolver_getLastEstimate'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::BerdySparseMAPSolver::getLastEstimate(iDynTree::VectorDynSize &) const\n"
-    "    iDynTree::BerdySparseMAPSolver::getLastEstimate() const\n");
+    "    iDynTree::DiscreteExtendedKalmanFilterHelper::ekfComputeJacobianF(iDynTree::VectorDynSize &,iDynTree::MatrixDynSize &)\n"
+    "    iDynTree::DiscreteExtendedKalmanFilterHelper::ekfComputeJacobianF(iDynTree::VectorDynSize &,iDynTree::VectorDynSize &,iDynTree::MatrixDynSize &)\n");
   return 1;
 }
 
 
-int _wrap_AttitudeEstimatorState_m_orientation_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeEstimatorState *arg1 = (iDynTree::AttitudeEstimatorState *) 0 ;
-  iDynTree::UnitQuaternion *arg2 = (iDynTree::UnitQuaternion *) 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+  iDynTree::VectorDynSize *arg2 = 0 ;
+  iDynTree::MatrixDynSize *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 = 0 ;
   int res2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("AttitudeEstimatorState_m_orientation_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeEstimatorState, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeEstimatorState_m_orientation_set" "', argument " "1"" of type '" "iDynTree::AttitudeEstimatorState *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeEstimatorState * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeEstimatorState_m_orientation_set" "', argument " "2"" of type '" "iDynTree::UnitQuaternion *""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::UnitQuaternion * >(argp2);
-  if (arg1) (arg1)->m_orientation = *arg2;
-  _out = (mxArray*)0;
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_AttitudeEstimatorState_m_orientation_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeEstimatorState *arg1 = (iDynTree::AttitudeEstimatorState *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::UnitQuaternion *result = 0 ;
-  
-  if (!SWIG_check_num_args("AttitudeEstimatorState_m_orientation_get",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeEstimatorState, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeEstimatorState_m_orientation_get" "', argument " "1"" of type '" "iDynTree::AttitudeEstimatorState *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeEstimatorState * >(argp1);
-  result = (iDynTree::UnitQuaternion *)& ((arg1)->m_orientation);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t, 0 |  0 );
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_AttitudeEstimatorState_m_angular_velocity_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeEstimatorState *arg1 = (iDynTree::AttitudeEstimatorState *) 0 ;
-  iDynTree::Vector3 *arg2 = (iDynTree::Vector3 *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("AttitudeEstimatorState_m_angular_velocity_set",argc,2,2,0)) {
-    SWIG_fail;
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeEstimatorState, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeEstimatorState_m_angular_velocity_set" "', argument " "1"" of type '" "iDynTree::AttitudeEstimatorState *""'"); 
+  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeEstimatorState * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeEstimatorState_m_angular_velocity_set" "', argument " "2"" of type '" "iDynTree::Vector3 *""'"); 
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Vector3 * >(argp2);
-  if (arg1) (arg1)->m_angular_velocity = *arg2;
-  _out = (mxArray*)0;
+  arg3 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp3);
+  result = (bool)(arg1)->ekfComputeJacobianH(*arg2,*arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -77329,23 +79529,23 @@ int _wrap_AttitudeEstimatorState_m_angular_velocity_set(int resc, mxArray *resv[
 }
 
 
-int _wrap_AttitudeEstimatorState_m_angular_velocity_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeEstimatorState *arg1 = (iDynTree::AttitudeEstimatorState *) 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfPredict(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::Vector3 *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("AttitudeEstimatorState_m_angular_velocity_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfPredict",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeEstimatorState, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeEstimatorState_m_angular_velocity_get" "', argument " "1"" of type '" "iDynTree::AttitudeEstimatorState *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfPredict" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeEstimatorState * >(argp1);
-  result = (iDynTree::Vector3 *)& ((arg1)->m_angular_velocity);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  result = (bool)(arg1)->ekfPredict();
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -77353,30 +79553,23 @@ int _wrap_AttitudeEstimatorState_m_angular_velocity_get(int resc, mxArray *resv[
 }
 
 
-int _wrap_AttitudeEstimatorState_m_gyroscope_bias_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeEstimatorState *arg1 = (iDynTree::AttitudeEstimatorState *) 0 ;
-  iDynTree::Vector3 *arg2 = (iDynTree::Vector3 *) 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfUpdate(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("AttitudeEstimatorState_m_gyroscope_bias_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfUpdate",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeEstimatorState, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeEstimatorState_m_gyroscope_bias_set" "', argument " "1"" of type '" "iDynTree::AttitudeEstimatorState *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeEstimatorState * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeEstimatorState_m_gyroscope_bias_set" "', argument " "2"" of type '" "iDynTree::Vector3 *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfUpdate" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Vector3 * >(argp2);
-  if (arg1) (arg1)->m_gyroscope_bias = *arg2;
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  result = (bool)(arg1)->ekfUpdate();
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -77384,40 +79577,23 @@ int _wrap_AttitudeEstimatorState_m_gyroscope_bias_set(int resc, mxArray *resv[],
 }
 
 
-int _wrap_AttitudeEstimatorState_m_gyroscope_bias_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeEstimatorState *arg1 = (iDynTree::AttitudeEstimatorState *) 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfInit__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::Vector3 *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("AttitudeEstimatorState_m_gyroscope_bias_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfInit",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeEstimatorState, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeEstimatorState_m_gyroscope_bias_get" "', argument " "1"" of type '" "iDynTree::AttitudeEstimatorState *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeEstimatorState * >(argp1);
-  result = (iDynTree::Vector3 *)& ((arg1)->m_gyroscope_bias);
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0 |  0 );
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_new_AttitudeEstimatorState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  mxArray * _out;
-  iDynTree::AttitudeEstimatorState *result = 0 ;
-  
-  if (!SWIG_check_num_args("new_AttitudeEstimatorState",argc,0,0,0)) {
-    SWIG_fail;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfInit" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  (void)argv;
-  result = (iDynTree::AttitudeEstimatorState *)new iDynTree::AttitudeEstimatorState();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__AttitudeEstimatorState, 1 |  0 );
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  result = (bool)(arg1)->ekfInit();
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -77425,26 +79601,53 @@ int _wrap_new_AttitudeEstimatorState(int resc, mxArray *resv[], int argc, mxArra
 }
 
 
-int _wrap_delete_AttitudeEstimatorState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeEstimatorState *arg1 = (iDynTree::AttitudeEstimatorState *) 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfInit__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+  size_t *arg2 = 0 ;
+  size_t *arg3 = 0 ;
+  size_t *arg4 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  size_t temp2 ;
+  size_t val2 ;
+  int ecode2 = 0 ;
+  size_t temp3 ;
+  size_t val3 ;
+  int ecode3 = 0 ;
+  size_t temp4 ;
+  size_t val4 ;
+  int ecode4 = 0 ;
   mxArray * _out;
+  bool result;
   
-  int is_owned;
-  if (!SWIG_check_num_args("delete_AttitudeEstimatorState",argc,1,1,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfInit",argc,4,4,0)) {
     SWIG_fail;
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeEstimatorState, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_AttitudeEstimatorState" "', argument " "1"" of type '" "iDynTree::AttitudeEstimatorState *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeEstimatorState * >(argp1);
-  if (is_owned) {
-    delete arg1;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfInit" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfInit" "', argument " "2"" of type '" "size_t""'");
+  } 
+  temp2 = static_cast< size_t >(val2);
+  arg2 = &temp2;
+  ecode3 = SWIG_AsVal_size_t(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfInit" "', argument " "3"" of type '" "size_t""'");
+  } 
+  temp3 = static_cast< size_t >(val3);
+  arg3 = &temp3;
+  ecode4 = SWIG_AsVal_size_t(argv[3], &val4);
+  if (!SWIG_IsOK(ecode4)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfInit" "', argument " "4"" of type '" "size_t""'");
+  } 
+  temp4 = static_cast< size_t >(val4);
+  arg4 = &temp4;
+  result = (bool)(arg1)->ekfInit((size_t const &)*arg2,(size_t const &)*arg3,(size_t const &)*arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -77452,72 +79655,68 @@ int _wrap_delete_AttitudeEstimatorState(int resc, mxArray *resv[], int argc, mxA
 }
 
 
-int _wrap_delete_IAttitudeEstimator(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  
-  int is_owned;
-  if (!SWIG_check_num_args("delete_IAttitudeEstimator",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, SWIG_POINTER_DISOWN |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_IAttitudeEstimator" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfInit(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_DiscreteExtendedKalmanFilterHelper_ekfInit__SWIG_0(resc,resv,argc,argv);
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
-  if (is_owned) {
-    delete arg1;
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_size_t(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_size_t(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          {
+            int res = SWIG_AsVal_size_t(argv[3], NULL);
+            _v = SWIG_CheckState(res);
+          }
+          if (_v) {
+            return _wrap_DiscreteExtendedKalmanFilterHelper_ekfInit__SWIG_1(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
   }
-  _out = (mxArray*)0;
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'DiscreteExtendedKalmanFilterHelper_ekfInit'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::DiscreteExtendedKalmanFilterHelper::ekfInit()\n"
+    "    iDynTree::DiscreteExtendedKalmanFilterHelper::ekfInit(size_t const &,size_t const &,size_t const &)\n");
   return 1;
 }
 
 
-int _wrap_IAttitudeEstimator_updateFilterWithMeasurements__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
-  iDynTree::LinearAccelerometerMeasurements *arg2 = 0 ;
-  iDynTree::GyroscopeMeasurements *arg3 = 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfReset__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("IAttitudeEstimator_updateFilterWithMeasurements",argc,3,3,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfReset",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::LinearAccelerometerMeasurements * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::GyroscopeMeasurements * >(argp3);
-  result = (bool)(arg1)->updateFilterWithMeasurements((iDynTree::LinearAccelerometerMeasurements const &)*arg2,(iDynTree::GyroscopeMeasurements const &)*arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  (arg1)->ekfReset();
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -77525,55 +79724,96 @@ int _wrap_IAttitudeEstimator_updateFilterWithMeasurements__SWIG_0(int resc, mxAr
 }
 
 
-int _wrap_IAttitudeEstimator_updateFilterWithMeasurements__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
-  iDynTree::LinearAccelerometerMeasurements *arg2 = 0 ;
-  iDynTree::GyroscopeMeasurements *arg3 = 0 ;
-  iDynTree::MagnetometerMeasurements *arg4 = 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfReset__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+  size_t *arg2 = 0 ;
+  size_t *arg3 = 0 ;
+  size_t *arg4 = 0 ;
+  iDynTree::Span< double,-1 > *arg5 = 0 ;
+  iDynTree::Span< double,-1 > *arg6 = 0 ;
+  iDynTree::Span< double,-1 > *arg7 = 0 ;
+  iDynTree::Span< double,-1 > *arg8 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
+  size_t temp2 ;
+  size_t val2 ;
+  int ecode2 = 0 ;
+  size_t temp3 ;
+  size_t val3 ;
+  int ecode3 = 0 ;
+  size_t temp4 ;
+  size_t val4 ;
+  int ecode4 = 0 ;
+  void *argp5 ;
+  int res5 = 0 ;
+  void *argp6 ;
+  int res6 = 0 ;
+  void *argp7 ;
+  int res7 = 0 ;
+  void *argp8 ;
+  int res8 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("IAttitudeEstimator_updateFilterWithMeasurements",argc,4,4,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfReset",argc,8,8,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "2"" of type '" "size_t""'");
+  } 
+  temp2 = static_cast< size_t >(val2);
+  arg2 = &temp2;
+  ecode3 = SWIG_AsVal_size_t(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "3"" of type '" "size_t""'");
+  } 
+  temp3 = static_cast< size_t >(val3);
+  arg3 = &temp3;
+  ecode4 = SWIG_AsVal_size_t(argv[3], &val4);
+  if (!SWIG_IsOK(ecode4)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "4"" of type '" "size_t""'");
+  } 
+  temp4 = static_cast< size_t >(val4);
+  arg4 = &temp4;
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "5"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "5"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::LinearAccelerometerMeasurements * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
+  arg5 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp5);
+  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+  if (!SWIG_IsOK(res6)) {
+    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "6"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
+  if (!argp6) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "6"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::GyroscopeMeasurements * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "4"" of type '" "iDynTree::MagnetometerMeasurements const &""'"); 
+  arg6 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp6);
+  res7 = SWIG_ConvertPtr(argv[6], &argp7, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+  if (!SWIG_IsOK(res7)) {
+    SWIG_exception_fail(SWIG_ArgError(res7), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "7"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_updateFilterWithMeasurements" "', argument " "4"" of type '" "iDynTree::MagnetometerMeasurements const &""'"); 
+  if (!argp7) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "7"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
-  arg4 = reinterpret_cast< iDynTree::MagnetometerMeasurements * >(argp4);
-  result = (bool)(arg1)->updateFilterWithMeasurements((iDynTree::LinearAccelerometerMeasurements const &)*arg2,(iDynTree::GyroscopeMeasurements const &)*arg3,(iDynTree::MagnetometerMeasurements const &)*arg4);
+  arg7 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp7);
+  res8 = SWIG_ConvertPtr(argv[7], &argp8, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+  if (!SWIG_IsOK(res8)) {
+    SWIG_exception_fail(SWIG_ArgError(res8), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "8"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  if (!argp8) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "8"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  arg8 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp8);
+  result = (bool)(arg1)->ekfReset((size_t const &)*arg2,(size_t const &)*arg3,(size_t const &)*arg4,(iDynTree::Span< double,-1 > const &)*arg5,(iDynTree::Span< double,-1 > const &)*arg6,(iDynTree::Span< double,-1 > const &)*arg7,(iDynTree::Span< double,-1 > const &)*arg8);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -77582,75 +79822,99 @@ int _wrap_IAttitudeEstimator_updateFilterWithMeasurements__SWIG_1(int resc, mxAr
 }
 
 
-int _wrap_IAttitudeEstimator_updateFilterWithMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 3) {
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfReset(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_IAttitudeEstimator_updateFilterWithMeasurements__SWIG_0(resc,resv,argc,argv);
-        }
-      }
+      return _wrap_DiscreteExtendedKalmanFilterHelper_ekfReset__SWIG_0(resc,resv,argc,argv);
     }
   }
-  if (argc == 4) {
+  if (argc == 8) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+      {
+        int res = SWIG_AsVal_size_t(argv[1], NULL);
         _v = SWIG_CheckState(res);
-        if (_v) {
-          void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_size_t(argv[2], NULL);
           _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          {
+            int res = SWIG_AsVal_size_t(argv[3], NULL);
+            _v = SWIG_CheckState(res);
+          }
           if (_v) {
-            return _wrap_IAttitudeEstimator_updateFilterWithMeasurements__SWIG_1(resc,resv,argc,argv);
+            void *vptr = 0;
+            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+            _v = SWIG_CheckState(res);
+            if (_v) {
+              void *vptr = 0;
+              int res = SWIG_ConvertPtr(argv[5], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+              _v = SWIG_CheckState(res);
+              if (_v) {
+                void *vptr = 0;
+                int res = SWIG_ConvertPtr(argv[6], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+                _v = SWIG_CheckState(res);
+                if (_v) {
+                  void *vptr = 0;
+                  int res = SWIG_ConvertPtr(argv[7], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+                  _v = SWIG_CheckState(res);
+                  if (_v) {
+                    return _wrap_DiscreteExtendedKalmanFilterHelper_ekfReset__SWIG_1(resc,resv,argc,argv);
+                  }
+                }
+              }
+            }
           }
         }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'IAttitudeEstimator_updateFilterWithMeasurements'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'DiscreteExtendedKalmanFilterHelper_ekfReset'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::IAttitudeEstimator::updateFilterWithMeasurements(iDynTree::LinearAccelerometerMeasurements const &,iDynTree::GyroscopeMeasurements const &)\n"
-    "    iDynTree::IAttitudeEstimator::updateFilterWithMeasurements(iDynTree::LinearAccelerometerMeasurements const &,iDynTree::GyroscopeMeasurements const &,iDynTree::MagnetometerMeasurements const &)\n");
+    "    iDynTree::DiscreteExtendedKalmanFilterHelper::ekfReset()\n"
+    "    iDynTree::DiscreteExtendedKalmanFilterHelper::ekfReset(size_t const &,size_t const &,size_t const &,iDynTree::Span< double,-1 > const &,iDynTree::Span< double,-1 > const &,iDynTree::Span< double,-1 > const &,iDynTree::Span< double,-1 > const &)\n");
   return 1;
 }
 
 
-int _wrap_IAttitudeEstimator_propagateStates(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementVector(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+  iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("IAttitudeEstimator_propagateStates",argc,1,1,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementVector",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_propagateStates" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementVector" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
-  result = (bool)(arg1)->propagateStates();
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementVector" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementVector" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
+  result = (bool)(arg1)->ekfSetMeasurementVector((iDynTree::Span< double,-1 > const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -77659,33 +79923,33 @@ int _wrap_IAttitudeEstimator_propagateStates(int resc, mxArray *resv[], int argc
 }
 
 
-int _wrap_IAttitudeEstimator_getOrientationEstimateAsRotationMatrix(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
-  iDynTree::Rotation *arg2 = 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInputVector(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+  iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("IAttitudeEstimator_getOrientationEstimateAsRotationMatrix",argc,2,2,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetInputVector",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_getOrientationEstimateAsRotationMatrix" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetInputVector" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Rotation,  0 );
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_getOrientationEstimateAsRotationMatrix" "', argument " "2"" of type '" "iDynTree::Rotation &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetInputVector" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_getOrientationEstimateAsRotationMatrix" "', argument " "2"" of type '" "iDynTree::Rotation &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetInputVector" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Rotation * >(argp2);
-  result = (bool)(arg1)->getOrientationEstimateAsRotationMatrix(*arg2);
+  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
+  result = (bool)(arg1)->ekfSetInputVector((iDynTree::Span< double,-1 > const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -77694,33 +79958,33 @@ int _wrap_IAttitudeEstimator_getOrientationEstimateAsRotationMatrix(int resc, mx
 }
 
 
-int _wrap_IAttitudeEstimator_getOrientationEstimateAsQuaternion(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
-  iDynTree::UnitQuaternion *arg2 = 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInitialState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+  iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("IAttitudeEstimator_getOrientationEstimateAsQuaternion",argc,2,2,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetInitialState",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_getOrientationEstimateAsQuaternion" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetInitialState" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t,  0 );
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_getOrientationEstimateAsQuaternion" "', argument " "2"" of type '" "iDynTree::UnitQuaternion &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetInitialState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_getOrientationEstimateAsQuaternion" "', argument " "2"" of type '" "iDynTree::UnitQuaternion &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetInitialState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::UnitQuaternion * >(argp2);
-  result = (bool)(arg1)->getOrientationEstimateAsQuaternion(*arg2);
+  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
+  result = (bool)(arg1)->ekfSetInitialState((iDynTree::Span< double,-1 > const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -77729,33 +79993,33 @@ int _wrap_IAttitudeEstimator_getOrientationEstimateAsQuaternion(int resc, mxArra
 }
 
 
-int _wrap_IAttitudeEstimator_getOrientationEstimateAsRPY(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
-  iDynTree::RPY *arg2 = 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetStateCovariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+  iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("IAttitudeEstimator_getOrientationEstimateAsRPY",argc,2,2,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetStateCovariance",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_getOrientationEstimateAsRPY" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetStateCovariance" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_getOrientationEstimateAsRPY" "', argument " "2"" of type '" "iDynTree::RPY &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetStateCovariance" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_getOrientationEstimateAsRPY" "', argument " "2"" of type '" "iDynTree::RPY &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetStateCovariance" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::RPY * >(argp2);
-  result = (bool)(arg1)->getOrientationEstimateAsRPY(*arg2);
+  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
+  result = (bool)(arg1)->ekfSetStateCovariance((iDynTree::Span< double,-1 > const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -77764,23 +80028,34 @@ int _wrap_IAttitudeEstimator_getOrientationEstimateAsRPY(int resc, mxArray *resv
 }
 
 
-int _wrap_IAttitudeEstimator_getInternalStateSize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetSystemNoiseCovariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+  iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  size_t result;
+  bool result;
   
-  if (!SWIG_check_num_args("IAttitudeEstimator_getInternalStateSize",argc,1,1,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetSystemNoiseCovariance",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_getInternalStateSize" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetSystemNoiseCovariance" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
-  result = ((iDynTree::IAttitudeEstimator const *)arg1)->getInternalStateSize();
-  _out = SWIG_From_size_t(static_cast< size_t >(result));
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetSystemNoiseCovariance" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetSystemNoiseCovariance" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
+  result = (bool)(arg1)->ekfSetSystemNoiseCovariance((iDynTree::Span< double,-1 > const &)*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -77788,8 +80063,8 @@ int _wrap_IAttitudeEstimator_getInternalStateSize(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_IAttitudeEstimator_getInternalState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementNoiseCovariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
   iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
@@ -77798,23 +80073,23 @@ int _wrap_IAttitudeEstimator_getInternalState(int resc, mxArray *resv[], int arg
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("IAttitudeEstimator_getInternalState",argc,2,2,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementNoiseCovariance",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_getInternalState" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementNoiseCovariance" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_getInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementNoiseCovariance" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_getInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementNoiseCovariance" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)((iDynTree::IAttitudeEstimator const *)arg1)->getInternalState((iDynTree::Span< double,-1 > const &)*arg2);
+  result = (bool)(arg1)->ekfSetMeasurementNoiseCovariance((iDynTree::Span< double,-1 > const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -77823,34 +80098,61 @@ int _wrap_IAttitudeEstimator_getInternalState(int resc, mxArray *resv[], int arg
 }
 
 
-int _wrap_IAttitudeEstimator_getDefaultInternalInitialState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
-  iDynTree::Span< double,-1 > *arg2 = 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetStateSize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+  size_t arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  size_t val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("IAttitudeEstimator_getDefaultInternalInitialState",argc,2,2,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetStateSize",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_getDefaultInternalInitialState" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetStateSize" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_getDefaultInternalInitialState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetStateSize" "', argument " "2"" of type '" "size_t""'");
+  } 
+  arg2 = static_cast< size_t >(val2);
+  (arg1)->ekfSetStateSize(arg2);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInputSize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+  size_t arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  size_t val2 ;
+  int ecode2 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetInputSize",argc,2,2,0)) {
+    SWIG_fail;
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_getDefaultInternalInitialState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetInputSize" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)((iDynTree::IAttitudeEstimator const *)arg1)->getDefaultInternalInitialState((iDynTree::Span< double,-1 > const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetInputSize" "', argument " "2"" of type '" "size_t""'");
+  } 
+  arg2 = static_cast< size_t >(val2);
+  (arg1)->ekfSetInputSize(arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -77858,8 +80160,39 @@ int _wrap_IAttitudeEstimator_getDefaultInternalInitialState(int resc, mxArray *r
 }
 
 
-int _wrap_IAttitudeEstimator_setInternalState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetOutputSize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+  size_t arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  size_t val2 ;
+  int ecode2 = 0 ;
+  mxArray * _out;
+  
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetOutputSize",argc,2,2,0)) {
+    SWIG_fail;
+  }
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetOutputSize" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetOutputSize" "', argument " "2"" of type '" "size_t""'");
+  } 
+  arg2 = static_cast< size_t >(val2);
+  (arg1)->ekfSetOutputSize(arg2);
+  _out = (mxArray*)0;
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfGetStates(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
   iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
@@ -77868,23 +80201,23 @@ int _wrap_IAttitudeEstimator_setInternalState(int resc, mxArray *resv[], int arg
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("IAttitudeEstimator_setInternalState",argc,2,2,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfGetStates",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_setInternalState" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfGetStates" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_setInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfGetStates" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_setInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfGetStates" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)(arg1)->setInternalState((iDynTree::Span< double,-1 > const &)*arg2);
+  result = (bool)((iDynTree::DiscreteExtendedKalmanFilterHelper const *)arg1)->ekfGetStates((iDynTree::Span< double,-1 > const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -77893,8 +80226,8 @@ int _wrap_IAttitudeEstimator_setInternalState(int resc, mxArray *resv[], int arg
 }
 
 
-int _wrap_IAttitudeEstimator_setInternalStateInitialOrientation(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::IAttitudeEstimator *arg1 = (iDynTree::IAttitudeEstimator *) 0 ;
+int _wrap_DiscreteExtendedKalmanFilterHelper_ekfGetStateCovariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
   iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
@@ -77903,23 +80236,23 @@ int _wrap_IAttitudeEstimator_setInternalStateInitialOrientation(int resc, mxArra
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("IAttitudeEstimator_setInternalStateInitialOrientation",argc,2,2,0)) {
+  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfGetStateCovariance",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__IAttitudeEstimator, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "IAttitudeEstimator_setInternalStateInitialOrientation" "', argument " "1"" of type '" "iDynTree::IAttitudeEstimator *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfGetStateCovariance" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::IAttitudeEstimator * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "IAttitudeEstimator_setInternalStateInitialOrientation" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfGetStateCovariance" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "IAttitudeEstimator_setInternalStateInitialOrientation" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfGetStateCovariance" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)(arg1)->setInternalStateInitialOrientation((iDynTree::Span< double,-1 > const &)*arg2);
+  result = (bool)((iDynTree::DiscreteExtendedKalmanFilterHelper const *)arg1)->ekfGetStateCovariance((iDynTree::Span< double,-1 > const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -77928,29 +80261,25 @@ int _wrap_IAttitudeEstimator_setInternalStateInitialOrientation(int resc, mxArra
 }
 
 
-int _wrap_AttitudeMahonyFilterParameters_time_step_in_seconds_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
-  double arg2 ;
+int _wrap_delete_DiscreteExtendedKalmanFilterHelper(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_time_step_in_seconds_set",argc,2,2,0)) {
+  int is_owned;
+  if (!SWIG_check_num_args("delete_DiscreteExtendedKalmanFilterHelper",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_time_step_in_seconds_set" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_DiscreteExtendedKalmanFilterHelper" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  if (is_owned) {
+    delete arg1;
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilterParameters_time_step_in_seconds_set" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->time_step_in_seconds = arg2;
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -77959,32 +80288,26 @@ int _wrap_AttitudeMahonyFilterParameters_time_step_in_seconds_set(int resc, mxAr
 }
 
 
-int _wrap_AttitudeMahonyFilterParameters_time_step_in_seconds_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  double result;
-  
-  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_time_step_in_seconds_get",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_time_step_in_seconds_get" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
-  result = (double) ((arg1)->time_step_in_seconds);
-  _out = SWIG_From_double(static_cast< double >(result));
-  if (_out) --resc, *resv++ = _out;
+SWIGINTERN int _wrap_output_dimensions_with_magnetometer_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  resv[0] = SWIG_From_unsigned_SS_int(static_cast< unsigned int >(iDynTree::output_dimensions_with_magnetometer));
   return 0;
-fail:
-  return 1;
 }
 
 
-int _wrap_AttitudeMahonyFilterParameters_kp_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
+SWIGINTERN int _wrap_output_dimensions_without_magnetometer_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  resv[0] = SWIG_From_unsigned_SS_int(static_cast< unsigned int >(iDynTree::output_dimensions_without_magnetometer));
+  return 0;
+}
+
+
+SWIGINTERN int _wrap_input_dimensions_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  resv[0] = SWIG_From_unsigned_SS_int(static_cast< unsigned int >(iDynTree::input_dimensions));
+  return 0;
+}
+
+
+int _wrap_AttitudeQuaternionEKFParameters_time_step_in_seconds_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
   double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
@@ -77992,20 +80315,20 @@ int _wrap_AttitudeMahonyFilterParameters_kp_set(int resc, mxArray *resv[], int a
   int ecode2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_kp_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_time_step_in_seconds_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_kp_set" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_time_step_in_seconds_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
   ecode2 = SWIG_AsVal_double(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilterParameters_kp_set" "', argument " "2"" of type '" "double""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_time_step_in_seconds_set" "', argument " "2"" of type '" "double""'");
   } 
   arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->kp = arg2;
+  if (arg1) (arg1)->time_step_in_seconds = arg2;
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -78014,22 +80337,22 @@ int _wrap_AttitudeMahonyFilterParameters_kp_set(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_AttitudeMahonyFilterParameters_kp_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
+int _wrap_AttitudeQuaternionEKFParameters_time_step_in_seconds_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
   double result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_kp_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_time_step_in_seconds_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_kp_get" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_time_step_in_seconds_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
-  result = (double) ((arg1)->kp);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
+  result = (double) ((arg1)->time_step_in_seconds);
   _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -78038,8 +80361,8 @@ int _wrap_AttitudeMahonyFilterParameters_kp_get(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_AttitudeMahonyFilterParameters_ki_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
+int _wrap_AttitudeQuaternionEKFParameters_bias_correlation_time_factor_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
   double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
@@ -78047,20 +80370,20 @@ int _wrap_AttitudeMahonyFilterParameters_ki_set(int resc, mxArray *resv[], int a
   int ecode2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_ki_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_bias_correlation_time_factor_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_ki_set" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_bias_correlation_time_factor_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
   ecode2 = SWIG_AsVal_double(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilterParameters_ki_set" "', argument " "2"" of type '" "double""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_bias_correlation_time_factor_set" "', argument " "2"" of type '" "double""'");
   } 
   arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->ki = arg2;
+  if (arg1) (arg1)->bias_correlation_time_factor = arg2;
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -78069,22 +80392,22 @@ int _wrap_AttitudeMahonyFilterParameters_ki_set(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_AttitudeMahonyFilterParameters_ki_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
+int _wrap_AttitudeQuaternionEKFParameters_bias_correlation_time_factor_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
   double result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_ki_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_bias_correlation_time_factor_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_ki_get" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_bias_correlation_time_factor_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
-  result = (double) ((arg1)->ki);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
+  result = (double) ((arg1)->bias_correlation_time_factor);
   _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -78093,29 +80416,29 @@ int _wrap_AttitudeMahonyFilterParameters_ki_get(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_AttitudeMahonyFilterParameters_use_magnetometer_measurements_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
-  bool arg2 ;
+int _wrap_AttitudeQuaternionEKFParameters_accelerometer_noise_variance_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  bool val2 ;
+  double val2 ;
   int ecode2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_use_magnetometer_measurements_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_accelerometer_noise_variance_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_use_magnetometer_measurements_set" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_accelerometer_noise_variance_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
-  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilterParameters_use_magnetometer_measurements_set" "', argument " "2"" of type '" "bool""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_accelerometer_noise_variance_set" "', argument " "2"" of type '" "double""'");
   } 
-  arg2 = static_cast< bool >(val2);
-  if (arg1) (arg1)->use_magnetometer_measurements = arg2;
+  arg2 = static_cast< double >(val2);
+  if (arg1) (arg1)->accelerometer_noise_variance = arg2;
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -78124,23 +80447,23 @@ int _wrap_AttitudeMahonyFilterParameters_use_magnetometer_measurements_set(int r
 }
 
 
-int _wrap_AttitudeMahonyFilterParameters_use_magnetometer_measurements_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
+int _wrap_AttitudeQuaternionEKFParameters_accelerometer_noise_variance_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  bool result;
+  double result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_use_magnetometer_measurements_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_accelerometer_noise_variance_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_use_magnetometer_measurements_get" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_accelerometer_noise_variance_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
-  result = (bool) ((arg1)->use_magnetometer_measurements);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
+  result = (double) ((arg1)->accelerometer_noise_variance);
+  _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -78148,8 +80471,8 @@ int _wrap_AttitudeMahonyFilterParameters_use_magnetometer_measurements_get(int r
 }
 
 
-int _wrap_AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
+int _wrap_AttitudeQuaternionEKFParameters_magnetometer_noise_variance_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
   double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
@@ -78157,20 +80480,20 @@ int _wrap_AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_se
   int ecode2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_magnetometer_noise_variance_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_set" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_magnetometer_noise_variance_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
   ecode2 = SWIG_AsVal_double(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_set" "', argument " "2"" of type '" "double""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_magnetometer_noise_variance_set" "', argument " "2"" of type '" "double""'");
   } 
   arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->confidence_magnetometer_measurements = arg2;
+  if (arg1) (arg1)->magnetometer_noise_variance = arg2;
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -78179,22 +80502,22 @@ int _wrap_AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_se
 }
 
 
-int _wrap_AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
+int _wrap_AttitudeQuaternionEKFParameters_magnetometer_noise_variance_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
   double result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_magnetometer_noise_variance_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_get" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_magnetometer_noise_variance_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
-  result = (double) ((arg1)->confidence_magnetometer_measurements);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
+  result = (double) ((arg1)->magnetometer_noise_variance);
   _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -78203,42 +80526,29 @@ int _wrap_AttitudeMahonyFilterParameters_confidence_magnetometer_measurements_ge
 }
 
 
-int _wrap_new_AttitudeMahonyFilterParameters(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  mxArray * _out;
-  iDynTree::AttitudeMahonyFilterParameters *result = 0 ;
-  
-  if (!SWIG_check_num_args("new_AttitudeMahonyFilterParameters",argc,0,0,0)) {
-    SWIG_fail;
-  }
-  (void)argv;
-  result = (iDynTree::AttitudeMahonyFilterParameters *)new iDynTree::AttitudeMahonyFilterParameters();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, 1 |  0 );
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_delete_AttitudeMahonyFilterParameters(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilterParameters *arg1 = (iDynTree::AttitudeMahonyFilterParameters *) 0 ;
+int _wrap_AttitudeQuaternionEKFParameters_gyroscope_noise_variance_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
   
-  int is_owned;
-  if (!SWIG_check_num_args("delete_AttitudeMahonyFilterParameters",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_gyroscope_noise_variance_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_AttitudeMahonyFilterParameters" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilterParameters *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp1);
-  if (is_owned) {
-    delete arg1;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_gyroscope_noise_variance_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_gyroscope_noise_variance_set" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  if (arg1) (arg1)->gyroscope_noise_variance = arg2;
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -78247,16 +80557,23 @@ int _wrap_delete_AttitudeMahonyFilterParameters(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_new_AttitudeMahonyFilter(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_AttitudeQuaternionEKFParameters_gyroscope_noise_variance_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
   mxArray * _out;
-  iDynTree::AttitudeMahonyFilter *result = 0 ;
+  double result;
   
-  if (!SWIG_check_num_args("new_AttitudeMahonyFilter",argc,0,0,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_gyroscope_noise_variance_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  (void)argv;
-  result = (iDynTree::AttitudeMahonyFilter *)new iDynTree::AttitudeMahonyFilter();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 1 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_gyroscope_noise_variance_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
+  result = (double) ((arg1)->gyroscope_noise_variance);
+  _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -78264,29 +80581,29 @@ int _wrap_new_AttitudeMahonyFilter(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_AttitudeMahonyFilter_useMagnetoMeterMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
-  bool arg2 ;
+int _wrap_AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  bool val2 ;
+  double val2 ;
   int ecode2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_useMagnetoMeterMeasurements",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_useMagnetoMeterMeasurements" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilter_useMagnetoMeterMeasurements" "', argument " "2"" of type '" "bool""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_set" "', argument " "2"" of type '" "double""'");
   } 
-  arg2 = static_cast< bool >(val2);
-  (arg1)->useMagnetoMeterMeasurements(arg2);
+  arg2 = static_cast< double >(val2);
+  if (arg1) (arg1)->gyro_bias_noise_variance = arg2;
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -78295,30 +80612,23 @@ int _wrap_AttitudeMahonyFilter_useMagnetoMeterMeasurements(int resc, mxArray *re
 }
 
 
-int _wrap_AttitudeMahonyFilter_setConfidenceForMagnetometerMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
-  double arg2 ;
+int _wrap_AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
+  double result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_setConfidenceForMagnetometerMeasurements",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_setConfidenceForMagnetometerMeasurements" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilter_setConfidenceForMagnetometerMeasurements" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  (arg1)->setConfidenceForMagnetometerMeasurements(arg2);
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
+  result = (double) ((arg1)->gyro_bias_noise_variance);
+  _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -78326,8 +80636,8 @@ int _wrap_AttitudeMahonyFilter_setConfidenceForMagnetometerMeasurements(int resc
 }
 
 
-int _wrap_AttitudeMahonyFilter_setGainkp(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+int _wrap_AttitudeQuaternionEKFParameters_initial_orientation_error_variance_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
   double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
@@ -78335,20 +80645,20 @@ int _wrap_AttitudeMahonyFilter_setGainkp(int resc, mxArray *resv[], int argc, mx
   int ecode2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_setGainkp",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_initial_orientation_error_variance_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_setGainkp" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_initial_orientation_error_variance_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
   ecode2 = SWIG_AsVal_double(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilter_setGainkp" "', argument " "2"" of type '" "double""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_initial_orientation_error_variance_set" "', argument " "2"" of type '" "double""'");
   } 
   arg2 = static_cast< double >(val2);
-  (arg1)->setGainkp(arg2);
+  if (arg1) (arg1)->initial_orientation_error_variance = arg2;
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -78357,30 +80667,23 @@ int _wrap_AttitudeMahonyFilter_setGainkp(int resc, mxArray *resv[], int argc, mx
 }
 
 
-int _wrap_AttitudeMahonyFilter_setGainki(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
-  double arg2 ;
+int _wrap_AttitudeQuaternionEKFParameters_initial_orientation_error_variance_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
+  double result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_setGainki",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_initial_orientation_error_variance_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_setGainki" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_initial_orientation_error_variance_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilter_setGainki" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  (arg1)->setGainki(arg2);
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
+  result = (double) ((arg1)->initial_orientation_error_variance);
+  _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -78388,8 +80691,8 @@ int _wrap_AttitudeMahonyFilter_setGainki(int resc, mxArray *resv[], int argc, mx
 }
 
 
-int _wrap_AttitudeMahonyFilter_setTimeStepInSeconds(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+int _wrap_AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
   double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
@@ -78397,20 +80700,20 @@ int _wrap_AttitudeMahonyFilter_setTimeStepInSeconds(int resc, mxArray *resv[], i
   int ecode2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_setTimeStepInSeconds",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_setTimeStepInSeconds" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
   ecode2 = SWIG_AsVal_double(argv[1], &val2);
   if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeMahonyFilter_setTimeStepInSeconds" "', argument " "2"" of type '" "double""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_set" "', argument " "2"" of type '" "double""'");
   } 
   arg2 = static_cast< double >(val2);
-  (arg1)->setTimeStepInSeconds(arg2);
+  if (arg1) (arg1)->initial_ang_vel_error_variance = arg2;
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -78419,33 +80722,23 @@ int _wrap_AttitudeMahonyFilter_setTimeStepInSeconds(int resc, mxArray *resv[], i
 }
 
 
-int _wrap_AttitudeMahonyFilter_setGravityDirection(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
-  iDynTree::Direction *arg2 = 0 ;
+int _wrap_AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
   mxArray * _out;
+  double result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_setGravityDirection",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_setGravityDirection" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Direction,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_setGravityDirection" "', argument " "2"" of type '" "iDynTree::Direction const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_setGravityDirection" "', argument " "2"" of type '" "iDynTree::Direction const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Direction * >(argp2);
-  (arg1)->setGravityDirection((iDynTree::Direction const &)*arg2);
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
+  result = (double) ((arg1)->initial_ang_vel_error_variance);
+  _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -78453,34 +80746,30 @@ int _wrap_AttitudeMahonyFilter_setGravityDirection(int resc, mxArray *resv[], in
 }
 
 
-int _wrap_AttitudeMahonyFilter_setParameters(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
-  iDynTree::AttitudeMahonyFilterParameters *arg2 = 0 ;
+int _wrap_AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_setParameters",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_setParameters" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_setParameters" "', argument " "2"" of type '" "iDynTree::AttitudeMahonyFilterParameters const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_setParameters" "', argument " "2"" of type '" "iDynTree::AttitudeMahonyFilterParameters const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp2);
-  result = (bool)(arg1)->setParameters((iDynTree::AttitudeMahonyFilterParameters const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_set" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  if (arg1) (arg1)->initial_gyro_bias_error_variance = arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -78488,33 +80777,23 @@ int _wrap_AttitudeMahonyFilter_setParameters(int resc, mxArray *resv[], int argc
 }
 
 
-int _wrap_AttitudeMahonyFilter_getParameters(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
-  iDynTree::AttitudeMahonyFilterParameters *arg2 = 0 ;
+int _wrap_AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
   mxArray * _out;
+  double result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_getParameters",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_getParameters" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__AttitudeMahonyFilterParameters,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_getParameters" "', argument " "2"" of type '" "iDynTree::AttitudeMahonyFilterParameters &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_getParameters" "', argument " "2"" of type '" "iDynTree::AttitudeMahonyFilterParameters &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::AttitudeMahonyFilterParameters * >(argp2);
-  (arg1)->getParameters(*arg2);
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
+  result = (double) ((arg1)->initial_gyro_bias_error_variance);
+  _out = SWIG_From_double(static_cast< double >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -78522,45 +80801,30 @@ int _wrap_AttitudeMahonyFilter_getParameters(int resc, mxArray *resv[], int argc
 }
 
 
-int _wrap_AttitudeMahonyFilter_updateFilterWithMeasurements__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
-  iDynTree::LinearAccelerometerMeasurements *arg2 = 0 ;
-  iDynTree::GyroscopeMeasurements *arg3 = 0 ;
+int _wrap_AttitudeQuaternionEKFParameters_use_magnetometer_measurements_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
+  bool arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
+  bool val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_updateFilterWithMeasurements",argc,3,3,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_use_magnetometer_measurements_set",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::LinearAccelerometerMeasurements * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_use_magnetometer_measurements_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::GyroscopeMeasurements * >(argp3);
-  result = (bool)(arg1)->updateFilterWithMeasurements((iDynTree::LinearAccelerometerMeasurements const &)*arg2,(iDynTree::GyroscopeMeasurements const &)*arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
+  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_use_magnetometer_measurements_set" "', argument " "2"" of type '" "bool""'");
+  } 
+  arg2 = static_cast< bool >(val2);
+  if (arg1) (arg1)->use_magnetometer_measurements = arg2;
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -78568,55 +80832,22 @@ int _wrap_AttitudeMahonyFilter_updateFilterWithMeasurements__SWIG_0(int resc, mx
 }
 
 
-int _wrap_AttitudeMahonyFilter_updateFilterWithMeasurements__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
-  iDynTree::LinearAccelerometerMeasurements *arg2 = 0 ;
-  iDynTree::GyroscopeMeasurements *arg3 = 0 ;
-  iDynTree::MagnetometerMeasurements *arg4 = 0 ;
+int _wrap_AttitudeQuaternionEKFParameters_use_magnetometer_measurements_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_updateFilterWithMeasurements",argc,4,4,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_use_magnetometer_measurements_get",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::LinearAccelerometerMeasurements * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::GyroscopeMeasurements * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "4"" of type '" "iDynTree::MagnetometerMeasurements const &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_updateFilterWithMeasurements" "', argument " "4"" of type '" "iDynTree::MagnetometerMeasurements const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_use_magnetometer_measurements_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg4 = reinterpret_cast< iDynTree::MagnetometerMeasurements * >(argp4);
-  result = (bool)(arg1)->updateFilterWithMeasurements((iDynTree::LinearAccelerometerMeasurements const &)*arg2,(iDynTree::GyroscopeMeasurements const &)*arg3,(iDynTree::MagnetometerMeasurements const &)*arg4);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
+  result = (bool) ((arg1)->use_magnetometer_measurements);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -78625,76 +80856,43 @@ int _wrap_AttitudeMahonyFilter_updateFilterWithMeasurements__SWIG_1(int resc, mx
 }
 
 
-int _wrap_AttitudeMahonyFilter_updateFilterWithMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_AttitudeMahonyFilter_updateFilterWithMeasurements__SWIG_0(resc,resv,argc,argv);
-        }
-      }
-    }
-  }
-  if (argc == 4) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            return _wrap_AttitudeMahonyFilter_updateFilterWithMeasurements__SWIG_1(resc,resv,argc,argv);
-          }
-        }
-      }
-    }
-  }
+int _wrap_new_AttitudeQuaternionEKFParameters(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  mxArray * _out;
+  iDynTree::AttitudeQuaternionEKFParameters *result = 0 ;
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'AttitudeMahonyFilter_updateFilterWithMeasurements'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::AttitudeMahonyFilter::updateFilterWithMeasurements(iDynTree::LinearAccelerometerMeasurements const &,iDynTree::GyroscopeMeasurements const &)\n"
-    "    iDynTree::AttitudeMahonyFilter::updateFilterWithMeasurements(iDynTree::LinearAccelerometerMeasurements const &,iDynTree::GyroscopeMeasurements const &,iDynTree::MagnetometerMeasurements const &)\n");
+  if (!SWIG_check_num_args("new_AttitudeQuaternionEKFParameters",argc,0,0,0)) {
+    SWIG_fail;
+  }
+  (void)argv;
+  result = (iDynTree::AttitudeQuaternionEKFParameters *)new iDynTree::AttitudeQuaternionEKFParameters();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 1 |  0 );
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
   return 1;
 }
 
 
-int _wrap_AttitudeMahonyFilter_propagateStates(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+int _wrap_delete_AttitudeQuaternionEKFParameters(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_propagateStates",argc,1,1,0)) {
+  int is_owned;
+  if (!SWIG_check_num_args("delete_AttitudeQuaternionEKFParameters",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_propagateStates" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_AttitudeQuaternionEKFParameters" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  result = (bool)(arg1)->propagateStates();
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
+  if (is_owned) {
+    delete arg1;
+  }
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -78702,34 +80900,16 @@ int _wrap_AttitudeMahonyFilter_propagateStates(int resc, mxArray *resv[], int ar
 }
 
 
-int _wrap_AttitudeMahonyFilter_getOrientationEstimateAsRotationMatrix(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
-  iDynTree::Rotation *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+int _wrap_new_AttitudeQuaternionEKF(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
-  bool result;
+  iDynTree::AttitudeQuaternionEKF *result = 0 ;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_getOrientationEstimateAsRotationMatrix",argc,2,2,0)) {
+  if (!SWIG_check_num_args("new_AttitudeQuaternionEKF",argc,0,0,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsRotationMatrix" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Rotation,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsRotationMatrix" "', argument " "2"" of type '" "iDynTree::Rotation &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsRotationMatrix" "', argument " "2"" of type '" "iDynTree::Rotation &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Rotation * >(argp2);
-  result = (bool)(arg1)->getOrientationEstimateAsRotationMatrix(*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  (void)argv;
+  result = (iDynTree::AttitudeQuaternionEKF *)new iDynTree::AttitudeQuaternionEKF();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -78737,34 +80917,33 @@ int _wrap_AttitudeMahonyFilter_getOrientationEstimateAsRotationMatrix(int resc,
 }
 
 
-int _wrap_AttitudeMahonyFilter_getOrientationEstimateAsQuaternion(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
-  iDynTree::UnitQuaternion *arg2 = 0 ;
+int _wrap_AttitudeQuaternionEKF_getParameters(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+  iDynTree::AttitudeQuaternionEKFParameters *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 = 0 ;
   int res2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_getOrientationEstimateAsQuaternion",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_getParameters",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsQuaternion" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_getParameters" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t,  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsQuaternion" "', argument " "2"" of type '" "iDynTree::UnitQuaternion &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_getParameters" "', argument " "2"" of type '" "iDynTree::AttitudeQuaternionEKFParameters &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsQuaternion" "', argument " "2"" of type '" "iDynTree::UnitQuaternion &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_getParameters" "', argument " "2"" of type '" "iDynTree::AttitudeQuaternionEKFParameters &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::UnitQuaternion * >(argp2);
-  result = (bool)(arg1)->getOrientationEstimateAsQuaternion(*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg2 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp2);
+  (arg1)->getParameters(*arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -78772,34 +80951,33 @@ int _wrap_AttitudeMahonyFilter_getOrientationEstimateAsQuaternion(int resc, mxAr
 }
 
 
-int _wrap_AttitudeMahonyFilter_getOrientationEstimateAsRPY(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
-  iDynTree::RPY *arg2 = 0 ;
+int _wrap_AttitudeQuaternionEKF_setParameters(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+  iDynTree::AttitudeQuaternionEKFParameters *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_getOrientationEstimateAsRPY",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setParameters",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsRPY" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setParameters" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsRPY" "', argument " "2"" of type '" "iDynTree::RPY &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_setParameters" "', argument " "2"" of type '" "iDynTree::AttitudeQuaternionEKFParameters const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_getOrientationEstimateAsRPY" "', argument " "2"" of type '" "iDynTree::RPY &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_setParameters" "', argument " "2"" of type '" "iDynTree::AttitudeQuaternionEKFParameters const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::RPY * >(argp2);
-  result = (bool)(arg1)->getOrientationEstimateAsRPY(*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg2 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp2);
+  (arg1)->setParameters((iDynTree::AttitudeQuaternionEKFParameters const &)*arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -78807,23 +80985,33 @@ int _wrap_AttitudeMahonyFilter_getOrientationEstimateAsRPY(int resc, mxArray *re
 }
 
 
-int _wrap_AttitudeMahonyFilter_getInternalStateSize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+int _wrap_AttitudeQuaternionEKF_setGravityDirection(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+  iDynTree::Direction *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  size_t result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_getInternalStateSize",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setGravityDirection",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_getInternalStateSize" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setGravityDirection" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  result = ((iDynTree::AttitudeMahonyFilter const *)arg1)->getInternalStateSize();
-  _out = SWIG_From_size_t(static_cast< size_t >(result));
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Direction,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_setGravityDirection" "', argument " "2"" of type '" "iDynTree::Direction const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_setGravityDirection" "', argument " "2"" of type '" "iDynTree::Direction const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Direction * >(argp2);
+  (arg1)->setGravityDirection((iDynTree::Direction const &)*arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -78831,34 +81019,30 @@ int _wrap_AttitudeMahonyFilter_getInternalStateSize(int resc, mxArray *resv[], i
 }
 
 
-int _wrap_AttitudeMahonyFilter_getInternalState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
-  iDynTree::Span< double,-1 > *arg2 = 0 ;
+int _wrap_AttitudeQuaternionEKF_setTimeStepInSeconds(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_getInternalState",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setTimeStepInSeconds",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_getInternalState" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_getInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_getInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setTimeStepInSeconds" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)((iDynTree::AttitudeMahonyFilter const *)arg1)->getInternalState((iDynTree::Span< double,-1 > const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKF_setTimeStepInSeconds" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  (arg1)->setTimeStepInSeconds(arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -78866,34 +81050,30 @@ int _wrap_AttitudeMahonyFilter_getInternalState(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_AttitudeMahonyFilter_getDefaultInternalInitialState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
-  iDynTree::Span< double,-1 > *arg2 = 0 ;
+int _wrap_AttitudeQuaternionEKF_setBiasCorrelationTimeFactor(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+  double arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_getDefaultInternalInitialState",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setBiasCorrelationTimeFactor",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_getDefaultInternalInitialState" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_getDefaultInternalInitialState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_getDefaultInternalInitialState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setBiasCorrelationTimeFactor" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)((iDynTree::AttitudeMahonyFilter const *)arg1)->getDefaultInternalInitialState((iDynTree::Span< double,-1 > const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKF_setBiasCorrelationTimeFactor" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  (arg1)->setBiasCorrelationTimeFactor(arg2);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -78901,33 +81081,30 @@ int _wrap_AttitudeMahonyFilter_getDefaultInternalInitialState(int resc, mxArray
 }
 
 
-int _wrap_AttitudeMahonyFilter_setInternalState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
-  iDynTree::Span< double,-1 > *arg2 = 0 ;
+int _wrap_AttitudeQuaternionEKF_useMagnetometerMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+  bool arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  bool val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_setInternalState",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_useMagnetometerMeasurements",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_setInternalState" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_setInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_setInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_useMagnetometerMeasurements" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)(arg1)->setInternalState((iDynTree::Span< double,-1 > const &)*arg2);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKF_useMagnetometerMeasurements" "', argument " "2"" of type '" "bool""'");
+  } 
+  arg2 = static_cast< bool >(val2);
+  result = (bool)(arg1)->useMagnetometerMeasurements(arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -78936,33 +81113,38 @@ int _wrap_AttitudeMahonyFilter_setInternalState(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_AttitudeMahonyFilter_setInternalStateInitialOrientation(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
-  iDynTree::Span< double,-1 > *arg2 = 0 ;
+int _wrap_AttitudeQuaternionEKF_setMeasurementNoiseVariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+  double arg2 ;
+  double arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
+  double val3 ;
+  int ecode3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("AttitudeMahonyFilter_setInternalStateInitialOrientation",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setMeasurementNoiseVariance",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeMahonyFilter_setInternalStateInitialOrientation" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeMahonyFilter_setInternalStateInitialOrientation" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeMahonyFilter_setInternalStateInitialOrientation" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setMeasurementNoiseVariance" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)(arg1)->setInternalStateInitialOrientation((iDynTree::Span< double,-1 > const &)*arg2);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKF_setMeasurementNoiseVariance" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  ecode3 = SWIG_AsVal_double(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "AttitudeQuaternionEKF_setMeasurementNoiseVariance" "', argument " "3"" of type '" "double""'");
+  } 
+  arg3 = static_cast< double >(val3);
+  result = (bool)(arg1)->setMeasurementNoiseVariance(arg2,arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -78971,26 +81153,39 @@ int _wrap_AttitudeMahonyFilter_setInternalStateInitialOrientation(int resc, mxAr
 }
 
 
-int _wrap_delete_AttitudeMahonyFilter(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeMahonyFilter *arg1 = (iDynTree::AttitudeMahonyFilter *) 0 ;
+int _wrap_AttitudeQuaternionEKF_setSystemNoiseVariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+  double arg2 ;
+  double arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
+  double val3 ;
+  int ecode3 = 0 ;
   mxArray * _out;
+  bool result;
   
-  int is_owned;
-  if (!SWIG_check_num_args("delete_AttitudeMahonyFilter",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setSystemNoiseVariance",argc,3,3,0)) {
     SWIG_fail;
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeMahonyFilter, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_AttitudeMahonyFilter" "', argument " "1"" of type '" "iDynTree::AttitudeMahonyFilter *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeMahonyFilter * >(argp1);
-  if (is_owned) {
-    delete arg1;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setSystemNoiseVariance" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKF_setSystemNoiseVariance" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  ecode3 = SWIG_AsVal_double(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "AttitudeQuaternionEKF_setSystemNoiseVariance" "', argument " "3"" of type '" "double""'");
+  } 
+  arg3 = static_cast< double >(val3);
+  result = (bool)(arg1)->setSystemNoiseVariance(arg2,arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -78998,55 +81193,46 @@ int _wrap_delete_AttitudeMahonyFilter(int resc, mxArray *resv[], int argc, mxArr
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekf_f(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
-  iDynTree::VectorDynSize *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  iDynTree::VectorDynSize *arg4 = 0 ;
+int _wrap_AttitudeQuaternionEKF_setInitialStateCovariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+  double arg2 ;
+  double arg3 ;
+  double arg4 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 = 0 ;
-  int res4 = 0 ;
+  double val2 ;
+  int ecode2 = 0 ;
+  double val3 ;
+  int ecode3 = 0 ;
+  double val4 ;
+  int ecode4 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekf_f",argc,4,4,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setInitialStateCovariance",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_f" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_f" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_f" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_f" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_f" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_f" "', argument " "4"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_f" "', argument " "4"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setInitialStateCovariance" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  arg4 = reinterpret_cast< iDynTree::VectorDynSize * >(argp4);
-  result = (bool)(arg1)->ekf_f((iDynTree::VectorDynSize const &)*arg2,(iDynTree::VectorDynSize const &)*arg3,*arg4);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKF_setInitialStateCovariance" "', argument " "2"" of type '" "double""'");
+  } 
+  arg2 = static_cast< double >(val2);
+  ecode3 = SWIG_AsVal_double(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "AttitudeQuaternionEKF_setInitialStateCovariance" "', argument " "3"" of type '" "double""'");
+  } 
+  arg3 = static_cast< double >(val3);
+  ecode4 = SWIG_AsVal_double(argv[3], &val4);
+  if (!SWIG_IsOK(ecode4)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "AttitudeQuaternionEKF_setInitialStateCovariance" "', argument " "4"" of type '" "double""'");
+  } 
+  arg4 = static_cast< double >(val4);
+  result = (bool)(arg1)->setInitialStateCovariance(arg2,arg3,arg4);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -79055,44 +81241,22 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekf_f(int resc, mxArray *resv[], in
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekf_h(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
-  iDynTree::VectorDynSize *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
+int _wrap_AttitudeQuaternionEKF_initializeFilter(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekf_h",argc,3,3,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_initializeFilter",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_h" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_h" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_h" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_h" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekf_h" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
+  if (!SWIG_IsOK(res1)) {
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_initializeFilter" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  result = (bool)(arg1)->ekf_h((iDynTree::VectorDynSize const &)*arg2,*arg3);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  result = (bool)(arg1)->initializeFilter();
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -79101,44 +81265,44 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekf_h(int resc, mxArray *resv[], in
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
-  iDynTree::VectorDynSize *arg2 = 0 ;
-  iDynTree::MatrixDynSize *arg3 = 0 ;
+int _wrap_AttitudeQuaternionEKF_updateFilterWithMeasurements__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+  iDynTree::LinearAccelerometerMeasurements *arg2 = 0 ;
+  iDynTree::GyroscopeMeasurements *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
-  void *argp3 = 0 ;
+  void *argp3 ;
   int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF",argc,3,3,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_updateFilterWithMeasurements",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  arg2 = reinterpret_cast< iDynTree::LinearAccelerometerMeasurements * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
   if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
   }
   if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp3);
-  result = (bool)(arg1)->ekfComputeJacobianF(*arg2,*arg3);
+  arg3 = reinterpret_cast< iDynTree::GyroscopeMeasurements * >(argp3);
+  result = (bool)(arg1)->updateFilterWithMeasurements((iDynTree::LinearAccelerometerMeasurements const &)*arg2,(iDynTree::GyroscopeMeasurements const &)*arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -79147,55 +81311,55 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF__SWIG_0(int res
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
-  iDynTree::VectorDynSize *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  iDynTree::MatrixDynSize *arg4 = 0 ;
+int _wrap_AttitudeQuaternionEKF_updateFilterWithMeasurements__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+  iDynTree::LinearAccelerometerMeasurements *arg2 = 0 ;
+  iDynTree::GyroscopeMeasurements *arg3 = 0 ;
+  iDynTree::MagnetometerMeasurements *arg4 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
-  void *argp3 = 0 ;
+  void *argp3 ;
   int res3 = 0 ;
-  void *argp4 = 0 ;
+  void *argp4 ;
   int res4 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF",argc,4,4,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_updateFilterWithMeasurements",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  arg2 = reinterpret_cast< iDynTree::LinearAccelerometerMeasurements * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
   if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
   }
   if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  arg3 = reinterpret_cast< iDynTree::GyroscopeMeasurements * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
   if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "4"" of type '" "iDynTree::MagnetometerMeasurements const &""'"); 
   }
   if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "4"" of type '" "iDynTree::MagnetometerMeasurements const &""'"); 
   }
-  arg4 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp4);
-  result = (bool)(arg1)->ekfComputeJacobianF(*arg2,*arg3,*arg4);
+  arg4 = reinterpret_cast< iDynTree::MagnetometerMeasurements * >(argp4);
+  result = (bool)(arg1)->updateFilterWithMeasurements((iDynTree::LinearAccelerometerMeasurements const &)*arg2,(iDynTree::GyroscopeMeasurements const &)*arg3,(iDynTree::MagnetometerMeasurements const &)*arg4);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -79204,22 +81368,22 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF__SWIG_1(int res
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_AttitudeQuaternionEKF_updateFilterWithMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 3) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
         void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
         _v = SWIG_CheckState(res);
         if (_v) {
-          return _wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF__SWIG_0(resc,resv,argc,argv);
+          return _wrap_AttitudeQuaternionEKF_updateFilterWithMeasurements__SWIG_0(resc,resv,argc,argv);
         }
       }
     }
@@ -79227,74 +81391,52 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF(int resc, mxArr
   if (argc == 4) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
         void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
         _v = SWIG_CheckState(res);
         if (_v) {
           void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
           _v = SWIG_CheckState(res);
           if (_v) {
-            return _wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF__SWIG_1(resc,resv,argc,argv);
+            return _wrap_AttitudeQuaternionEKF_updateFilterWithMeasurements__SWIG_1(resc,resv,argc,argv);
           }
         }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianF'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'AttitudeQuaternionEKF_updateFilterWithMeasurements'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::DiscreteExtendedKalmanFilterHelper::ekfComputeJacobianF(iDynTree::VectorDynSize &,iDynTree::MatrixDynSize &)\n"
-    "    iDynTree::DiscreteExtendedKalmanFilterHelper::ekfComputeJacobianF(iDynTree::VectorDynSize &,iDynTree::VectorDynSize &,iDynTree::MatrixDynSize &)\n");
+    "    iDynTree::AttitudeQuaternionEKF::updateFilterWithMeasurements(iDynTree::LinearAccelerometerMeasurements const &,iDynTree::GyroscopeMeasurements const &)\n"
+    "    iDynTree::AttitudeQuaternionEKF::updateFilterWithMeasurements(iDynTree::LinearAccelerometerMeasurements const &,iDynTree::GyroscopeMeasurements const &,iDynTree::MagnetometerMeasurements const &)\n");
   return 1;
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
-  iDynTree::VectorDynSize *arg2 = 0 ;
-  iDynTree::MatrixDynSize *arg3 = 0 ;
+int _wrap_AttitudeQuaternionEKF_propagateStates(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH",argc,3,3,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_propagateStates",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_propagateStates" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp3);
-  result = (bool)(arg1)->ekfComputeJacobianH(*arg2,*arg3);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  result = (bool)(arg1)->propagateStates();
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -79303,46 +81445,33 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfComputeJacobianH(int resc, mxArr
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfPredict(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+int _wrap_AttitudeQuaternionEKF_getOrientationEstimateAsRotationMatrix(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+  iDynTree::Rotation *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfPredict",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_getOrientationEstimateAsRotationMatrix",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfPredict" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsRotationMatrix" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  result = (bool)(arg1)->ekfPredict();
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfUpdate(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfUpdate",argc,1,1,0)) {
-    SWIG_fail;
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Rotation,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsRotationMatrix" "', argument " "2"" of type '" "iDynTree::Rotation &""'"); 
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfUpdate" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsRotationMatrix" "', argument " "2"" of type '" "iDynTree::Rotation &""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  result = (bool)(arg1)->ekfUpdate();
+  arg2 = reinterpret_cast< iDynTree::Rotation * >(argp2);
+  result = (bool)(arg1)->getOrientationEstimateAsRotationMatrix(*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -79351,22 +81480,33 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfUpdate(int resc, mxArray *resv[]
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfInit__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+int _wrap_AttitudeQuaternionEKF_getOrientationEstimateAsQuaternion(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+  iDynTree::UnitQuaternion *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfInit",argc,1,1,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_getOrientationEstimateAsQuaternion",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfInit" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsQuaternion" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  result = (bool)(arg1)->ekfInit();
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsQuaternion" "', argument " "2"" of type '" "iDynTree::UnitQuaternion &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsQuaternion" "', argument " "2"" of type '" "iDynTree::UnitQuaternion &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::UnitQuaternion * >(argp2);
+  result = (bool)(arg1)->getOrientationEstimateAsQuaternion(*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -79375,122 +81515,34 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfInit__SWIG_0(int resc, mxArray *
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfInit__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
-  size_t *arg2 = 0 ;
-  size_t *arg3 = 0 ;
-  size_t *arg4 = 0 ;
+int _wrap_AttitudeQuaternionEKF_getOrientationEstimateAsRPY(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+  iDynTree::RPY *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  size_t temp2 ;
-  size_t val2 ;
-  int ecode2 = 0 ;
-  size_t temp3 ;
-  size_t val3 ;
-  int ecode3 = 0 ;
-  size_t temp4 ;
-  size_t val4 ;
-  int ecode4 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfInit",argc,4,4,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_getOrientationEstimateAsRPY",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfInit" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfInit" "', argument " "2"" of type '" "size_t""'");
-  } 
-  temp2 = static_cast< size_t >(val2);
-  arg2 = &temp2;
-  ecode3 = SWIG_AsVal_size_t(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfInit" "', argument " "3"" of type '" "size_t""'");
-  } 
-  temp3 = static_cast< size_t >(val3);
-  arg3 = &temp3;
-  ecode4 = SWIG_AsVal_size_t(argv[3], &val4);
-  if (!SWIG_IsOK(ecode4)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfInit" "', argument " "4"" of type '" "size_t""'");
-  } 
-  temp4 = static_cast< size_t >(val4);
-  arg4 = &temp4;
-  result = (bool)(arg1)->ekfInit((size_t const &)*arg2,(size_t const &)*arg3,(size_t const &)*arg4);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfInit(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_DiscreteExtendedKalmanFilterHelper_ekfInit__SWIG_0(resc,resv,argc,argv);
-    }
-  }
-  if (argc == 4) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      {
-        int res = SWIG_AsVal_size_t(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
-      if (_v) {
-        {
-          int res = SWIG_AsVal_size_t(argv[2], NULL);
-          _v = SWIG_CheckState(res);
-        }
-        if (_v) {
-          {
-            int res = SWIG_AsVal_size_t(argv[3], NULL);
-            _v = SWIG_CheckState(res);
-          }
-          if (_v) {
-            return _wrap_DiscreteExtendedKalmanFilterHelper_ekfInit__SWIG_1(resc,resv,argc,argv);
-          }
-        }
-      }
-    }
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsRPY" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'DiscreteExtendedKalmanFilterHelper_ekfInit'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::DiscreteExtendedKalmanFilterHelper::ekfInit()\n"
-    "    iDynTree::DiscreteExtendedKalmanFilterHelper::ekfInit(size_t const &,size_t const &,size_t const &)\n");
-  return 1;
-}
-
-
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfReset__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfReset",argc,1,1,0)) {
-    SWIG_fail;
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsRPY" "', argument " "2"" of type '" "iDynTree::RPY &""'"); 
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsRPY" "', argument " "2"" of type '" "iDynTree::RPY &""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  (arg1)->ekfReset();
-  _out = (mxArray*)0;
+  arg2 = reinterpret_cast< iDynTree::RPY * >(argp2);
+  result = (bool)(arg1)->getOrientationEstimateAsRPY(*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -79498,172 +81550,32 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfReset__SWIG_0(int resc, mxArray
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfReset__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
-  size_t *arg2 = 0 ;
-  size_t *arg3 = 0 ;
-  size_t *arg4 = 0 ;
-  iDynTree::Span< double,-1 > *arg5 = 0 ;
-  iDynTree::Span< double,-1 > *arg6 = 0 ;
-  iDynTree::Span< double,-1 > *arg7 = 0 ;
-  iDynTree::Span< double,-1 > *arg8 = 0 ;
+int _wrap_AttitudeQuaternionEKF_getInternalStateSize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  size_t temp2 ;
-  size_t val2 ;
-  int ecode2 = 0 ;
-  size_t temp3 ;
-  size_t val3 ;
-  int ecode3 = 0 ;
-  size_t temp4 ;
-  size_t val4 ;
-  int ecode4 = 0 ;
-  void *argp5 ;
-  int res5 = 0 ;
-  void *argp6 ;
-  int res6 = 0 ;
-  void *argp7 ;
-  int res7 = 0 ;
-  void *argp8 ;
-  int res8 = 0 ;
   mxArray * _out;
-  bool result;
+  size_t result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfReset",argc,8,8,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_getInternalStateSize",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "2"" of type '" "size_t""'");
-  } 
-  temp2 = static_cast< size_t >(val2);
-  arg2 = &temp2;
-  ecode3 = SWIG_AsVal_size_t(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "3"" of type '" "size_t""'");
-  } 
-  temp3 = static_cast< size_t >(val3);
-  arg3 = &temp3;
-  ecode4 = SWIG_AsVal_size_t(argv[3], &val4);
-  if (!SWIG_IsOK(ecode4)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "4"" of type '" "size_t""'");
-  } 
-  temp4 = static_cast< size_t >(val4);
-  arg4 = &temp4;
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "5"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "5"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
-  }
-  arg5 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp5);
-  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
-  if (!SWIG_IsOK(res6)) {
-    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "6"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
-  }
-  if (!argp6) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "6"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
-  }
-  arg6 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp6);
-  res7 = SWIG_ConvertPtr(argv[6], &argp7, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
-  if (!SWIG_IsOK(res7)) {
-    SWIG_exception_fail(SWIG_ArgError(res7), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "7"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
-  }
-  if (!argp7) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "7"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
-  }
-  arg7 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp7);
-  res8 = SWIG_ConvertPtr(argv[7], &argp8, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
-  if (!SWIG_IsOK(res8)) {
-    SWIG_exception_fail(SWIG_ArgError(res8), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "8"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
-  }
-  if (!argp8) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfReset" "', argument " "8"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
-  }
-  arg8 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp8);
-  result = (bool)(arg1)->ekfReset((size_t const &)*arg2,(size_t const &)*arg3,(size_t const &)*arg4,(iDynTree::Span< double,-1 > const &)*arg5,(iDynTree::Span< double,-1 > const &)*arg6,(iDynTree::Span< double,-1 > const &)*arg7,(iDynTree::Span< double,-1 > const &)*arg8);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfReset(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 1) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      return _wrap_DiscreteExtendedKalmanFilterHelper_ekfReset__SWIG_0(resc,resv,argc,argv);
-    }
-  }
-  if (argc == 8) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      {
-        int res = SWIG_AsVal_size_t(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
-      if (_v) {
-        {
-          int res = SWIG_AsVal_size_t(argv[2], NULL);
-          _v = SWIG_CheckState(res);
-        }
-        if (_v) {
-          {
-            int res = SWIG_AsVal_size_t(argv[3], NULL);
-            _v = SWIG_CheckState(res);
-          }
-          if (_v) {
-            void *vptr = 0;
-            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
-            _v = SWIG_CheckState(res);
-            if (_v) {
-              void *vptr = 0;
-              int res = SWIG_ConvertPtr(argv[5], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
-              _v = SWIG_CheckState(res);
-              if (_v) {
-                void *vptr = 0;
-                int res = SWIG_ConvertPtr(argv[6], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
-                _v = SWIG_CheckState(res);
-                if (_v) {
-                  void *vptr = 0;
-                  int res = SWIG_ConvertPtr(argv[7], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
-                  _v = SWIG_CheckState(res);
-                  if (_v) {
-                    return _wrap_DiscreteExtendedKalmanFilterHelper_ekfReset__SWIG_1(resc,resv,argc,argv);
-                  }
-                }
-              }
-            }
-          }
-        }
-      }
-    }
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_getInternalStateSize" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF const *""'"); 
   }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'DiscreteExtendedKalmanFilterHelper_ekfReset'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::DiscreteExtendedKalmanFilterHelper::ekfReset()\n"
-    "    iDynTree::DiscreteExtendedKalmanFilterHelper::ekfReset(size_t const &,size_t const &,size_t const &,iDynTree::Span< double,-1 > const &,iDynTree::Span< double,-1 > const &,iDynTree::Span< double,-1 > const &,iDynTree::Span< double,-1 > const &)\n");
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  result = ((iDynTree::AttitudeQuaternionEKF const *)arg1)->getInternalStateSize();
+  _out = SWIG_From_size_t(static_cast< size_t >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
   return 1;
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementVector(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+int _wrap_AttitudeQuaternionEKF_getInternalState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
   iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
@@ -79672,23 +81584,23 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementVector(int resc, m
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementVector",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_getInternalState",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementVector" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_getInternalState" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementVector" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_getInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementVector" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_getInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)(arg1)->ekfSetMeasurementVector((iDynTree::Span< double,-1 > const &)*arg2);
+  result = (bool)((iDynTree::AttitudeQuaternionEKF const *)arg1)->getInternalState((iDynTree::Span< double,-1 > const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -79697,8 +81609,8 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementVector(int resc, m
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInputVector(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+int _wrap_AttitudeQuaternionEKF_getDefaultInternalInitialState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
   iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
@@ -79707,23 +81619,23 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInputVector(int resc, mxArray
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetInputVector",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_getDefaultInternalInitialState",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetInputVector" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_getDefaultInternalInitialState" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetInputVector" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_getDefaultInternalInitialState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetInputVector" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_getDefaultInternalInitialState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)(arg1)->ekfSetInputVector((iDynTree::Span< double,-1 > const &)*arg2);
+  result = (bool)((iDynTree::AttitudeQuaternionEKF const *)arg1)->getDefaultInternalInitialState((iDynTree::Span< double,-1 > const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -79732,8 +81644,8 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInputVector(int resc, mxArray
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInitialState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+int _wrap_AttitudeQuaternionEKF_setInternalState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
   iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
@@ -79742,23 +81654,23 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInitialState(int resc, mxArra
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetInitialState",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setInternalState",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetInitialState" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setInternalState" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetInitialState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_setInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetInitialState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_setInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)(arg1)->ekfSetInitialState((iDynTree::Span< double,-1 > const &)*arg2);
+  result = (bool)(arg1)->setInternalState((iDynTree::Span< double,-1 > const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -79767,8 +81679,8 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInitialState(int resc, mxArra
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetStateCovariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+int _wrap_AttitudeQuaternionEKF_setInternalStateInitialOrientation(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
   iDynTree::Span< double,-1 > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
@@ -79777,23 +81689,23 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetStateCovariance(int resc, mxA
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetStateCovariance",argc,2,2,0)) {
+  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setInternalStateInitialOrientation",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetStateCovariance" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setInternalStateInitialOrientation" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetStateCovariance" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_setInternalStateInitialOrientation" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetStateCovariance" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_setInternalStateInitialOrientation" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)(arg1)->ekfSetStateCovariance((iDynTree::Span< double,-1 > const &)*arg2);
+  result = (bool)(arg1)->setInternalStateInitialOrientation((iDynTree::Span< double,-1 > const &)*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -79802,34 +81714,26 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetStateCovariance(int resc, mxA
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetSystemNoiseCovariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
-  iDynTree::Span< double,-1 > *arg2 = 0 ;
+int _wrap_delete_AttitudeQuaternionEKF(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetSystemNoiseCovariance",argc,2,2,0)) {
+  int is_owned;
+  if (!SWIG_check_num_args("delete_AttitudeQuaternionEKF",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetSystemNoiseCovariance" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetSystemNoiseCovariance" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_AttitudeQuaternionEKF" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetSystemNoiseCovariance" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
+  if (is_owned) {
+    delete arg1;
   }
-  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)(arg1)->ekfSetSystemNoiseCovariance((iDynTree::Span< double,-1 > const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -79837,33 +81741,44 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetSystemNoiseCovariance(int res
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementNoiseCovariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
-  iDynTree::Span< double,-1 > *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
+int _wrap_estimateInertialParametersFromLinkBoundingBoxesAndTotalMass(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  double arg1 ;
+  iDynTree::Model *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  double val1 ;
+  int ecode1 = 0 ;
+  void *argp2 = 0 ;
   int res2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementNoiseCovariance",argc,2,2,0)) {
+  if (!SWIG_check_num_args("estimateInertialParametersFromLinkBoundingBoxesAndTotalMass",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementNoiseCovariance" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+  ecode1 = SWIG_AsVal_double(argv[0], &val1);
+  if (!SWIG_IsOK(ecode1)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "estimateInertialParametersFromLinkBoundingBoxesAndTotalMass" "', argument " "1"" of type '" "double""'");
+  } 
+  arg1 = static_cast< double >(val1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementNoiseCovariance" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateInertialParametersFromLinkBoundingBoxesAndTotalMass" "', argument " "2"" of type '" "iDynTree::Model &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementNoiseCovariance" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateInertialParametersFromLinkBoundingBoxesAndTotalMass" "', argument " "2"" of type '" "iDynTree::Model &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)(arg1)->ekfSetMeasurementNoiseCovariance((iDynTree::Span< double,-1 > const &)*arg2);
+  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "estimateInertialParametersFromLinkBoundingBoxesAndTotalMass" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateInertialParametersFromLinkBoundingBoxesAndTotalMass" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  result = (bool)iDynTree::estimateInertialParametersFromLinkBoundingBoxesAndTotalMass(arg1,*arg2,*arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -79872,30 +81787,16 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetMeasurementNoiseCovariance(in
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetStateSize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
-  size_t arg2 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  size_t val2 ;
-  int ecode2 = 0 ;
+int _wrap_new_KinDynComputations(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   mxArray * _out;
+  iDynTree::KinDynComputations *result = 0 ;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetStateSize",argc,2,2,0)) {
+  if (!SWIG_check_num_args("new_KinDynComputations",argc,0,0,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetStateSize" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetStateSize" "', argument " "2"" of type '" "size_t""'");
-  } 
-  arg2 = static_cast< size_t >(val2);
-  (arg1)->ekfSetStateSize(arg2);
-  _out = (mxArray*)0;
+  (void)argv;
+  result = (iDynTree::KinDynComputations *)new iDynTree::KinDynComputations();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__KinDynComputations, 1 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -79903,29 +81804,25 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetStateSize(int resc, mxArray *
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInputSize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
-  size_t arg2 ;
+int _wrap_delete_KinDynComputations(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  size_t val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetInputSize",argc,2,2,0)) {
+  int is_owned;
+  if (!SWIG_check_num_args("delete_KinDynComputations",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  is_owned = SWIG_Matlab_isOwned(argv[0]);
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, SWIG_POINTER_DISOWN |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetInputSize" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_KinDynComputations" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  if (is_owned) {
+    delete arg1;
   }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetInputSize" "', argument " "2"" of type '" "size_t""'");
-  } 
-  arg2 = static_cast< size_t >(val2);
-  (arg1)->ekfSetInputSize(arg2);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -79934,30 +81831,34 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetInputSize(int resc, mxArray *
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetOutputSize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
-  size_t arg2 ;
+int _wrap_KinDynComputations_loadRobotModel(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::Model *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  size_t val2 ;
-  int ecode2 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfSetOutputSize",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_loadRobotModel",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetOutputSize" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_loadRobotModel" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  ecode2 = SWIG_AsVal_size_t(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfSetOutputSize" "', argument " "2"" of type '" "size_t""'");
-  } 
-  arg2 = static_cast< size_t >(val2);
-  (arg1)->ekfSetOutputSize(arg2);
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_loadRobotModel" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_loadRobotModel" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
+  result = (bool)(arg1)->loadRobotModel((iDynTree::Model const &)*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -79965,33 +81866,22 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfSetOutputSize(int resc, mxArray
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfGetStates(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
-  iDynTree::Span< double,-1 > *arg2 = 0 ;
+int _wrap_KinDynComputations_isValid(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfGetStates",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_isValid",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfGetStates" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfGetStates" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfGetStates" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_isValid" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)((iDynTree::DiscreteExtendedKalmanFilterHelper const *)arg1)->ekfGetStates((iDynTree::Span< double,-1 > const &)*arg2);
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  result = (bool)((iDynTree::KinDynComputations const *)arg1)->isValid();
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -80000,33 +81890,30 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfGetStates(int resc, mxArray *res
 }
 
 
-int _wrap_DiscreteExtendedKalmanFilterHelper_ekfGetStateCovariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
-  iDynTree::Span< double,-1 > *arg2 = 0 ;
+int _wrap_KinDynComputations_setFrameVelocityRepresentation(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::FrameVelocityRepresentation arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("DiscreteExtendedKalmanFilterHelper_ekfGetStateCovariance",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_setFrameVelocityRepresentation",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfGetStateCovariance" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "DiscreteExtendedKalmanFilterHelper_ekfGetStateCovariance" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "DiscreteExtendedKalmanFilterHelper_ekfGetStateCovariance" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_setFrameVelocityRepresentation" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)((iDynTree::DiscreteExtendedKalmanFilterHelper const *)arg1)->ekfGetStateCovariance((iDynTree::Span< double,-1 > const &)*arg2);
+  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_setFrameVelocityRepresentation" "', argument " "2"" of type '" "iDynTree::FrameVelocityRepresentation""'");
+  } 
+  arg2 = static_cast< iDynTree::FrameVelocityRepresentation >(val2);
+  result = (bool)((iDynTree::KinDynComputations const *)arg1)->setFrameVelocityRepresentation(arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -80035,26 +81922,23 @@ int _wrap_DiscreteExtendedKalmanFilterHelper_ekfGetStateCovariance(int resc, mxA
 }
 
 
-int _wrap_delete_DiscreteExtendedKalmanFilterHelper(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::DiscreteExtendedKalmanFilterHelper *arg1 = (iDynTree::DiscreteExtendedKalmanFilterHelper *) 0 ;
+int _wrap_KinDynComputations_getFrameVelocityRepresentation(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
+  iDynTree::FrameVelocityRepresentation result;
   
-  int is_owned;
-  if (!SWIG_check_num_args("delete_DiscreteExtendedKalmanFilterHelper",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameVelocityRepresentation",argc,1,1,0)) {
     SWIG_fail;
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__DiscreteExtendedKalmanFilterHelper, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_DiscreteExtendedKalmanFilterHelper" "', argument " "1"" of type '" "iDynTree::DiscreteExtendedKalmanFilterHelper *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::DiscreteExtendedKalmanFilterHelper * >(argp1);
-  if (is_owned) {
-    delete arg1;
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameVelocityRepresentation" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  result = (iDynTree::FrameVelocityRepresentation)((iDynTree::KinDynComputations const *)arg1)->getFrameVelocityRepresentation();
+  _out = SWIG_From_int(static_cast< int >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80062,48 +81946,103 @@ int _wrap_delete_DiscreteExtendedKalmanFilterHelper(int resc, mxArray *resv[], i
 }
 
 
-SWIGINTERN int _wrap_output_dimensions_with_magnetometer_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  resv[0] = SWIG_From_unsigned_SS_int(static_cast< unsigned int >(iDynTree::output_dimensions_with_magnetometer));
+int _wrap_KinDynComputations_getNrOfDegreesOfFreedom(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  unsigned int result;
+  
+  if (!SWIG_check_num_args("KinDynComputations_getNrOfDegreesOfFreedom",argc,1,1,0)) {
+    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_getNrOfDegreesOfFreedom" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  result = (unsigned int)((iDynTree::KinDynComputations const *)arg1)->getNrOfDegreesOfFreedom();
+  _out = SWIG_From_unsigned_SS_int(static_cast< unsigned int >(result));
+  if (_out) --resc, *resv++ = _out;
   return 0;
+fail:
+  return 1;
 }
 
 
-SWIGINTERN int _wrap_output_dimensions_without_magnetometer_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  resv[0] = SWIG_From_unsigned_SS_int(static_cast< unsigned int >(iDynTree::output_dimensions_without_magnetometer));
+int _wrap_KinDynComputations_getDescriptionOfDegreeOfFreedom(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  int arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  mxArray * _out;
+  std::string result;
+  
+  if (!SWIG_check_num_args("KinDynComputations_getDescriptionOfDegreeOfFreedom",argc,2,2,0)) {
+    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_getDescriptionOfDegreeOfFreedom" "', 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_getDescriptionOfDegreeOfFreedom" "', argument " "2"" of type '" "int""'");
+  } 
+  arg2 = static_cast< int >(val2);
+  result = ((iDynTree::KinDynComputations const *)arg1)->getDescriptionOfDegreeOfFreedom(arg2);
+  _out = SWIG_From_std_string(static_cast< std::string >(result));
+  if (_out) --resc, *resv++ = _out;
   return 0;
+fail:
+  return 1;
 }
 
 
-SWIGINTERN int _wrap_input_dimensions_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  resv[0] = SWIG_From_unsigned_SS_int(static_cast< unsigned int >(iDynTree::input_dimensions));
+int _wrap_KinDynComputations_getDescriptionOfDegreesOfFreedom(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  mxArray * _out;
+  std::string result;
+  
+  if (!SWIG_check_num_args("KinDynComputations_getDescriptionOfDegreesOfFreedom",argc,1,1,0)) {
+    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_getDescriptionOfDegreesOfFreedom" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  result = ((iDynTree::KinDynComputations const *)arg1)->getDescriptionOfDegreesOfFreedom();
+  _out = SWIG_From_std_string(static_cast< std::string >(result));
+  if (_out) --resc, *resv++ = _out;
   return 0;
+fail:
+  return 1;
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_time_step_in_seconds_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
-  double arg2 ;
+int _wrap_KinDynComputations_getNrOfLinks(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
+  unsigned int result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_time_step_in_seconds_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getNrOfLinks",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_time_step_in_seconds_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getNrOfLinks" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_time_step_in_seconds_set" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->time_step_in_seconds = arg2;
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  result = (unsigned int)((iDynTree::KinDynComputations const *)arg1)->getNrOfLinks();
+  _out = SWIG_From_unsigned_SS_int(static_cast< unsigned int >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80111,23 +82050,23 @@ int _wrap_AttitudeQuaternionEKFParameters_time_step_in_seconds_set(int resc, mxA
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_time_step_in_seconds_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
+int _wrap_KinDynComputations_getNrOfFrames(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  double result;
+  unsigned int result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_time_step_in_seconds_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getNrOfFrames",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_time_step_in_seconds_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getNrOfFrames" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  result = (double) ((arg1)->time_step_in_seconds);
-  _out = SWIG_From_double(static_cast< double >(result));
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  result = (unsigned int)((iDynTree::KinDynComputations const *)arg1)->getNrOfFrames();
+  _out = SWIG_From_unsigned_SS_int(static_cast< unsigned int >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80135,30 +82074,23 @@ int _wrap_AttitudeQuaternionEKFParameters_time_step_in_seconds_get(int resc, mxA
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_bias_correlation_time_factor_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
-  double arg2 ;
+int _wrap_KinDynComputations_getFloatingBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
+  std::string result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_bias_correlation_time_factor_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFloatingBase",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_bias_correlation_time_factor_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFloatingBase" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_bias_correlation_time_factor_set" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->bias_correlation_time_factor = arg2;
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  result = ((iDynTree::KinDynComputations const *)arg1)->getFloatingBase();
+  _out = SWIG_From_std_string(static_cast< std::string >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80166,54 +82098,62 @@ int _wrap_AttitudeQuaternionEKFParameters_bias_correlation_time_factor_set(int r
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_bias_correlation_time_factor_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
+int _wrap_KinDynComputations_setFloatingBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  std::string *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
-  double result;
+  bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_bias_correlation_time_factor_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_setFloatingBase",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_bias_correlation_time_factor_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_setFloatingBase" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  result = (double) ((arg1)->bias_correlation_time_factor);
-  _out = SWIG_From_double(static_cast< double >(result));
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(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 '" "KinDynComputations_setFloatingBase" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setFloatingBase" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
+  }
+  result = (bool)(arg1)->setFloatingBase((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_AttitudeQuaternionEKFParameters_accelerometer_noise_variance_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
-  double arg2 ;
+int _wrap_KinDynComputations_model(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
+  iDynTree::Model *result = 0 ;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_accelerometer_noise_variance_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_model",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_accelerometer_noise_variance_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_model" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_accelerometer_noise_variance_set" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->accelerometer_noise_variance = arg2;
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  result = (iDynTree::Model *) &((iDynTree::KinDynComputations const *)arg1)->model();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80221,23 +82161,23 @@ int _wrap_AttitudeQuaternionEKFParameters_accelerometer_noise_variance_set(int r
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_accelerometer_noise_variance_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
+int _wrap_KinDynComputations_getRobotModel(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  double result;
+  iDynTree::Model *result = 0 ;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_accelerometer_noise_variance_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getRobotModel",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_accelerometer_noise_variance_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getRobotModel" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  result = (double) ((arg1)->accelerometer_noise_variance);
-  _out = SWIG_From_double(static_cast< double >(result));
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  result = (iDynTree::Model *) &((iDynTree::KinDynComputations const *)arg1)->getRobotModel();
+  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80245,30 +82185,50 @@ int _wrap_AttitudeQuaternionEKFParameters_accelerometer_noise_variance_get(int r
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_magnetometer_noise_variance_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
-  double arg2 ;
+int _wrap_KinDynComputations_getRelativeJacobianSparsityPattern__SWIG_0(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 ;
-  double val2 ;
+  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("AttitudeQuaternionEKFParameters_magnetometer_noise_variance_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getRelativeJacobianSparsityPattern",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_magnetometer_noise_variance_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getRelativeJacobianSparsityPattern" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  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 '" "AttitudeQuaternionEKFParameters_magnetometer_noise_variance_set" "', argument " "2"" of type '" "double""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getRelativeJacobianSparsityPattern" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
   } 
-  arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->magnetometer_noise_variance = arg2;
-  _out = (mxArray*)0;
+  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:
@@ -80276,23 +82236,53 @@ int _wrap_AttitudeQuaternionEKFParameters_magnetometer_noise_variance_set(int re
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_magnetometer_noise_variance_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
+int _wrap_KinDynComputations_getRelativeJacobianSparsityPattern__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::FrameIndex arg2 ;
+  iDynTree::FrameIndex arg3 ;
+  iDynTree::MatrixView< double > arg4 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
   mxArray * _out;
-  double result;
+  bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_magnetometer_noise_variance_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getRelativeJacobianSparsityPattern",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_magnetometer_noise_variance_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getRelativeJacobianSparsityPattern" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  result = (double) ((arg1)->magnetometer_noise_variance);
-  _out = SWIG_From_double(static_cast< double >(result));
+  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__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res4)) {
+      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getRelativeJacobianSparsityPattern" "', argument " "4"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp4) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeJacobianSparsityPattern" "', argument " "4"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg4 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(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:
@@ -80300,54 +82290,104 @@ int _wrap_AttitudeQuaternionEKFParameters_magnetometer_noise_variance_get(int re
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_gyroscope_noise_variance_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
-  double arg2 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_gyroscope_noise_variance_set",argc,2,2,0)) {
-    SWIG_fail;
+int _wrap_KinDynComputations_getRelativeJacobianSparsityPattern(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_int(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_KinDynComputations_getRelativeJacobianSparsityPattern__SWIG_0(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_gyroscope_noise_variance_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_int(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_KinDynComputations_getRelativeJacobianSparsityPattern__SWIG_1(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_gyroscope_noise_variance_set" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->gyroscope_noise_variance = arg2;
-  _out = (mxArray*)0;
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getRelativeJacobianSparsityPattern'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getRelativeJacobianSparsityPattern(iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::MatrixDynSize &) const\n"
+    "    iDynTree::KinDynComputations::getRelativeJacobianSparsityPattern(iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::MatrixView< double >) const\n");
   return 1;
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_gyroscope_noise_variance_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
+int _wrap_KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern__SWIG_0(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;
-  double result;
+  bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_gyroscope_noise_variance_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_gyroscope_noise_variance_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  result = (double) ((arg1)->gyroscope_noise_variance);
-  _out = SWIG_From_double(static_cast< double >(result));
+  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:
@@ -80355,30 +82395,45 @@ int _wrap_AttitudeQuaternionEKFParameters_gyroscope_noise_variance_get(int resc,
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
-  double arg2 ;
+int _wrap_KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::FrameIndex arg2 ;
+  iDynTree::MatrixView< double > arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
+  int val2 ;
   int ecode2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
+  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 '" "AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_set" "', argument " "2"" of type '" "double""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
   } 
-  arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->gyro_bias_noise_variance = arg2;
-  _out = (mxArray*)0;
+  arg2 = static_cast< iDynTree::FrameIndex >(val2);
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern" "', argument " "3"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern" "', argument " "3"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(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:
@@ -80386,23 +82441,84 @@ int _wrap_AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_set(int resc,
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
+int _wrap_KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern__SWIG_0(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern__SWIG_1(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getFrameFreeFloatingJacobianSparsityPattern(iDynTree::FrameIndex const,iDynTree::MatrixDynSize &) const\n"
+    "    iDynTree::KinDynComputations::getFrameFreeFloatingJacobianSparsityPattern(iDynTree::FrameIndex const,iDynTree::MatrixView< double >) const\n");
+  return 1;
+}
+
+
+int _wrap_KinDynComputations_setJointPos__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::VectorDynSize *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  double result;
+  bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_setJointPos",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_setJointPos" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  result = (double) ((arg1)->gyro_bias_noise_variance);
-  _out = SWIG_From_double(static_cast< double >(result));
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_setJointPos" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setJointPos" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
+  result = (bool)(arg1)->setJointPos((iDynTree::VectorDynSize const &)*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80410,30 +82526,37 @@ int _wrap_AttitudeQuaternionEKFParameters_gyro_bias_noise_variance_get(int resc,
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_initial_orientation_error_variance_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
-  double arg2 ;
+int _wrap_KinDynComputations_setJointPos__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_initial_orientation_error_variance_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_setJointPos",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_initial_orientation_error_variance_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_setJointPos" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_initial_orientation_error_variance_set" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->initial_orientation_error_variance = arg2;
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_setJointPos" "', argument " "2"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setJointPos" "', argument " "2"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp2));
+    }
+  }
+  result = (bool)(arg1)->setJointPos(arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80441,23 +82564,116 @@ int _wrap_AttitudeQuaternionEKFParameters_initial_orientation_error_variance_set
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_initial_orientation_error_variance_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
+int _wrap_KinDynComputations_setJointPos(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_setJointPos__SWIG_0(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_setJointPos__SWIG_1(resc,resv,argc,argv);
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_setJointPos'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::setJointPos(iDynTree::VectorDynSize const &)\n"
+    "    iDynTree::KinDynComputations::setJointPos(iDynTree::Span< double const,-1 >)\n");
+  return 1;
+}
+
+
+int _wrap_KinDynComputations_setRobotState__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::Transform *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  iDynTree::Twist *arg4 = 0 ;
+  iDynTree::VectorDynSize *arg5 = 0 ;
+  iDynTree::Vector3 *arg6 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
+  void *argp5 ;
+  int res5 = 0 ;
+  void *argp6 ;
+  int res6 = 0 ;
   mxArray * _out;
-  double result;
+  bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_initial_orientation_error_variance_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_setRobotState",argc,6,6,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_initial_orientation_error_variance_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_setRobotState" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  result = (double) ((arg1)->initial_orientation_error_variance);
-  _out = SWIG_From_double(static_cast< double >(result));
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Transform,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_setRobotState" "', argument " "2"" of type '" "iDynTree::Transform const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "2"" of type '" "iDynTree::Transform const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Transform * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_setRobotState" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__Twist,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_setRobotState" "', argument " "4"" of type '" "iDynTree::Twist const &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "4"" of type '" "iDynTree::Twist const &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::Twist * >(argp4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "KinDynComputations_setRobotState" "', argument " "5"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "5"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::VectorDynSize * >(argp5);
+  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res6)) {
+    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "KinDynComputations_setRobotState" "', argument " "6"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  if (!argp6) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "6"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  arg6 = reinterpret_cast< iDynTree::Vector3 * >(argp6);
+  result = (bool)(arg1)->setRobotState((iDynTree::Transform const &)*arg2,(iDynTree::VectorDynSize const &)*arg3,(iDynTree::Twist const &)*arg4,(iDynTree::VectorDynSize const &)*arg5,(iDynTree::Vector3 const &)*arg6);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80465,30 +82681,93 @@ int _wrap_AttitudeQuaternionEKFParameters_initial_orientation_error_variance_get
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
-  double arg2 ;
+int _wrap_KinDynComputations_setRobotState__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  SwigValueWrapper< iDynTree::MatrixView< double const > > arg2 ;
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg3 ;
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg4 ;
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg5 ;
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg6 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
+  void *argp5 ;
+  int res5 = 0 ;
+  void *argp6 ;
+  int res6 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_setRobotState",argc,6,6,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+  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_setRobotState" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_setRobotState" "', argument " "2"" of type '" "iDynTree::MatrixView< double const >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "2"" of type '" "iDynTree::MatrixView< double const >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::MatrixView< double const > * >(argp2));
+    }
+  }
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_setRobotState" "', argument " "3"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "3"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp3));
+    }
+  }
+  {
+    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res4)) {
+      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_setRobotState" "', argument " "4"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp4) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "4"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg4 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp4));
+    }
+  }
+  {
+    res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res5)) {
+      SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "KinDynComputations_setRobotState" "', argument " "5"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp5) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "5"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg5 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp5));
+    }
+  }
+  {
+    res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res6)) {
+      SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "KinDynComputations_setRobotState" "', argument " "6"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp6) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "6"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg6 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp6));
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_set" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->initial_ang_vel_error_variance = arg2;
-  _out = (mxArray*)0;
+  result = (bool)(arg1)->setRobotState(arg2,arg3,arg4,arg5,arg6);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80496,23 +82775,56 @@ int _wrap_AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_set(int
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
+int _wrap_KinDynComputations_setRobotState__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::VectorDynSize *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  iDynTree::Vector3 *arg4 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
   mxArray * _out;
-  double result;
+  bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_setRobotState",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_setRobotState" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  result = (double) ((arg1)->initial_ang_vel_error_variance);
-  _out = SWIG_From_double(static_cast< double >(result));
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_setRobotState" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_setRobotState" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_setRobotState" "', argument " "4"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "4"" of type '" "iDynTree::Vector3 const &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::Vector3 * >(argp4);
+  result = (bool)(arg1)->setRobotState((iDynTree::VectorDynSize const &)*arg2,(iDynTree::VectorDynSize const &)*arg3,(iDynTree::Vector3 const &)*arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80520,30 +82832,65 @@ int _wrap_AttitudeQuaternionEKFParameters_initial_ang_vel_error_variance_get(int
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
-  double arg2 ;
+int _wrap_KinDynComputations_setRobotState__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg2 ;
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg3 ;
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg4 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_setRobotState",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_setRobotState" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_set" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  if (arg1) (arg1)->initial_gyro_bias_error_variance = arg2;
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_setRobotState" "', argument " "2"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "2"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp2));
+    }
+  }
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_setRobotState" "', argument " "3"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "3"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp3));
+    }
+  }
+  {
+    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res4)) {
+      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_setRobotState" "', argument " "4"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp4) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "4"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg4 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp4));
+    }
+  }
+  result = (bool)(arg1)->setRobotState(arg2,arg3,arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80551,53 +82898,204 @@ int _wrap_AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_set(i
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  double result;
-  
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_get",argc,1,1,0)) {
-    SWIG_fail;
+int _wrap_KinDynComputations_setRobotState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_KinDynComputations_setRobotState__SWIG_2(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_initial_gyro_bias_error_variance_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_KinDynComputations_setRobotState__SWIG_3(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  result = (double) ((arg1)->initial_gyro_bias_error_variance);
-  _out = SWIG_From_double(static_cast< double >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  if (argc == 6) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__Twist, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            void *vptr = 0;
+            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+            _v = SWIG_CheckState(res);
+            if (_v) {
+              void *vptr = 0;
+              int res = SWIG_ConvertPtr(argv[5], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+              _v = SWIG_CheckState(res);
+              if (_v) {
+                return _wrap_KinDynComputations_setRobotState__SWIG_0(resc,resv,argc,argv);
+              }
+            }
+          }
+        }
+      }
+    }
+  }
+  if (argc == 6) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_const_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            void *vptr = 0;
+            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+            _v = SWIG_CheckState(res);
+            if (_v) {
+              void *vptr = 0;
+              int res = SWIG_ConvertPtr(argv[5], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+              _v = SWIG_CheckState(res);
+              if (_v) {
+                return _wrap_KinDynComputations_setRobotState__SWIG_1(resc,resv,argc,argv);
+              }
+            }
+          }
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_setRobotState'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::setRobotState(iDynTree::Transform const &,iDynTree::VectorDynSize const &,iDynTree::Twist const &,iDynTree::VectorDynSize const &,iDynTree::Vector3 const &)\n"
+    "    iDynTree::KinDynComputations::setRobotState(iDynTree::MatrixView< double const >,iDynTree::Span< double const,-1 >,iDynTree::Span< double const,-1 >,iDynTree::Span< double const,-1 >,iDynTree::Span< double const,-1 >)\n"
+    "    iDynTree::KinDynComputations::setRobotState(iDynTree::VectorDynSize const &,iDynTree::VectorDynSize const &,iDynTree::Vector3 const &)\n"
+    "    iDynTree::KinDynComputations::setRobotState(iDynTree::Span< double const,-1 >,iDynTree::Span< double const,-1 >,iDynTree::Span< double const,-1 >)\n");
   return 1;
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_use_magnetometer_measurements_set(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
-  bool arg2 ;
+int _wrap_KinDynComputations_getRobotState__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::Transform *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  iDynTree::Twist *arg4 = 0 ;
+  iDynTree::VectorDynSize *arg5 = 0 ;
+  iDynTree::Vector3 *arg6 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  bool val2 ;
-  int ecode2 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
+  void *argp5 = 0 ;
+  int res5 = 0 ;
+  void *argp6 = 0 ;
+  int res6 = 0 ;
   mxArray * _out;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_use_magnetometer_measurements_set",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getRobotState",argc,6,6,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_use_magnetometer_measurements_set" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getRobotState" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKFParameters_use_magnetometer_measurements_set" "', argument " "2"" of type '" "bool""'");
-  } 
-  arg2 = static_cast< bool >(val2);
-  if (arg1) (arg1)->use_magnetometer_measurements = arg2;
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Transform,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getRobotState" "', argument " "2"" of type '" "iDynTree::Transform &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "2"" of type '" "iDynTree::Transform &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::Transform * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getRobotState" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__Twist,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getRobotState" "', argument " "4"" of type '" "iDynTree::Twist &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "4"" of type '" "iDynTree::Twist &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::Twist * >(argp4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "KinDynComputations_getRobotState" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::VectorDynSize * >(argp5);
+  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res6)) {
+    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "KinDynComputations_getRobotState" "', argument " "6"" of type '" "iDynTree::Vector3 &""'"); 
+  }
+  if (!argp6) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "6"" of type '" "iDynTree::Vector3 &""'"); 
+  }
+  arg6 = reinterpret_cast< iDynTree::Vector3 * >(argp6);
+  (arg1)->getRobotState(*arg2,*arg3,*arg4,*arg5,*arg6);
   _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -80606,40 +83104,55 @@ int _wrap_AttitudeQuaternionEKFParameters_use_magnetometer_measurements_set(int
 }
 
 
-int _wrap_AttitudeQuaternionEKFParameters_use_magnetometer_measurements_get(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
+int _wrap_KinDynComputations_getRobotState__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::VectorDynSize *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  iDynTree::Vector3 *arg4 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
+  void *argp4 = 0 ;
+  int res4 = 0 ;
   mxArray * _out;
-  bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKFParameters_use_magnetometer_measurements_get",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getRobotState",argc,4,4,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKFParameters_use_magnetometer_measurements_get" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getRobotState" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  result = (bool) ((arg1)->use_magnetometer_measurements);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_new_AttitudeQuaternionEKFParameters(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  mxArray * _out;
-  iDynTree::AttitudeQuaternionEKFParameters *result = 0 ;
-  
-  if (!SWIG_check_num_args("new_AttitudeQuaternionEKFParameters",argc,0,0,0)) {
-    SWIG_fail;
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getRobotState" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
   }
-  (void)argv;
-  result = (iDynTree::AttitudeQuaternionEKFParameters *)new iDynTree::AttitudeQuaternionEKFParameters();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, 1 |  0 );
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getRobotState" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getRobotState" "', argument " "4"" of type '" "iDynTree::Vector3 &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "4"" of type '" "iDynTree::Vector3 &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::Vector3 * >(argp4);
+  (arg1)->getRobotState(*arg2,*arg3,*arg4);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80647,26 +83160,93 @@ int _wrap_new_AttitudeQuaternionEKFParameters(int resc, mxArray *resv[], int arg
 }
 
 
-int _wrap_delete_AttitudeQuaternionEKFParameters(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKFParameters *arg1 = (iDynTree::AttitudeQuaternionEKFParameters *) 0 ;
+int _wrap_KinDynComputations_getRobotState__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::MatrixView< double > arg2 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg3 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg4 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg5 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg6 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
+  void *argp5 ;
+  int res5 = 0 ;
+  void *argp6 ;
+  int res6 = 0 ;
   mxArray * _out;
+  bool result;
   
-  int is_owned;
-  if (!SWIG_check_num_args("delete_AttitudeQuaternionEKFParameters",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getRobotState",argc,6,6,0)) {
     SWIG_fail;
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_AttitudeQuaternionEKFParameters" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKFParameters *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getRobotState" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp1);
-  if (is_owned) {
-    delete arg1;
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getRobotState" "', argument " "2"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "2"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp2));
+    }
   }
-  _out = (mxArray*)0;
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getRobotState" "', argument " "3"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "3"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp3));
+    }
+  }
+  {
+    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res4)) {
+      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getRobotState" "', argument " "4"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp4) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "4"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg4 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp4));
+    }
+  }
+  {
+    res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res5)) {
+      SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "KinDynComputations_getRobotState" "', argument " "5"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp5) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "5"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg5 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp5));
+    }
+  }
+  {
+    res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res6)) {
+      SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "KinDynComputations_getRobotState" "', argument " "6"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp6) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "6"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg6 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp6));
+    }
+  }
+  result = (bool)(arg1)->getRobotState(arg2,arg3,arg4,arg5,arg6);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80674,16 +83254,64 @@ int _wrap_delete_AttitudeQuaternionEKFParameters(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_new_AttitudeQuaternionEKF(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getRobotState__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg2 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg3 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg4 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
   mxArray * _out;
-  iDynTree::AttitudeQuaternionEKF *result = 0 ;
   
-  if (!SWIG_check_num_args("new_AttitudeQuaternionEKF",argc,0,0,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getRobotState",argc,4,4,0)) {
     SWIG_fail;
   }
-  (void)argv;
-  result = (iDynTree::AttitudeQuaternionEKF *)new iDynTree::AttitudeQuaternionEKF();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 1 |  0 );
+  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_getRobotState" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getRobotState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2));
+    }
+  }
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getRobotState" "', argument " "3"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "3"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp3));
+    }
+  }
+  {
+    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res4)) {
+      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getRobotState" "', argument " "4"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp4) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "4"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg4 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp4));
+    }
+  }
+  (arg1)->getRobotState(arg2,arg3,arg4);
+  _out = (mxArray*)0;
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80691,67 +83319,151 @@ int _wrap_new_AttitudeQuaternionEKF(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_AttitudeQuaternionEKF_getParameters(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  iDynTree::AttitudeQuaternionEKFParameters *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_getParameters",argc,2,2,0)) {
-    SWIG_fail;
+int _wrap_KinDynComputations_getRobotState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_KinDynComputations_getRobotState__SWIG_1(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_getParameters" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_KinDynComputations_getRobotState__SWIG_3(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_getParameters" "', argument " "2"" of type '" "iDynTree::AttitudeQuaternionEKFParameters &""'"); 
+  if (argc == 6) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            void *vptr = 0;
+            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+            _v = SWIG_CheckState(res);
+            if (_v) {
+              void *vptr = 0;
+              int res = SWIG_ConvertPtr(argv[5], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+              _v = SWIG_CheckState(res);
+              if (_v) {
+                return _wrap_KinDynComputations_getRobotState__SWIG_2(resc,resv,argc,argv);
+              }
+            }
+          }
+        }
+      }
+    }
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_getParameters" "', argument " "2"" of type '" "iDynTree::AttitudeQuaternionEKFParameters &""'"); 
+  if (argc == 6) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__Twist, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            void *vptr = 0;
+            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+            _v = SWIG_CheckState(res);
+            if (_v) {
+              void *vptr = 0;
+              int res = SWIG_ConvertPtr(argv[5], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+              _v = SWIG_CheckState(res);
+              if (_v) {
+                return _wrap_KinDynComputations_getRobotState__SWIG_0(resc,resv,argc,argv);
+              }
+            }
+          }
+        }
+      }
+    }
   }
-  arg2 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp2);
-  (arg1)->getParameters(*arg2);
-  _out = (mxArray*)0;
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getRobotState'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getRobotState(iDynTree::Transform &,iDynTree::VectorDynSize &,iDynTree::Twist &,iDynTree::VectorDynSize &,iDynTree::Vector3 &)\n"
+    "    iDynTree::KinDynComputations::getRobotState(iDynTree::VectorDynSize &,iDynTree::VectorDynSize &,iDynTree::Vector3 &)\n"
+    "    iDynTree::KinDynComputations::getRobotState(iDynTree::MatrixView< double >,iDynTree::Span< double,-1 >,iDynTree::Span< double,-1 >,iDynTree::Span< double,-1 >,iDynTree::Span< double,-1 >)\n"
+    "    iDynTree::KinDynComputations::getRobotState(iDynTree::Span< double,-1 >,iDynTree::Span< double,-1 >,iDynTree::Span< double,-1 >)\n");
   return 1;
 }
 
 
-int _wrap_AttitudeQuaternionEKF_setParameters(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  iDynTree::AttitudeQuaternionEKFParameters *arg2 = 0 ;
+int _wrap_KinDynComputations_getWorldBaseTransform__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
   mxArray * _out;
+  iDynTree::Transform result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setParameters",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getWorldBaseTransform",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setParameters" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__AttitudeQuaternionEKFParameters,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_setParameters" "', argument " "2"" of type '" "iDynTree::AttitudeQuaternionEKFParameters const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_setParameters" "', argument " "2"" of type '" "iDynTree::AttitudeQuaternionEKFParameters const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getWorldBaseTransform" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::AttitudeQuaternionEKFParameters * >(argp2);
-  (arg1)->setParameters((iDynTree::AttitudeQuaternionEKFParameters const &)*arg2);
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  result = ((iDynTree::KinDynComputations const *)arg1)->getWorldBaseTransform();
+  _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:
@@ -80759,33 +83471,37 @@ int _wrap_AttitudeQuaternionEKF_setParameters(int resc, mxArray *resv[], int arg
 }
 
 
-int _wrap_AttitudeQuaternionEKF_setGravityDirection(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  iDynTree::Direction *arg2 = 0 ;
+int _wrap_KinDynComputations_getWorldBaseTransform__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::MatrixView< double > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setGravityDirection",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getWorldBaseTransform",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setGravityDirection" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Direction,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_setGravityDirection" "', argument " "2"" of type '" "iDynTree::Direction const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getWorldBaseTransform" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_setGravityDirection" "', argument " "2"" of type '" "iDynTree::Direction const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getWorldBaseTransform" "', argument " "2"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getWorldBaseTransform" "', argument " "2"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp2));
+    }
   }
-  arg2 = reinterpret_cast< iDynTree::Direction * >(argp2);
-  (arg1)->setGravityDirection((iDynTree::Direction const &)*arg2);
-  _out = (mxArray*)0;
+  result = (bool)((iDynTree::KinDynComputations const *)arg1)->getWorldBaseTransform(arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80793,61 +83509,56 @@ int _wrap_AttitudeQuaternionEKF_setGravityDirection(int resc, mxArray *resv[], i
 }
 
 
-int _wrap_AttitudeQuaternionEKF_setTimeStepInSeconds(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  double arg2 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setTimeStepInSeconds",argc,2,2,0)) {
-    SWIG_fail;
+int _wrap_KinDynComputations_getWorldBaseTransform(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_KinDynComputations_getWorldBaseTransform__SWIG_0(resc,resv,argc,argv);
+    }
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setTimeStepInSeconds" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getWorldBaseTransform__SWIG_1(resc,resv,argc,argv);
+      }
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKF_setTimeStepInSeconds" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  (arg1)->setTimeStepInSeconds(arg2);
-  _out = (mxArray*)0;
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getWorldBaseTransform'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getWorldBaseTransform() const\n"
+    "    iDynTree::KinDynComputations::getWorldBaseTransform(iDynTree::MatrixView< double >) const\n");
   return 1;
 }
 
 
-int _wrap_AttitudeQuaternionEKF_setBiasCorrelationTimeFactor(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  double arg2 ;
+int _wrap_KinDynComputations_getBaseTwist__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
+  iDynTree::Twist result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setBiasCorrelationTimeFactor",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getBaseTwist",argc,1,1,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setBiasCorrelationTimeFactor" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getBaseTwist" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKF_setBiasCorrelationTimeFactor" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  (arg1)->setBiasCorrelationTimeFactor(arg2);
-  _out = (mxArray*)0;
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  result = ((iDynTree::KinDynComputations const *)arg1)->getBaseTwist();
+  _out = SWIG_NewPointerObj((new iDynTree::Twist(static_cast< const iDynTree::Twist& >(result))), SWIGTYPE_p_iDynTree__Twist, SWIG_POINTER_OWN |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -80855,30 +83566,36 @@ int _wrap_AttitudeQuaternionEKF_setBiasCorrelationTimeFactor(int resc, mxArray *
 }
 
 
-int _wrap_AttitudeQuaternionEKF_useMagnetometerMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  bool arg2 ;
+int _wrap_KinDynComputations_getBaseTwist__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  bool val2 ;
-  int ecode2 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_useMagnetometerMeasurements",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getBaseTwist",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_useMagnetometerMeasurements" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getBaseTwist" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  ecode2 = SWIG_AsVal_bool(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKF_useMagnetometerMeasurements" "', argument " "2"" of type '" "bool""'");
-  } 
-  arg2 = static_cast< bool >(val2);
-  result = (bool)(arg1)->useMagnetometerMeasurements(arg2);
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getBaseTwist" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getBaseTwist" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2));
+    }
+  }
+  result = (bool)((iDynTree::KinDynComputations const *)arg1)->getBaseTwist(arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -80887,78 +83604,66 @@ int _wrap_AttitudeQuaternionEKF_useMagnetometerMeasurements(int resc, mxArray *r
 }
 
 
-int _wrap_AttitudeQuaternionEKF_setMeasurementNoiseVariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  double arg2 ;
-  double arg3 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
-  double val3 ;
-  int ecode3 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setMeasurementNoiseVariance",argc,3,3,0)) {
-    SWIG_fail;
+int _wrap_KinDynComputations_getBaseTwist(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_KinDynComputations_getBaseTwist__SWIG_0(resc,resv,argc,argv);
+    }
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setMeasurementNoiseVariance" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getBaseTwist__SWIG_1(resc,resv,argc,argv);
+      }
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKF_setMeasurementNoiseVariance" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  ecode3 = SWIG_AsVal_double(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "AttitudeQuaternionEKF_setMeasurementNoiseVariance" "', argument " "3"" of type '" "double""'");
-  } 
-  arg3 = static_cast< double >(val3);
-  result = (bool)(arg1)->setMeasurementNoiseVariance(arg2,arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getBaseTwist'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getBaseTwist() const\n"
+    "    iDynTree::KinDynComputations::getBaseTwist(iDynTree::Span< double,-1 >) const\n");
   return 1;
 }
 
 
-int _wrap_AttitudeQuaternionEKF_setSystemNoiseVariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  double arg2 ;
-  double arg3 ;
+int _wrap_KinDynComputations_getJointPos__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::VectorDynSize *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
-  double val3 ;
-  int ecode3 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setSystemNoiseVariance",argc,3,3,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getJointPos",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setSystemNoiseVariance" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getJointPos" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKF_setSystemNoiseVariance" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  ecode3 = SWIG_AsVal_double(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "AttitudeQuaternionEKF_setSystemNoiseVariance" "', argument " "3"" of type '" "double""'");
-  } 
-  arg3 = static_cast< double >(val3);
-  result = (bool)(arg1)->setSystemNoiseVariance(arg2,arg3);
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getJointPos" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getJointPos" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
+  result = (bool)((iDynTree::KinDynComputations const *)arg1)->getJointPos(*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -80967,46 +83672,36 @@ int _wrap_AttitudeQuaternionEKF_setSystemNoiseVariance(int resc, mxArray *resv[]
 }
 
 
-int _wrap_AttitudeQuaternionEKF_setInitialStateCovariance(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  double arg2 ;
-  double arg3 ;
-  double arg4 ;
+int _wrap_KinDynComputations_getJointPos__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  double val2 ;
-  int ecode2 = 0 ;
-  double val3 ;
-  int ecode3 = 0 ;
-  double val4 ;
-  int ecode4 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setInitialStateCovariance",argc,4,4,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getJointPos",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setInitialStateCovariance" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getJointPos" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  ecode2 = SWIG_AsVal_double(argv[1], &val2);
-  if (!SWIG_IsOK(ecode2)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "AttitudeQuaternionEKF_setInitialStateCovariance" "', argument " "2"" of type '" "double""'");
-  } 
-  arg2 = static_cast< double >(val2);
-  ecode3 = SWIG_AsVal_double(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "AttitudeQuaternionEKF_setInitialStateCovariance" "', argument " "3"" of type '" "double""'");
-  } 
-  arg3 = static_cast< double >(val3);
-  ecode4 = SWIG_AsVal_double(argv[3], &val4);
-  if (!SWIG_IsOK(ecode4)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "AttitudeQuaternionEKF_setInitialStateCovariance" "', argument " "4"" of type '" "double""'");
-  } 
-  arg4 = static_cast< double >(val4);
-  result = (bool)(arg1)->setInitialStateCovariance(arg2,arg3,arg4);
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getJointPos" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getJointPos" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2));
+    }
+  }
+  result = (bool)((iDynTree::KinDynComputations const *)arg1)->getJointPos(arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -81015,68 +83710,71 @@ int _wrap_AttitudeQuaternionEKF_setInitialStateCovariance(int resc, mxArray *res
 }
 
 
-int _wrap_AttitudeQuaternionEKF_initializeFilter(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_initializeFilter",argc,1,1,0)) {
-    SWIG_fail;
+int _wrap_KinDynComputations_getJointPos(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getJointPos__SWIG_0(resc,resv,argc,argv);
+      }
+    }
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_initializeFilter" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getJointPos__SWIG_1(resc,resv,argc,argv);
+      }
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  result = (bool)(arg1)->initializeFilter();
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getJointPos'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getJointPos(iDynTree::VectorDynSize &) const\n"
+    "    iDynTree::KinDynComputations::getJointPos(iDynTree::Span< double,-1 >) const\n");
   return 1;
 }
 
 
-int _wrap_AttitudeQuaternionEKF_updateFilterWithMeasurements__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  iDynTree::LinearAccelerometerMeasurements *arg2 = 0 ;
-  iDynTree::GyroscopeMeasurements *arg3 = 0 ;
+int _wrap_KinDynComputations_getJointVel__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::VectorDynSize *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
+  void *argp2 = 0 ;
   int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_updateFilterWithMeasurements",argc,3,3,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getJointVel",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getJointVel" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getJointVel" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::LinearAccelerometerMeasurements * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getJointVel" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::GyroscopeMeasurements * >(argp3);
-  result = (bool)(arg1)->updateFilterWithMeasurements((iDynTree::LinearAccelerometerMeasurements const &)*arg2,(iDynTree::GyroscopeMeasurements const &)*arg3);
+  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
+  result = (bool)((iDynTree::KinDynComputations const *)arg1)->getJointVel(*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -81085,55 +83783,36 @@ int _wrap_AttitudeQuaternionEKF_updateFilterWithMeasurements__SWIG_0(int resc, m
 }
 
 
-int _wrap_AttitudeQuaternionEKF_updateFilterWithMeasurements__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  iDynTree::LinearAccelerometerMeasurements *arg2 = 0 ;
-  iDynTree::GyroscopeMeasurements *arg3 = 0 ;
-  iDynTree::MagnetometerMeasurements *arg4 = 0 ;
+int _wrap_KinDynComputations_getJointVel__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   void *argp2 ;
   int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_updateFilterWithMeasurements",argc,4,4,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getJointVel",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "2"" of type '" "iDynTree::LinearAccelerometerMeasurements const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::LinearAccelerometerMeasurements * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "3"" of type '" "iDynTree::GyroscopeMeasurements const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::GyroscopeMeasurements * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "4"" of type '" "iDynTree::MagnetometerMeasurements const &""'"); 
+  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_getJointVel" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_updateFilterWithMeasurements" "', argument " "4"" of type '" "iDynTree::MagnetometerMeasurements const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getJointVel" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getJointVel" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2));
+    }
   }
-  arg4 = reinterpret_cast< iDynTree::MagnetometerMeasurements * >(argp4);
-  result = (bool)(arg1)->updateFilterWithMeasurements((iDynTree::LinearAccelerometerMeasurements const &)*arg2,(iDynTree::GyroscopeMeasurements const &)*arg3,(iDynTree::MagnetometerMeasurements const &)*arg4);
+  result = (bool)((iDynTree::KinDynComputations const *)arg1)->getJointVel(arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -81142,75 +83821,71 @@ int _wrap_AttitudeQuaternionEKF_updateFilterWithMeasurements__SWIG_1(int resc, m
 }
 
 
-int _wrap_AttitudeQuaternionEKF_updateFilterWithMeasurements(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 3) {
+int _wrap_KinDynComputations_getJointVel(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_AttitudeQuaternionEKF_updateFilterWithMeasurements__SWIG_0(resc,resv,argc,argv);
-        }
+        return _wrap_KinDynComputations_getJointVel__SWIG_0(resc,resv,argc,argv);
       }
     }
   }
-  if (argc == 4) {
+  if (argc == 2) {
     int _v;
     void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0);
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
       void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            return _wrap_AttitudeQuaternionEKF_updateFilterWithMeasurements__SWIG_1(resc,resv,argc,argv);
-          }
-        }
+        return _wrap_KinDynComputations_getJointVel__SWIG_1(resc,resv,argc,argv);
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'AttitudeQuaternionEKF_updateFilterWithMeasurements'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getJointVel'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::AttitudeQuaternionEKF::updateFilterWithMeasurements(iDynTree::LinearAccelerometerMeasurements const &,iDynTree::GyroscopeMeasurements const &)\n"
-    "    iDynTree::AttitudeQuaternionEKF::updateFilterWithMeasurements(iDynTree::LinearAccelerometerMeasurements const &,iDynTree::GyroscopeMeasurements const &,iDynTree::MagnetometerMeasurements const &)\n");
+    "    iDynTree::KinDynComputations::getJointVel(iDynTree::VectorDynSize &) const\n"
+    "    iDynTree::KinDynComputations::getJointVel(iDynTree::Span< double,-1 >) const\n");
   return 1;
 }
 
 
-int _wrap_AttitudeQuaternionEKF_propagateStates(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+int _wrap_KinDynComputations_getModelVel__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::VectorDynSize *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_propagateStates",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getModelVel",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_propagateStates" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getModelVel" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  result = (bool)(arg1)->propagateStates();
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getModelVel" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getModelVel" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
+  result = (bool)((iDynTree::KinDynComputations const *)arg1)->getModelVel(*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -81219,33 +83894,36 @@ int _wrap_AttitudeQuaternionEKF_propagateStates(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_AttitudeQuaternionEKF_getOrientationEstimateAsRotationMatrix(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  iDynTree::Rotation *arg2 = 0 ;
+int _wrap_KinDynComputations_getModelVel__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_getOrientationEstimateAsRotationMatrix",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getModelVel",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsRotationMatrix" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Rotation,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsRotationMatrix" "', argument " "2"" of type '" "iDynTree::Rotation &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getModelVel" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsRotationMatrix" "', argument " "2"" of type '" "iDynTree::Rotation &""'"); 
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getModelVel" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getModelVel" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2));
+    }
   }
-  arg2 = reinterpret_cast< iDynTree::Rotation * >(argp2);
-  result = (bool)(arg1)->getOrientationEstimateAsRotationMatrix(*arg2);
+  result = (bool)((iDynTree::KinDynComputations const *)arg1)->getModelVel(arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -81254,69 +83932,108 @@ int _wrap_AttitudeQuaternionEKF_getOrientationEstimateAsRotationMatrix(int resc,
 }
 
 
-int _wrap_AttitudeQuaternionEKF_getOrientationEstimateAsQuaternion(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  iDynTree::UnitQuaternion *arg2 = 0 ;
+int _wrap_KinDynComputations_getModelVel(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getModelVel__SWIG_0(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getModelVel__SWIG_1(resc,resv,argc,argv);
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getModelVel'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getModelVel(iDynTree::VectorDynSize &) const\n"
+    "    iDynTree::KinDynComputations::getModelVel(iDynTree::Span< double,-1 >) const\n");
+  return 1;
+}
+
+
+int _wrap_KinDynComputations_getFrameIndex(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  std::string *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
-  bool result;
+  int result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_getOrientationEstimateAsQuaternion",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameIndex",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsQuaternion" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_4_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsQuaternion" "', argument " "2"" of type '" "iDynTree::UnitQuaternion &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameIndex" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsQuaternion" "', argument " "2"" of type '" "iDynTree::UnitQuaternion &""'"); 
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(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 '" "KinDynComputations_getFrameIndex" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameIndex" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
   }
-  arg2 = reinterpret_cast< iDynTree::UnitQuaternion * >(argp2);
-  result = (bool)(arg1)->getOrientationEstimateAsQuaternion(*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  result = (int)((iDynTree::KinDynComputations const *)arg1)->getFrameIndex((std::string const &)*arg2);
+  _out = SWIG_From_int(static_cast< int >(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_AttitudeQuaternionEKF_getOrientationEstimateAsRPY(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  iDynTree::RPY *arg2 = 0 ;
+int _wrap_KinDynComputations_getFrameName(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::FrameIndex arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
+  std::string result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_getOrientationEstimateAsRPY",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameName",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsRPY" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsRPY" "', argument " "2"" of type '" "iDynTree::RPY &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_getOrientationEstimateAsRPY" "', argument " "2"" of type '" "iDynTree::RPY &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameName" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::RPY * >(argp2);
-  result = (bool)(arg1)->getOrientationEstimateAsRPY(*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  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_getFrameName" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::FrameIndex >(val2);
+  result = ((iDynTree::KinDynComputations const *)arg1)->getFrameName(arg2);
+  _out = SWIG_From_std_string(static_cast< std::string >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -81324,23 +84041,31 @@ int _wrap_AttitudeQuaternionEKF_getOrientationEstimateAsRPY(int resc, mxArray *r
 }
 
 
-int _wrap_AttitudeQuaternionEKF_getInternalStateSize(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+int _wrap_KinDynComputations_getWorldTransform__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::FrameIndex arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  size_t result;
+  iDynTree::Transform result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_getInternalStateSize",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getWorldTransform",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_getInternalStateSize" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getWorldTransform" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  result = ((iDynTree::AttitudeQuaternionEKF const *)arg1)->getInternalStateSize();
-  _out = SWIG_From_size_t(static_cast< size_t >(result));
+  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_getWorldTransform" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::FrameIndex >(val2);
+  result = (arg1)->getWorldTransform(arg2);
+  _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:
@@ -81348,33 +84073,44 @@ int _wrap_AttitudeQuaternionEKF_getInternalStateSize(int resc, mxArray *resv[],
 }
 
 
-int _wrap_AttitudeQuaternionEKF_getInternalState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  iDynTree::Span< double,-1 > *arg2 = 0 ;
+int _wrap_KinDynComputations_getWorldTransform__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::FrameIndex arg2 ;
+  iDynTree::MatrixView< double > arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_getInternalState",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getWorldTransform",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_getInternalState" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_getInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getWorldTransform" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_getInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > 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_getWorldTransform" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::FrameIndex >(val2);
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getWorldTransform" "', argument " "3"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getWorldTransform" "', argument " "3"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp3));
+    }
   }
-  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)((iDynTree::AttitudeQuaternionEKF const *)arg1)->getInternalState((iDynTree::Span< double,-1 > const &)*arg2);
+  result = (bool)(arg1)->getWorldTransform(arg2,arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -81383,177 +84119,248 @@ int _wrap_AttitudeQuaternionEKF_getInternalState(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_AttitudeQuaternionEKF_getDefaultInternalInitialState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  iDynTree::Span< double,-1 > *arg2 = 0 ;
+int _wrap_KinDynComputations_getWorldTransform__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  std::string *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
-  bool result;
+  iDynTree::Transform result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_getDefaultInternalInitialState",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getWorldTransform",argc,2,2,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_getDefaultInternalInitialState" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_getDefaultInternalInitialState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getWorldTransform" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_getDefaultInternalInitialState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(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 '" "KinDynComputations_getWorldTransform" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getWorldTransform" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
   }
-  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)((iDynTree::AttitudeQuaternionEKF const *)arg1)->getDefaultInternalInitialState((iDynTree::Span< double,-1 > const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  result = (arg1)->getWorldTransform((std::string const &)*arg2);
+  _out = SWIG_NewPointerObj((new iDynTree::Transform(static_cast< const iDynTree::Transform& >(result))), SWIGTYPE_p_iDynTree__Transform, SWIG_POINTER_OWN |  0 );
   if (_out) --resc, *resv++ = _out;
+  if (SWIG_IsNewObj(res2)) delete arg2;
   return 0;
 fail:
+  if (SWIG_IsNewObj(res2)) delete arg2;
   return 1;
 }
 
 
-int _wrap_AttitudeQuaternionEKF_setInternalState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  iDynTree::Span< double,-1 > *arg2 = 0 ;
+int _wrap_KinDynComputations_getWorldTransform__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  std::string *arg2 = 0 ;
+  iDynTree::MatrixView< double > arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setInternalState",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getWorldTransform",argc,3,3,0)) {
     SWIG_fail;
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setInternalState" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getWorldTransform" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_setInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(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 '" "KinDynComputations_getWorldTransform" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getWorldTransform" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_setInternalState" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getWorldTransform" "', argument " "3"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getWorldTransform" "', argument " "3"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp3));
+    }
   }
-  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)(arg1)->setInternalState((iDynTree::Span< double,-1 > const &)*arg2);
+  result = (bool)(arg1)->getWorldTransform((std::string const &)*arg2,arg3);
   _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_AttitudeQuaternionEKF_setInternalStateInitialOrientation(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
-  iDynTree::Span< double,-1 > *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("AttitudeQuaternionEKF_setInternalStateInitialOrientation",argc,2,2,0)) {
-    SWIG_fail;
+int _wrap_KinDynComputations_getWorldTransform(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        return _wrap_KinDynComputations_getWorldTransform__SWIG_0(resc,resv,argc,argv);
+      }
+    }
   }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "AttitudeQuaternionEKF_setInternalStateInitialOrientation" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getWorldTransform__SWIG_2(resc,resv,argc,argv);
+      }
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "AttitudeQuaternionEKF_setInternalStateInitialOrientation" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_KinDynComputations_getWorldTransform__SWIG_1(resc,resv,argc,argv);
+        }
+      }
+    }
   }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "AttitudeQuaternionEKF_setInternalStateInitialOrientation" "', argument " "2"" of type '" "iDynTree::Span< double,-1 > const &""'"); 
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_KinDynComputations_getWorldTransform__SWIG_3(resc,resv,argc,argv);
+        }
+      }
+    }
   }
-  arg2 = reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2);
-  result = (bool)(arg1)->setInternalStateInitialOrientation((iDynTree::Span< double,-1 > const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getWorldTransform'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getWorldTransform(iDynTree::FrameIndex const)\n"
+    "    iDynTree::KinDynComputations::getWorldTransform(iDynTree::FrameIndex const,iDynTree::MatrixView< double >)\n"
+    "    iDynTree::KinDynComputations::getWorldTransform(std::string const &)\n"
+    "    iDynTree::KinDynComputations::getWorldTransform(std::string const &,iDynTree::MatrixView< double >)\n");
   return 1;
 }
 
 
-int _wrap_delete_AttitudeQuaternionEKF(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::AttitudeQuaternionEKF *arg1 = (iDynTree::AttitudeQuaternionEKF *) 0 ;
+int _wrap_KinDynComputations_getWorldTransformsAsHomogeneous(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  std::vector< std::string,std::allocator< std::string > > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
+  std::vector< iDynTree::Matrix4x4,std::allocator< iDynTree::Matrix4x4 > > result;
   
-  int is_owned;
-  if (!SWIG_check_num_args("delete_AttitudeQuaternionEKF",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getWorldTransformsAsHomogeneous",argc,2,2,0)) {
     SWIG_fail;
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__AttitudeQuaternionEKF, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_AttitudeQuaternionEKF" "', argument " "1"" of type '" "iDynTree::AttitudeQuaternionEKF *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getWorldTransformsAsHomogeneous" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
-  arg1 = reinterpret_cast< iDynTree::AttitudeQuaternionEKF * >(argp1);
-  if (is_owned) {
-    delete arg1;
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  {
+    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
+    res2 = swig::asptr(argv[1], &ptr);
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getWorldTransformsAsHomogeneous" "', argument " "2"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getWorldTransformsAsHomogeneous" "', argument " "2"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
+    }
+    arg2 = ptr;
   }
-  _out = (mxArray*)0;
+  result = (arg1)->getWorldTransformsAsHomogeneous((std::vector< std::string,std::allocator< std::string > > const &)*arg2);
+  _out = SWIG_NewPointerObj((new std::vector< iDynTree::Matrix4x4,std::allocator< iDynTree::Matrix4x4 > >(static_cast< const std::vector< iDynTree::Matrix4x4,std::allocator< iDynTree::Matrix4x4 > >& >(result))), SWIGTYPE_p_std__vectorT_iDynTree__MatrixFixSizeT_4_4_t_std__allocatorT_iDynTree__MatrixFixSizeT_4_4_t_t_t, SWIG_POINTER_OWN |  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_estimateInertialParametersFromLinkBoundingBoxesAndTotalMass(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  double arg1 ;
-  iDynTree::Model *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  double val1 ;
-  int ecode1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("estimateInertialParametersFromLinkBoundingBoxesAndTotalMass",argc,3,3,0)) {
-    SWIG_fail;
-  }
-  ecode1 = SWIG_AsVal_double(argv[0], &val1);
-  if (!SWIG_IsOK(ecode1)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode1), "in method '" "estimateInertialParametersFromLinkBoundingBoxesAndTotalMass" "', argument " "1"" of type '" "double""'");
-  } 
-  arg1 = static_cast< double >(val1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "estimateInertialParametersFromLinkBoundingBoxesAndTotalMass" "', argument " "2"" of type '" "iDynTree::Model &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateInertialParametersFromLinkBoundingBoxesAndTotalMass" "', argument " "2"" of type '" "iDynTree::Model &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "estimateInertialParametersFromLinkBoundingBoxesAndTotalMass" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+int _wrap_KinDynComputations_getRelativeTransform__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::FrameIndex arg2 ;
+  iDynTree::FrameIndex arg3 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
+  mxArray * _out;
+  iDynTree::Transform result;
+  
+  if (!SWIG_check_num_args("KinDynComputations_getRelativeTransform",argc,3,3,0)) {
+    SWIG_fail;
   }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "estimateInertialParametersFromLinkBoundingBoxesAndTotalMass" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
+  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_getRelativeTransform" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  result = (bool)iDynTree::estimateInertialParametersFromLinkBoundingBoxesAndTotalMass(arg1,*arg2,*arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  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_getRelativeTransform" "', 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_getRelativeTransform" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg3 = static_cast< iDynTree::FrameIndex >(val3);
+  result = (arg1)->getRelativeTransform(arg2,arg3);
+  _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:
@@ -81561,16 +84368,53 @@ int _wrap_estimateInertialParametersFromLinkBoundingBoxesAndTotalMass(int resc,
 }
 
 
-int _wrap_new_KinDynComputations(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getRelativeTransform__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::FrameIndex arg2 ;
+  iDynTree::FrameIndex arg3 ;
+  iDynTree::MatrixView< double > arg4 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
   mxArray * _out;
-  iDynTree::KinDynComputations *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("new_KinDynComputations",argc,0,0,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getRelativeTransform",argc,4,4,0)) {
     SWIG_fail;
   }
-  (void)argv;
-  result = (iDynTree::KinDynComputations *)new iDynTree::KinDynComputations();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__KinDynComputations, 1 |  0 );
+  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_getRelativeTransform" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+  }
+  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_getRelativeTransform" "', 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_getRelativeTransform" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg3 = static_cast< iDynTree::FrameIndex >(val3);
+  {
+    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res4)) {
+      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getRelativeTransform" "', argument " "4"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp4) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeTransform" "', argument " "4"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg4 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp4));
+    }
+  }
+  result = (bool)(arg1)->getRelativeTransform(arg2,arg3,arg4);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -81578,26 +84422,55 @@ int _wrap_new_KinDynComputations(int resc, mxArray *resv[], int argc, mxArray *a
 }
 
 
-int _wrap_delete_KinDynComputations(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getRelativeTransformExplicit__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::FrameIndex arg2 ;
+  iDynTree::FrameIndex arg3 ;
+  iDynTree::FrameIndex arg4 ;
+  iDynTree::FrameIndex arg5 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
+  int val4 ;
+  int ecode4 = 0 ;
+  int val5 ;
+  int ecode5 = 0 ;
   mxArray * _out;
+  iDynTree::Transform result;
   
-  int is_owned;
-  if (!SWIG_check_num_args("delete_KinDynComputations",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getRelativeTransformExplicit",argc,5,5,0)) {
     SWIG_fail;
   }
-  is_owned = SWIG_Matlab_isOwned(argv[0]);
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, SWIG_POINTER_DISOWN |  0 );
+  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__KinDynComputations, 0 |  0 );
   if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "delete_KinDynComputations" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getRelativeTransformExplicit" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  if (is_owned) {
-    delete arg1;
-  }
-  _out = (mxArray*)0;
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getRelativeTransformExplicit" "', 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_getRelativeTransformExplicit" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg3 = static_cast< iDynTree::FrameIndex >(val3);
+  ecode4 = SWIG_AsVal_int(argv[3], &val4);
+  if (!SWIG_IsOK(ecode4)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "KinDynComputations_getRelativeTransformExplicit" "', argument " "4"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg4 = static_cast< iDynTree::FrameIndex >(val4);
+  ecode5 = SWIG_AsVal_int(argv[4], &val5);
+  if (!SWIG_IsOK(ecode5)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode5), "in method '" "KinDynComputations_getRelativeTransformExplicit" "', argument " "5"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg5 = static_cast< iDynTree::FrameIndex >(val5);
+  result = (arg1)->getRelativeTransformExplicit(arg2,arg3,arg4,arg5);
+  _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:
@@ -81605,33 +84478,68 @@ int _wrap_delete_KinDynComputations(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_KinDynComputations_loadRobotModel(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getRelativeTransformExplicit__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::Model *arg2 = 0 ;
+  iDynTree::FrameIndex arg2 ;
+  iDynTree::FrameIndex arg3 ;
+  iDynTree::FrameIndex arg4 ;
+  iDynTree::FrameIndex arg5 ;
+  iDynTree::MatrixView< double > arg6 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
+  int val4 ;
+  int ecode4 = 0 ;
+  int val5 ;
+  int ecode5 = 0 ;
+  void *argp6 ;
+  int res6 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_loadRobotModel",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getRelativeTransformExplicit",argc,6,6,0)) {
     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_loadRobotModel" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getRelativeTransformExplicit" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Model,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_loadRobotModel" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_loadRobotModel" "', argument " "2"" of type '" "iDynTree::Model const &""'"); 
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getRelativeTransformExplicit" "', 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_getRelativeTransformExplicit" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg3 = static_cast< iDynTree::FrameIndex >(val3);
+  ecode4 = SWIG_AsVal_int(argv[3], &val4);
+  if (!SWIG_IsOK(ecode4)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "KinDynComputations_getRelativeTransformExplicit" "', argument " "4"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg4 = static_cast< iDynTree::FrameIndex >(val4);
+  ecode5 = SWIG_AsVal_int(argv[4], &val5);
+  if (!SWIG_IsOK(ecode5)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode5), "in method '" "KinDynComputations_getRelativeTransformExplicit" "', argument " "5"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg5 = static_cast< iDynTree::FrameIndex >(val5);
+  {
+    res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res6)) {
+      SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "KinDynComputations_getRelativeTransformExplicit" "', argument " "6"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp6) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeTransformExplicit" "', argument " "6"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg6 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp6));
+    }
   }
-  arg2 = reinterpret_cast< iDynTree::Model * >(argp2);
-  result = (bool)(arg1)->loadRobotModel((iDynTree::Model const &)*arg2);
+  result = (bool)(arg1)->getRelativeTransformExplicit(arg2,arg3,arg4,arg5,arg6);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -81640,7 +84548,88 @@ int _wrap_KinDynComputations_loadRobotModel(int resc, mxArray *resv[], int argc,
 }
 
 
-int _wrap_KinDynComputations_loadRobotModelFromFile__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getRelativeTransformExplicit(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 5) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_int(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          {
+            int res = SWIG_AsVal_int(argv[3], NULL);
+            _v = SWIG_CheckState(res);
+          }
+          if (_v) {
+            {
+              int res = SWIG_AsVal_int(argv[4], NULL);
+              _v = SWIG_CheckState(res);
+            }
+            if (_v) {
+              return _wrap_KinDynComputations_getRelativeTransformExplicit__SWIG_0(resc,resv,argc,argv);
+            }
+          }
+        }
+      }
+    }
+  }
+  if (argc == 6) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_int(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          {
+            int res = SWIG_AsVal_int(argv[3], NULL);
+            _v = SWIG_CheckState(res);
+          }
+          if (_v) {
+            {
+              int res = SWIG_AsVal_int(argv[4], NULL);
+              _v = SWIG_CheckState(res);
+            }
+            if (_v) {
+              void *vptr = 0;
+              int res = SWIG_ConvertPtr(argv[5], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
+              _v = SWIG_CheckState(res);
+              if (_v) {
+                return _wrap_KinDynComputations_getRelativeTransformExplicit__SWIG_1(resc,resv,argc,argv);
+              }
+            }
+          }
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getRelativeTransformExplicit'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getRelativeTransformExplicit(iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::FrameIndex const)\n"
+    "    iDynTree::KinDynComputations::getRelativeTransformExplicit(iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::MatrixView< double >)\n");
+  return 1;
+}
+
+
+int _wrap_KinDynComputations_getRelativeTransform__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   std::string *arg2 = 0 ;
   std::string *arg3 = 0 ;
@@ -81649,24 +84638,24 @@ int _wrap_KinDynComputations_loadRobotModelFromFile__SWIG_0(int resc, mxArray *r
   int res2 = SWIG_OLDOBJ ;
   int res3 = SWIG_OLDOBJ ;
   mxArray * _out;
-  bool result;
+  iDynTree::Transform result;
   
-  if (!SWIG_check_num_args("KinDynComputations_loadRobotModelFromFile",argc,3,3,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getRelativeTransform",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_loadRobotModelFromFile" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getRelativeTransform" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(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 '" "KinDynComputations_loadRobotModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getRelativeTransform" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_loadRobotModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeTransform" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     arg2 = ptr;
   }
@@ -81674,15 +84663,15 @@ int _wrap_KinDynComputations_loadRobotModelFromFile__SWIG_0(int resc, mxArray *r
     std::string *ptr = (std::string *)0;
     res3 = SWIG_AsPtr_std_string(argv[2], &ptr);
     if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_loadRobotModelFromFile" "', argument " "3"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getRelativeTransform" "', argument " "3"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_loadRobotModelFromFile" "', argument " "3"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeTransform" "', argument " "3"" of type '" "std::string const &""'"); 
     }
     arg3 = ptr;
   }
-  result = (bool)(arg1)->loadRobotModelFromFile((std::string const &)*arg2,(std::string const &)*arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  result = (arg1)->getRelativeTransform((std::string const &)*arg2,(std::string const &)*arg3);
+  _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;
   if (SWIG_IsNewObj(res2)) delete arg2;
   if (SWIG_IsNewObj(res3)) delete arg3;
@@ -81694,47 +84683,97 @@ int _wrap_KinDynComputations_loadRobotModelFromFile__SWIG_0(int resc, mxArray *r
 }
 
 
-int _wrap_KinDynComputations_loadRobotModelFromFile__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getRelativeTransform__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   std::string *arg2 = 0 ;
+  std::string *arg3 = 0 ;
+  iDynTree::MatrixView< double > arg4 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   int res2 = SWIG_OLDOBJ ;
+  int res3 = SWIG_OLDOBJ ;
+  void *argp4 ;
+  int res4 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_loadRobotModelFromFile",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getRelativeTransform",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_loadRobotModelFromFile" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getRelativeTransform" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(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 '" "KinDynComputations_loadRobotModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getRelativeTransform" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_loadRobotModelFromFile" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeTransform" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     arg2 = ptr;
   }
-  result = (bool)(arg1)->loadRobotModelFromFile((std::string const &)*arg2);
+  {
+    std::string *ptr = (std::string *)0;
+    res3 = SWIG_AsPtr_std_string(argv[2], &ptr);
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getRelativeTransform" "', argument " "3"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeTransform" "', argument " "3"" of type '" "std::string const &""'"); 
+    }
+    arg3 = ptr;
+  }
+  {
+    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res4)) {
+      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getRelativeTransform" "', argument " "4"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp4) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeTransform" "', argument " "4"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg4 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp4));
+    }
+  }
+  result = (bool)(arg1)->getRelativeTransform((std::string const &)*arg2,(std::string const &)*arg3,arg4);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   if (SWIG_IsNewObj(res2)) delete arg2;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
   if (SWIG_IsNewObj(res2)) delete arg2;
+  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_KinDynComputations_loadRobotModelFromFile(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
+int _wrap_KinDynComputations_getRelativeTransform(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_int(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          return _wrap_KinDynComputations_getRelativeTransform__SWIG_0(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  if (argc == 3) {
     int _v;
     void *vptr = 0;
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
@@ -81743,11 +84782,41 @@ int _wrap_KinDynComputations_loadRobotModelFromFile(int resc, mxArray *resv[], i
       int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_KinDynComputations_loadRobotModelFromFile__SWIG_1(resc,resv,argc,argv);
+        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_KinDynComputations_getRelativeTransform__SWIG_2(resc,resv,argc,argv);
+        }
       }
     }
   }
-  if (argc == 3) {
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_int(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_KinDynComputations_getRelativeTransform__SWIG_1(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
+  }
+  if (argc == 4) {
     int _v;
     void *vptr = 0;
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
@@ -81759,103 +84828,109 @@ int _wrap_KinDynComputations_loadRobotModelFromFile(int resc, mxArray *resv[], i
         int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
         _v = SWIG_CheckState(res);
         if (_v) {
-          return _wrap_KinDynComputations_loadRobotModelFromFile__SWIG_0(resc,resv,argc,argv);
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_KinDynComputations_getRelativeTransform__SWIG_3(resc,resv,argc,argv);
+          }
         }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_loadRobotModelFromFile'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getRelativeTransform'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::KinDynComputations::loadRobotModelFromFile(std::string const &,std::string const &)\n"
-    "    iDynTree::KinDynComputations::loadRobotModelFromFile(std::string const &)\n");
+    "    iDynTree::KinDynComputations::getRelativeTransform(iDynTree::FrameIndex const,iDynTree::FrameIndex const)\n"
+    "    iDynTree::KinDynComputations::getRelativeTransform(iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::MatrixView< double >)\n"
+    "    iDynTree::KinDynComputations::getRelativeTransform(std::string const &,std::string const &)\n"
+    "    iDynTree::KinDynComputations::getRelativeTransform(std::string const &,std::string const &,iDynTree::MatrixView< double >)\n");
   return 1;
 }
 
 
-int _wrap_KinDynComputations_loadRobotModelFromString__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFrameVel__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   std::string *arg2 = 0 ;
-  std::string *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   int res2 = SWIG_OLDOBJ ;
-  int res3 = SWIG_OLDOBJ ;
   mxArray * _out;
-  bool result;
+  iDynTree::Twist result;
   
-  if (!SWIG_check_num_args("KinDynComputations_loadRobotModelFromString",argc,3,3,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameVel",argc,2,2,0)) {
     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_loadRobotModelFromString" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameVel" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(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 '" "KinDynComputations_loadRobotModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getFrameVel" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_loadRobotModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameVel" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     arg2 = ptr;
   }
-  {
-    std::string *ptr = (std::string *)0;
-    res3 = SWIG_AsPtr_std_string(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_loadRobotModelFromString" "', argument " "3"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_loadRobotModelFromString" "', argument " "3"" of type '" "std::string const &""'"); 
-    }
-    arg3 = ptr;
-  }
-  result = (bool)(arg1)->loadRobotModelFromString((std::string const &)*arg2,(std::string const &)*arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  result = (arg1)->getFrameVel((std::string const &)*arg2);
+  _out = SWIG_NewPointerObj((new iDynTree::Twist(static_cast< const iDynTree::Twist& >(result))), SWIGTYPE_p_iDynTree__Twist, SWIG_POINTER_OWN |  0 );
   if (_out) --resc, *resv++ = _out;
   if (SWIG_IsNewObj(res2)) delete arg2;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
   if (SWIG_IsNewObj(res2)) delete arg2;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_KinDynComputations_loadRobotModelFromString__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFrameVel__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   std::string *arg2 = 0 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   int res2 = SWIG_OLDOBJ ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_loadRobotModelFromString",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameVel",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_loadRobotModelFromString" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameVel" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(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 '" "KinDynComputations_loadRobotModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getFrameVel" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_loadRobotModelFromString" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameVel" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     arg2 = ptr;
   }
-  result = (bool)(arg1)->loadRobotModelFromString((std::string const &)*arg2);
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getFrameVel" "', argument " "3"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameVel" "', argument " "3"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp3));
+    }
+  }
+  result = (bool)(arg1)->getFrameVel((std::string const &)*arg2,arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   if (SWIG_IsNewObj(res2)) delete arg2;
@@ -81866,63 +84941,31 @@ int _wrap_KinDynComputations_loadRobotModelFromString__SWIG_1(int resc, mxArray
 }
 
 
-int _wrap_KinDynComputations_loadRobotModelFromString(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_KinDynComputations_loadRobotModelFromString__SWIG_1(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_KinDynComputations_loadRobotModelFromString__SWIG_0(resc,resv,argc,argv);
-        }
-      }
-    }
-  }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_loadRobotModelFromString'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::KinDynComputations::loadRobotModelFromString(std::string const &,std::string const &)\n"
-    "    iDynTree::KinDynComputations::loadRobotModelFromString(std::string const &)\n");
-  return 1;
-}
-
-
-int _wrap_KinDynComputations_isValid(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFrameVel__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::FrameIndex arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::Twist result;
   
-  if (!SWIG_check_num_args("KinDynComputations_isValid",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameVel",argc,2,2,0)) {
     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_isValid" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameVel" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (bool)((iDynTree::KinDynComputations const *)arg1)->isValid();
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getFrameVel" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::FrameIndex >(val2);
+  result = (arg1)->getFrameVel(arg2);
+  _out = SWIG_NewPointerObj((new iDynTree::Twist(static_cast< const iDynTree::Twist& >(result))), SWIGTYPE_p_iDynTree__Twist, SWIG_POINTER_OWN |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -81930,111 +84973,319 @@ int _wrap_KinDynComputations_isValid(int resc, mxArray *resv[], int argc, mxArra
 }
 
 
-int _wrap_KinDynComputations_setFrameVelocityRepresentation(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFrameVel__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::FrameVelocityRepresentation arg2 ;
+  iDynTree::FrameIndex arg2 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   int val2 ;
   int ecode2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_setFrameVelocityRepresentation",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameVel",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_setFrameVelocityRepresentation" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameVel" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+  }
+  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_getFrameVel" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::FrameIndex >(val2);
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getFrameVel" "', argument " "3"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameVel" "', argument " "3"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp3));
+    }
+  }
+  result = (bool)(arg1)->getFrameVel(arg2,arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_KinDynComputations_getFrameVel(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        return _wrap_KinDynComputations_getFrameVel__SWIG_2(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getFrameVel__SWIG_0(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_KinDynComputations_getFrameVel__SWIG_3(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_KinDynComputations_getFrameVel__SWIG_1(resc,resv,argc,argv);
+        }
+      }
+    }
   }
-  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_setFrameVelocityRepresentation" "', argument " "2"" of type '" "iDynTree::FrameVelocityRepresentation""'");
-  } 
-  arg2 = static_cast< iDynTree::FrameVelocityRepresentation >(val2);
-  result = (bool)((iDynTree::KinDynComputations const *)arg1)->setFrameVelocityRepresentation(arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getFrameVel'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getFrameVel(std::string const &)\n"
+    "    iDynTree::KinDynComputations::getFrameVel(std::string const &,iDynTree::Span< double,-1 >)\n"
+    "    iDynTree::KinDynComputations::getFrameVel(iDynTree::FrameIndex const)\n"
+    "    iDynTree::KinDynComputations::getFrameVel(iDynTree::FrameIndex const,iDynTree::Span< double,-1 >)\n");
   return 1;
 }
 
 
-int _wrap_KinDynComputations_getFrameVelocityRepresentation(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFrameAcc__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  std::string *arg2 = 0 ;
+  iDynTree::Vector6 *arg3 = 0 ;
+  iDynTree::VectorDynSize *arg4 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
   mxArray * _out;
-  iDynTree::FrameVelocityRepresentation result;
+  iDynTree::Vector6 result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getFrameVelocityRepresentation",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameAcc",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_getFrameVelocityRepresentation" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameAcc" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (iDynTree::FrameVelocityRepresentation)((iDynTree::KinDynComputations const *)arg1)->getFrameVelocityRepresentation();
-  _out = SWIG_From_int(static_cast< int >(result));
+  {
+    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 '" "KinDynComputations_getFrameAcc" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
+  }
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getFrameAcc" "', argument " "3"" of type '" "iDynTree::Vector6 const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "3"" of type '" "iDynTree::Vector6 const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::Vector6 * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getFrameAcc" "', argument " "4"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "4"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::VectorDynSize * >(argp4);
+  result = (arg1)->getFrameAcc((std::string const &)*arg2,(iDynTree::Vector6 const &)*arg3,(iDynTree::VectorDynSize const &)*arg4);
+  _out = SWIG_NewPointerObj((new iDynTree::Vector6(static_cast< const iDynTree::Vector6& >(result))), SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, SWIG_POINTER_OWN |  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_KinDynComputations_getNrOfDegreesOfFreedom(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFrameAcc__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  std::string *arg2 = 0 ;
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg3 ;
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg4 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg5 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
+  void *argp5 ;
+  int res5 = 0 ;
   mxArray * _out;
-  unsigned int result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getNrOfDegreesOfFreedom",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameAcc",argc,5,5,0)) {
     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_getNrOfDegreesOfFreedom" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameAcc" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (unsigned int)((iDynTree::KinDynComputations const *)arg1)->getNrOfDegreesOfFreedom();
-  _out = SWIG_From_unsigned_SS_int(static_cast< unsigned int >(result));
+  {
+    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 '" "KinDynComputations_getFrameAcc" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
+  }
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getFrameAcc" "', argument " "3"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "3"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp3));
+    }
+  }
+  {
+    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res4)) {
+      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getFrameAcc" "', argument " "4"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp4) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "4"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg4 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp4));
+    }
+  }
+  {
+    res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res5)) {
+      SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "KinDynComputations_getFrameAcc" "', argument " "5"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp5) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "5"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg5 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp5));
+    }
+  }
+  result = (bool)(arg1)->getFrameAcc((std::string const &)*arg2,arg3,arg4,arg5);
+  _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_KinDynComputations_getDescriptionOfDegreeOfFreedom(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFrameAcc__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  int arg2 ;
+  iDynTree::FrameIndex arg2 ;
+  iDynTree::Vector6 *arg3 = 0 ;
+  iDynTree::VectorDynSize *arg4 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   int val2 ;
   int ecode2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
   mxArray * _out;
-  std::string result;
+  iDynTree::Vector6 result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getDescriptionOfDegreeOfFreedom",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameAcc",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_getDescriptionOfDegreeOfFreedom" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameAcc" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   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_getDescriptionOfDegreeOfFreedom" "', argument " "2"" of type '" "int""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getFrameAcc" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
   } 
-  arg2 = static_cast< int >(val2);
-  result = (arg1)->getDescriptionOfDegreeOfFreedom(arg2);
-  _out = SWIG_From_std_string(static_cast< std::string >(result));
+  arg2 = static_cast< iDynTree::FrameIndex >(val2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getFrameAcc" "', argument " "3"" of type '" "iDynTree::Vector6 const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "3"" of type '" "iDynTree::Vector6 const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::Vector6 * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getFrameAcc" "', argument " "4"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "4"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::VectorDynSize * >(argp4);
+  result = (arg1)->getFrameAcc(arg2,(iDynTree::Vector6 const &)*arg3,(iDynTree::VectorDynSize const &)*arg4);
+  _out = SWIG_NewPointerObj((new iDynTree::Vector6(static_cast< const iDynTree::Vector6& >(result))), SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, SWIG_POINTER_OWN |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -82042,23 +85293,73 @@ int _wrap_KinDynComputations_getDescriptionOfDegreeOfFreedom(int resc, mxArray *
 }
 
 
-int _wrap_KinDynComputations_getDescriptionOfDegreesOfFreedom(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFrameAcc__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::FrameIndex arg2 ;
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg3 ;
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg4 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg5 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
+  void *argp5 ;
+  int res5 = 0 ;
   mxArray * _out;
-  std::string result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getDescriptionOfDegreesOfFreedom",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameAcc",argc,5,5,0)) {
     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_getDescriptionOfDegreesOfFreedom" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameAcc" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (arg1)->getDescriptionOfDegreesOfFreedom();
-  _out = SWIG_From_std_string(static_cast< std::string >(result));
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getFrameAcc" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::FrameIndex >(val2);
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getFrameAcc" "', argument " "3"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "3"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp3));
+    }
+  }
+  {
+    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res4)) {
+      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getFrameAcc" "', argument " "4"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp4) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "4"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg4 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp4));
+    }
+  }
+  {
+    res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res5)) {
+      SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "KinDynComputations_getFrameAcc" "', argument " "5"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp5) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "5"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg5 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp5));
+    }
+  }
+  result = (bool)(arg1)->getFrameAcc(arg2,arg3,arg4,arg5);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -82066,71 +85367,210 @@ int _wrap_KinDynComputations_getDescriptionOfDegreesOfFreedom(int resc, mxArray
 }
 
 
-int _wrap_KinDynComputations_getNrOfLinks(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  unsigned int result;
-  
-  if (!SWIG_check_num_args("KinDynComputations_getNrOfLinks",argc,1,1,0)) {
-    SWIG_fail;
+int _wrap_KinDynComputations_getFrameAcc(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_KinDynComputations_getFrameAcc__SWIG_2(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
   }
-  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_getNrOfLinks" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
+  if (argc == 4) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            return _wrap_KinDynComputations_getFrameAcc__SWIG_0(resc,resv,argc,argv);
+          }
+        }
+      }
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (unsigned int)((iDynTree::KinDynComputations const *)arg1)->getNrOfLinks();
-  _out = SWIG_From_unsigned_SS_int(static_cast< unsigned int >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  if (argc == 5) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            void *vptr = 0;
+            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+            _v = SWIG_CheckState(res);
+            if (_v) {
+              return _wrap_KinDynComputations_getFrameAcc__SWIG_3(resc,resv,argc,argv);
+            }
+          }
+        }
+      }
+    }
+  }
+  if (argc == 5) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            void *vptr = 0;
+            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+            _v = SWIG_CheckState(res);
+            if (_v) {
+              return _wrap_KinDynComputations_getFrameAcc__SWIG_1(resc,resv,argc,argv);
+            }
+          }
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getFrameAcc'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getFrameAcc(std::string const &,iDynTree::Vector6 const &,iDynTree::VectorDynSize const &)\n"
+    "    iDynTree::KinDynComputations::getFrameAcc(std::string const &,iDynTree::Span< double const,-1 >,iDynTree::Span< double const,-1 >,iDynTree::Span< double,-1 >)\n"
+    "    iDynTree::KinDynComputations::getFrameAcc(iDynTree::FrameIndex const,iDynTree::Vector6 const &,iDynTree::VectorDynSize const &)\n"
+    "    iDynTree::KinDynComputations::getFrameAcc(iDynTree::FrameIndex const,iDynTree::Span< double const,-1 >,iDynTree::Span< double const,-1 >,iDynTree::Span< double,-1 >)\n");
   return 1;
 }
 
 
-int _wrap_KinDynComputations_getNrOfFrames(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFrameFreeFloatingJacobian__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  std::string *arg2 = 0 ;
+  iDynTree::MatrixDynSize *arg3 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
+  void *argp3 = 0 ;
+  int res3 = 0 ;
   mxArray * _out;
-  unsigned int result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getNrOfFrames",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameFreeFloatingJacobian",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_getNrOfFrames" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (unsigned int)((iDynTree::KinDynComputations const *)arg1)->getNrOfFrames();
-  _out = SWIG_From_unsigned_SS_int(static_cast< unsigned int >(result));
+  {
+    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 '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
+  }
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp3);
+  result = (bool)(arg1)->getFrameFreeFloatingJacobian((std::string const &)*arg2,*arg3);
+  _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_KinDynComputations_getFloatingBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFrameFreeFloatingJacobian__SWIG_1(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;
-  std::string result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getFloatingBase",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameFreeFloatingJacobian",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_getFloatingBase" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = ((iDynTree::KinDynComputations const *)arg1)->getFloatingBase();
-  _out = SWIG_From_std_string(static_cast< std::string >(result));
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', 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_getFrameFreeFloatingJacobian" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp3);
+  result = (bool)(arg1)->getFrameFreeFloatingJacobian(arg2,*arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -82138,35 +85578,49 @@ int _wrap_KinDynComputations_getFloatingBase(int resc, mxArray *resv[], int argc
 }
 
 
-int _wrap_KinDynComputations_setFloatingBase(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFrameFreeFloatingJacobian__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   std::string *arg2 = 0 ;
+  iDynTree::MatrixView< double > arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   int res2 = SWIG_OLDOBJ ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_setFloatingBase",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameFreeFloatingJacobian",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_setFloatingBase" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(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 '" "KinDynComputations_setFloatingBase" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setFloatingBase" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     arg2 = ptr;
   }
-  result = (bool)(arg1)->setFloatingBase((std::string const &)*arg2);
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "3"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "3"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp3));
+    }
+  }
+  result = (bool)(arg1)->getFrameFreeFloatingJacobian((std::string const &)*arg2,arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   if (SWIG_IsNewObj(res2)) delete arg2;
@@ -82177,23 +85631,45 @@ int _wrap_KinDynComputations_setFloatingBase(int resc, mxArray *resv[], int argc
 }
 
 
-int _wrap_KinDynComputations_model(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFrameFreeFloatingJacobian__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::FrameIndex arg2 ;
+  iDynTree::MatrixView< double > arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
-  iDynTree::Model *result = 0 ;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_model",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameFreeFloatingJacobian",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_model" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (iDynTree::Model *) &((iDynTree::KinDynComputations const *)arg1)->model();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::FrameIndex >(val2);
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "3"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "3"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp3));
+    }
+  }
+  result = (bool)(arg1)->getFrameFreeFloatingJacobian(arg2,arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -82201,31 +85677,95 @@ int _wrap_KinDynComputations_model(int resc, mxArray *resv[], int argc, mxArray
 }
 
 
-int _wrap_KinDynComputations_getRobotModel(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::Model *result = 0 ;
-  
-  if (!SWIG_check_num_args("KinDynComputations_getRobotModel",argc,1,1,0)) {
-    SWIG_fail;
+int _wrap_KinDynComputations_getFrameFreeFloatingJacobian(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_KinDynComputations_getFrameFreeFloatingJacobian__SWIG_1(resc,resv,argc,argv);
+        }
+      }
+    }
   }
-  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_getRobotModel" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_KinDynComputations_getFrameFreeFloatingJacobian__SWIG_3(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_KinDynComputations_getFrameFreeFloatingJacobian__SWIG_2(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_KinDynComputations_getFrameFreeFloatingJacobian__SWIG_0(resc,resv,argc,argv);
+        }
+      }
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (iDynTree::Model *) &((iDynTree::KinDynComputations const *)arg1)->getRobotModel();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getFrameFreeFloatingJacobian'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getFrameFreeFloatingJacobian(std::string const &,iDynTree::MatrixDynSize &)\n"
+    "    iDynTree::KinDynComputations::getFrameFreeFloatingJacobian(iDynTree::FrameIndex const,iDynTree::MatrixDynSize &)\n"
+    "    iDynTree::KinDynComputations::getFrameFreeFloatingJacobian(std::string const &,iDynTree::MatrixView< double >)\n"
+    "    iDynTree::KinDynComputations::getFrameFreeFloatingJacobian(iDynTree::FrameIndex const,iDynTree::MatrixView< double >)\n");
   return 1;
 }
 
 
-int _wrap_KinDynComputations_getRelativeJacobianSparsityPattern(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getRelativeJacobian__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   iDynTree::FrameIndex arg2 ;
   iDynTree::FrameIndex arg3 ;
@@ -82241,33 +85781,33 @@ int _wrap_KinDynComputations_getRelativeJacobianSparsityPattern(int resc, mxArra
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getRelativeJacobianSparsityPattern",argc,4,4,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getRelativeJacobian",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 *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getRelativeJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   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""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getRelativeJacobian" "', 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""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "KinDynComputations_getRelativeJacobian" "', 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 &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getRelativeJacobian" "', 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 &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeJacobian" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); 
   }
   arg4 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp4);
-  result = (bool)((iDynTree::KinDynComputations const *)arg1)->getRelativeJacobianSparsityPattern(arg2,arg3,*arg4);
+  result = (bool)(arg1)->getRelativeJacobian(arg2,arg3,*arg4);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -82276,212 +85816,52 @@ int _wrap_KinDynComputations_getRelativeJacobianSparsityPattern(int resc, mxArra
 }
 
 
-int _wrap_KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getRelativeJacobian__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   iDynTree::FrameIndex arg2 ;
-  iDynTree::MatrixDynSize *arg3 = 0 ;
+  iDynTree::FrameIndex arg3 ;
+  iDynTree::MatrixView< double > arg4 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   int val2 ;
   int ecode2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern",argc,3,3,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getRelativeJacobian",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_getFrameFreeFloatingJacobianSparsityPattern" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getRelativeJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   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""'");
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getRelativeJacobian" "', 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 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("KinDynComputations_setJointPos",argc,2,2,0)) {
-    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_setJointPos" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_setJointPos" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setJointPos" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  result = (bool)(arg1)->setJointPos((iDynTree::VectorDynSize const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_KinDynComputations_setRobotState__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::Transform *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  iDynTree::Twist *arg4 = 0 ;
-  iDynTree::VectorDynSize *arg5 = 0 ;
-  iDynTree::Vector3 *arg6 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
-  void *argp5 ;
-  int res5 = 0 ;
-  void *argp6 ;
-  int res6 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("KinDynComputations_setRobotState",argc,6,6,0)) {
-    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_setRobotState" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Transform,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_setRobotState" "', argument " "2"" of type '" "iDynTree::Transform const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "2"" of type '" "iDynTree::Transform const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Transform * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_setRobotState" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__Twist,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_setRobotState" "', argument " "4"" of type '" "iDynTree::Twist const &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "4"" of type '" "iDynTree::Twist const &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::Twist * >(argp4);
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "KinDynComputations_setRobotState" "', argument " "5"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "5"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg5 = reinterpret_cast< iDynTree::VectorDynSize * >(argp5);
-  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res6)) {
-    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "KinDynComputations_setRobotState" "', argument " "6"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  if (!argp6) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "6"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  arg6 = reinterpret_cast< iDynTree::Vector3 * >(argp6);
-  result = (bool)(arg1)->setRobotState((iDynTree::Transform const &)*arg2,(iDynTree::VectorDynSize const &)*arg3,(iDynTree::Twist const &)*arg4,(iDynTree::VectorDynSize const &)*arg5,(iDynTree::Vector3 const &)*arg6);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_KinDynComputations_setRobotState__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::VectorDynSize *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  iDynTree::Vector3 *arg4 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("KinDynComputations_setRobotState",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_setRobotState" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_setRobotState" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_setRobotState" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_setRobotState" "', argument " "4"" of type '" "iDynTree::Vector3 const &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_setRobotState" "', argument " "4"" of type '" "iDynTree::Vector3 const &""'"); 
+  ecode3 = SWIG_AsVal_int(argv[2], &val3);
+  if (!SWIG_IsOK(ecode3)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "KinDynComputations_getRelativeJacobian" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg3 = static_cast< iDynTree::FrameIndex >(val3);
+  {
+    res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res4)) {
+      SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getRelativeJacobian" "', argument " "4"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp4) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeJacobian" "', argument " "4"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg4 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp4));
+    }
   }
-  arg4 = reinterpret_cast< iDynTree::Vector3 * >(argp4);
-  result = (bool)(arg1)->setRobotState((iDynTree::VectorDynSize const &)*arg2,(iDynTree::VectorDynSize const &)*arg3,(iDynTree::Vector3 const &)*arg4);
+  result = (bool)(arg1)->getRelativeJacobian(arg2,arg3,arg4);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -82490,145 +85870,128 @@ int _wrap_KinDynComputations_setRobotState__SWIG_1(int resc, mxArray *resv[], in
 }
 
 
-int _wrap_KinDynComputations_setRobotState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getRelativeJacobian(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 4) {
     int _v;
     void *vptr = 0;
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
         _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_int(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
         if (_v) {
           void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
           _v = SWIG_CheckState(res);
           if (_v) {
-            return _wrap_KinDynComputations_setRobotState__SWIG_1(resc,resv,argc,argv);
+            return _wrap_KinDynComputations_getRelativeJacobian__SWIG_0(resc,resv,argc,argv);
           }
         }
       }
     }
   }
-  if (argc == 6) {
+  if (argc == 4) {
     int _v;
     void *vptr = 0;
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
         _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_int(argv[2], NULL);
+          _v = SWIG_CheckState(res);
+        }
         if (_v) {
           void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__Twist, 0);
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
           _v = SWIG_CheckState(res);
           if (_v) {
-            void *vptr = 0;
-            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-            _v = SWIG_CheckState(res);
-            if (_v) {
-              void *vptr = 0;
-              int res = SWIG_ConvertPtr(argv[5], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
-              _v = SWIG_CheckState(res);
-              if (_v) {
-                return _wrap_KinDynComputations_setRobotState__SWIG_0(resc,resv,argc,argv);
-              }
-            }
+            return _wrap_KinDynComputations_getRelativeJacobian__SWIG_1(resc,resv,argc,argv);
           }
         }
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_setRobotState'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getRelativeJacobian'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::KinDynComputations::setRobotState(iDynTree::Transform const &,iDynTree::VectorDynSize const &,iDynTree::Twist const &,iDynTree::VectorDynSize const &,iDynTree::Vector3 const &)\n"
-    "    iDynTree::KinDynComputations::setRobotState(iDynTree::VectorDynSize const &,iDynTree::VectorDynSize const &,iDynTree::Vector3 const &)\n");
+    "    iDynTree::KinDynComputations::getRelativeJacobian(iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::MatrixDynSize &)\n"
+    "    iDynTree::KinDynComputations::getRelativeJacobian(iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::MatrixView< double >)\n");
   return 1;
 }
 
 
-int _wrap_KinDynComputations_getRobotState__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getRelativeJacobianExplicit__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::Transform *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  iDynTree::Twist *arg4 = 0 ;
-  iDynTree::VectorDynSize *arg5 = 0 ;
-  iDynTree::Vector3 *arg6 = 0 ;
+  iDynTree::FrameIndex arg2 ;
+  iDynTree::FrameIndex arg3 ;
+  iDynTree::FrameIndex arg4 ;
+  iDynTree::FrameIndex arg5 ;
+  iDynTree::MatrixDynSize *arg6 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
-  void *argp4 = 0 ;
-  int res4 = 0 ;
-  void *argp5 = 0 ;
-  int res5 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
+  int val4 ;
+  int ecode4 = 0 ;
+  int val5 ;
+  int ecode5 = 0 ;
   void *argp6 = 0 ;
   int res6 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getRobotState",argc,6,6,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getRelativeJacobianExplicit",argc,6,6,0)) {
     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_getRobotState" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getRelativeJacobianExplicit" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Transform,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getRobotState" "', argument " "2"" of type '" "iDynTree::Transform &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "2"" of type '" "iDynTree::Transform &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Transform * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getRobotState" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__Twist,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getRobotState" "', argument " "4"" of type '" "iDynTree::Twist &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "4"" of type '" "iDynTree::Twist &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::Twist * >(argp4);
-  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res5)) {
-    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "KinDynComputations_getRobotState" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp5) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "5"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  arg5 = reinterpret_cast< iDynTree::VectorDynSize * >(argp5);
-  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getRelativeJacobianExplicit" "', 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_getRelativeJacobianExplicit" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg3 = static_cast< iDynTree::FrameIndex >(val3);
+  ecode4 = SWIG_AsVal_int(argv[3], &val4);
+  if (!SWIG_IsOK(ecode4)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "KinDynComputations_getRelativeJacobianExplicit" "', argument " "4"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg4 = static_cast< iDynTree::FrameIndex >(val4);
+  ecode5 = SWIG_AsVal_int(argv[4], &val5);
+  if (!SWIG_IsOK(ecode5)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode5), "in method '" "KinDynComputations_getRelativeJacobianExplicit" "', argument " "5"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg5 = static_cast< iDynTree::FrameIndex >(val5);
+  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
   if (!SWIG_IsOK(res6)) {
-    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "KinDynComputations_getRobotState" "', argument " "6"" of type '" "iDynTree::Vector3 &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "KinDynComputations_getRelativeJacobianExplicit" "', argument " "6"" of type '" "iDynTree::MatrixDynSize &""'"); 
   }
   if (!argp6) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "6"" of type '" "iDynTree::Vector3 &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeJacobianExplicit" "', argument " "6"" of type '" "iDynTree::MatrixDynSize &""'"); 
   }
-  arg6 = reinterpret_cast< iDynTree::Vector3 * >(argp6);
-  (arg1)->getRobotState(*arg2,*arg3,*arg4,*arg5,*arg6);
-  _out = (mxArray*)0;
+  arg6 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp6);
+  result = (bool)(arg1)->getRelativeJacobianExplicit(arg2,arg3,arg4,arg5,*arg6);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -82636,55 +85999,69 @@ int _wrap_KinDynComputations_getRobotState__SWIG_0(int resc, mxArray *resv[], in
 }
 
 
-int _wrap_KinDynComputations_getRobotState__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getRelativeJacobianExplicit__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::VectorDynSize *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  iDynTree::Vector3 *arg4 = 0 ;
+  iDynTree::FrameIndex arg2 ;
+  iDynTree::FrameIndex arg3 ;
+  iDynTree::FrameIndex arg4 ;
+  iDynTree::FrameIndex arg5 ;
+  iDynTree::MatrixView< double > arg6 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
-  void *argp4 = 0 ;
-  int res4 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  int val3 ;
+  int ecode3 = 0 ;
+  int val4 ;
+  int ecode4 = 0 ;
+  int val5 ;
+  int ecode5 = 0 ;
+  void *argp6 ;
+  int res6 = 0 ;
   mxArray * _out;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getRobotState",argc,4,4,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getRelativeJacobianExplicit",argc,6,6,0)) {
     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_getRobotState" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getRelativeJacobianExplicit" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getRobotState" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getRobotState" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getRobotState" "', argument " "4"" of type '" "iDynTree::Vector3 &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRobotState" "', argument " "4"" of type '" "iDynTree::Vector3 &""'"); 
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getRelativeJacobianExplicit" "', 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_getRelativeJacobianExplicit" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg3 = static_cast< iDynTree::FrameIndex >(val3);
+  ecode4 = SWIG_AsVal_int(argv[3], &val4);
+  if (!SWIG_IsOK(ecode4)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "KinDynComputations_getRelativeJacobianExplicit" "', argument " "4"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg4 = static_cast< iDynTree::FrameIndex >(val4);
+  ecode5 = SWIG_AsVal_int(argv[4], &val5);
+  if (!SWIG_IsOK(ecode5)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode5), "in method '" "KinDynComputations_getRelativeJacobianExplicit" "', argument " "5"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg5 = static_cast< iDynTree::FrameIndex >(val5);
+  {
+    res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res6)) {
+      SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "KinDynComputations_getRelativeJacobianExplicit" "', argument " "6"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp6) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeJacobianExplicit" "', argument " "6"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg6 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp6));
+    }
   }
-  arg4 = reinterpret_cast< iDynTree::Vector3 * >(argp4);
-  (arg1)->getRobotState(*arg2,*arg3,*arg4);
-  _out = (mxArray*)0;
+  result = (bool)(arg1)->getRelativeJacobianExplicit(arg2,arg3,arg4,arg5,arg6);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -82692,26 +86069,40 @@ int _wrap_KinDynComputations_getRobotState__SWIG_1(int resc, mxArray *resv[], in
 }
 
 
-int _wrap_KinDynComputations_getRobotState(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 4) {
+int _wrap_KinDynComputations_getRelativeJacobianExplicit(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 6) {
     int _v;
     void *vptr = 0;
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
         _v = SWIG_CheckState(res);
-        if (_v) {
-          void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_int(argv[2], NULL);
           _v = SWIG_CheckState(res);
+        }
+        if (_v) {
+          {
+            int res = SWIG_AsVal_int(argv[3], NULL);
+            _v = SWIG_CheckState(res);
+          }
           if (_v) {
-            return _wrap_KinDynComputations_getRobotState__SWIG_1(resc,resv,argc,argv);
+            {
+              int res = SWIG_AsVal_int(argv[4], NULL);
+              _v = SWIG_CheckState(res);
+            }
+            if (_v) {
+              void *vptr = 0;
+              int res = SWIG_ConvertPtr(argv[5], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+              _v = SWIG_CheckState(res);
+              if (_v) {
+                return _wrap_KinDynComputations_getRelativeJacobianExplicit__SWIG_0(resc,resv,argc,argv);
+              }
+            }
           }
         }
       }
@@ -82719,31 +86110,35 @@ int _wrap_KinDynComputations_getRobotState(int resc, mxArray *resv[], int argc,
   }
   if (argc == 6) {
     int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__Transform, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
         _v = SWIG_CheckState(res);
-        if (_v) {
-          void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__Twist, 0);
+      }
+      if (_v) {
+        {
+          int res = SWIG_AsVal_int(argv[2], NULL);
           _v = SWIG_CheckState(res);
-          if (_v) {
-            void *vptr = 0;
-            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+        }
+        if (_v) {
+          {
+            int res = SWIG_AsVal_int(argv[3], NULL);
             _v = SWIG_CheckState(res);
+          }
+          if (_v) {
+            {
+              int res = SWIG_AsVal_int(argv[4], NULL);
+              _v = SWIG_CheckState(res);
+            }
             if (_v) {
               void *vptr = 0;
-              int res = SWIG_ConvertPtr(argv[5], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, 0);
+              int res = SWIG_ConvertPtr(argv[5], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
               _v = SWIG_CheckState(res);
               if (_v) {
-                return _wrap_KinDynComputations_getRobotState__SWIG_0(resc,resv,argc,argv);
+                return _wrap_KinDynComputations_getRelativeJacobianExplicit__SWIG_1(resc,resv,argc,argv);
               }
             }
           }
@@ -82752,90 +86147,39 @@ int _wrap_KinDynComputations_getRobotState(int resc, mxArray *resv[], int argc,
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getRobotState'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getRelativeJacobianExplicit'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::KinDynComputations::getRobotState(iDynTree::Transform &,iDynTree::VectorDynSize &,iDynTree::Twist &,iDynTree::VectorDynSize &,iDynTree::Vector3 &)\n"
-    "    iDynTree::KinDynComputations::getRobotState(iDynTree::VectorDynSize &,iDynTree::VectorDynSize &,iDynTree::Vector3 &)\n");
-  return 1;
-}
-
-
-int _wrap_KinDynComputations_getWorldBaseTransform(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::Transform result;
-  
-  if (!SWIG_check_num_args("KinDynComputations_getWorldBaseTransform",argc,1,1,0)) {
-    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_getWorldBaseTransform" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (arg1)->getWorldBaseTransform();
-  _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_KinDynComputations_getBaseTwist(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::Twist result;
-  
-  if (!SWIG_check_num_args("KinDynComputations_getBaseTwist",argc,1,1,0)) {
-    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_getBaseTwist" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (arg1)->getBaseTwist();
-  _out = SWIG_NewPointerObj((new iDynTree::Twist(static_cast< const iDynTree::Twist& >(result))), SWIGTYPE_p_iDynTree__Twist, SWIG_POINTER_OWN |  0 );
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+    "    iDynTree::KinDynComputations::getRelativeJacobianExplicit(iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::MatrixDynSize &)\n"
+    "    iDynTree::KinDynComputations::getRelativeJacobianExplicit(iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::FrameIndex const,iDynTree::MatrixView< double >)\n");
   return 1;
 }
 
 
-int _wrap_KinDynComputations_getJointPos(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFrameBiasAcc__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::VectorDynSize *arg2 = 0 ;
+  iDynTree::FrameIndex arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
   mxArray * _out;
-  bool result;
+  iDynTree::Vector6 result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getJointPos",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameBiasAcc",argc,2,2,0)) {
     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_getJointPos" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameBiasAcc" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getJointPos" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getJointPos" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  result = (bool)(arg1)->getJointPos(*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getFrameBiasAcc" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::FrameIndex >(val2);
+  result = (arg1)->getFrameBiasAcc(arg2);
+  _out = SWIG_NewPointerObj((new iDynTree::Vector6(static_cast< const iDynTree::Vector6& >(result))), SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, SWIG_POINTER_OWN |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -82843,33 +86187,44 @@ int _wrap_KinDynComputations_getJointPos(int resc, mxArray *resv[], int argc, mx
 }
 
 
-int _wrap_KinDynComputations_getJointVel(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFrameBiasAcc__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::VectorDynSize *arg2 = 0 ;
+  iDynTree::FrameIndex arg2 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+  int val2 ;
+  int ecode2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getJointVel",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameBiasAcc",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_getJointVel" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameBiasAcc" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getJointVel" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getJointVel" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
+  ecode2 = SWIG_AsVal_int(argv[1], &val2);
+  if (!SWIG_IsOK(ecode2)) {
+    SWIG_exception_fail(SWIG_ArgError(ecode2), "in method '" "KinDynComputations_getFrameBiasAcc" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
+  } 
+  arg2 = static_cast< iDynTree::FrameIndex >(val2);
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getFrameBiasAcc" "', argument " "3"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameBiasAcc" "', argument " "3"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp3));
+    }
   }
-  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  result = (bool)(arg1)->getJointVel(*arg2);
+  result = (bool)(arg1)->getFrameBiasAcc(arg2,arg3);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -82878,71 +86233,89 @@ int _wrap_KinDynComputations_getJointVel(int resc, mxArray *resv[], int argc, mx
 }
 
 
-int _wrap_KinDynComputations_getModelVel(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFrameBiasAcc__SWIG_2(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::VectorDynSize *arg2 = 0 ;
+  std::string *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
+  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
-  bool result;
+  iDynTree::Vector6 result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getModelVel",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameBiasAcc",argc,2,2,0)) {
     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_getModelVel" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameBiasAcc" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getModelVel" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getModelVel" "', argument " "2"" of type '" "iDynTree::VectorDynSize &""'"); 
+  {
+    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 '" "KinDynComputations_getFrameBiasAcc" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    if (!ptr) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameBiasAcc" "', argument " "2"" of type '" "std::string const &""'"); 
+    }
+    arg2 = ptr;
   }
-  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  result = (bool)(arg1)->getModelVel(*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  result = (arg1)->getFrameBiasAcc((std::string const &)*arg2);
+  _out = SWIG_NewPointerObj((new iDynTree::Vector6(static_cast< const iDynTree::Vector6& >(result))), SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, SWIG_POINTER_OWN |  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_KinDynComputations_getFrameIndex(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFrameBiasAcc__SWIG_3(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   std::string *arg2 = 0 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg3 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   int res2 = SWIG_OLDOBJ ;
+  void *argp3 ;
+  int res3 = 0 ;
   mxArray * _out;
-  int result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getFrameIndex",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFrameBiasAcc",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_getFrameIndex" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFrameBiasAcc" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(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 '" "KinDynComputations_getFrameIndex" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getFrameBiasAcc" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameIndex" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameBiasAcc" "', argument " "2"" of type '" "std::string const &""'"); 
     }
     arg2 = ptr;
   }
-  result = (int)((iDynTree::KinDynComputations const *)arg1)->getFrameIndex((std::string const &)*arg2);
-  _out = SWIG_From_int(static_cast< int >(result));
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getFrameBiasAcc" "', argument " "3"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameBiasAcc" "', argument " "3"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp3));
+    }
+  }
+  result = (bool)(arg1)->getFrameBiasAcc((std::string const &)*arg2,arg3);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   if (SWIG_IsNewObj(res2)) delete arg2;
   return 0;
@@ -82952,63 +86325,101 @@ int _wrap_KinDynComputations_getFrameIndex(int resc, mxArray *resv[], int argc,
 }
 
 
-int _wrap_KinDynComputations_getFrameName(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::FrameIndex arg2 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  mxArray * _out;
-  std::string result;
-  
-  if (!SWIG_check_num_args("KinDynComputations_getFrameName",argc,2,2,0)) {
-    SWIG_fail;
+int _wrap_KinDynComputations_getFrameBiasAcc(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        return _wrap_KinDynComputations_getFrameBiasAcc__SWIG_0(resc,resv,argc,argv);
+      }
+    }
   }
-  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_getFrameName" "', argument " "1"" of type '" "iDynTree::KinDynComputations const *""'"); 
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getFrameBiasAcc__SWIG_2(resc,resv,argc,argv);
+      }
+    }
   }
-  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_getFrameName" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg2 = static_cast< iDynTree::FrameIndex >(val2);
-  result = ((iDynTree::KinDynComputations const *)arg1)->getFrameName(arg2);
-  _out = SWIG_From_std_string(static_cast< std::string >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      {
+        int res = SWIG_AsVal_int(argv[1], NULL);
+        _v = SWIG_CheckState(res);
+      }
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_KinDynComputations_getFrameBiasAcc__SWIG_1(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  if (argc == 3) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          return _wrap_KinDynComputations_getFrameBiasAcc__SWIG_3(resc,resv,argc,argv);
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getFrameBiasAcc'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getFrameBiasAcc(iDynTree::FrameIndex const)\n"
+    "    iDynTree::KinDynComputations::getFrameBiasAcc(iDynTree::FrameIndex const,iDynTree::Span< double,-1 >)\n"
+    "    iDynTree::KinDynComputations::getFrameBiasAcc(std::string const &)\n"
+    "    iDynTree::KinDynComputations::getFrameBiasAcc(std::string const &,iDynTree::Span< double,-1 >)\n");
   return 1;
 }
 
 
-int _wrap_KinDynComputations_getWorldTransform__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCenterOfMassPosition__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::FrameIndex arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
   mxArray * _out;
-  iDynTree::Transform result;
+  iDynTree::Position result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getWorldTransform",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getCenterOfMassPosition",argc,1,1,0)) {
     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_getWorldTransform" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getCenterOfMassPosition" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   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_getWorldTransform" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg2 = static_cast< iDynTree::FrameIndex >(val2);
-  result = (arg1)->getWorldTransform(arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::Transform(static_cast< const iDynTree::Transform& >(result))), SWIGTYPE_p_iDynTree__Transform, SWIG_POINTER_OWN |  0 );
+  result = (arg1)->getCenterOfMassPosition();
+  _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:
@@ -83016,33 +86427,37 @@ int _wrap_KinDynComputations_getWorldTransform__SWIG_0(int resc, mxArray *resv[]
 }
 
 
-int _wrap_KinDynComputations_getWorldTransform__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCenterOfMassPosition__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  std::string arg2 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::Transform result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getWorldTransform",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getCenterOfMassPosition",argc,2,2,0)) {
     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_getWorldTransform" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getCenterOfMassPosition" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
   {
-    std::string *ptr = (std::string *)0;
-    int res = SWIG_AsPtr_std_string(argv[1], &ptr);
-    if (!SWIG_IsOK(res) || !ptr) {
-      SWIG_exception_fail(SWIG_ArgError((ptr ? res : SWIG_TypeError)), "in method '" "KinDynComputations_getWorldTransform" "', argument " "2"" of type '" "std::string""'"); 
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getCenterOfMassPosition" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getCenterOfMassPosition" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2));
     }
-    arg2 = *ptr;
-    if (SWIG_IsNewObj(res)) delete ptr;
   }
-  result = (arg1)->getWorldTransform(arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::Transform(static_cast< const iDynTree::Transform& >(result))), SWIGTYPE_p_iDynTree__Transform, SWIG_POINTER_OWN |  0 );
+  result = (bool)(arg1)->getCenterOfMassPosition(arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -83050,20 +86465,14 @@ int _wrap_KinDynComputations_getWorldTransform__SWIG_1(int resc, mxArray *resv[]
 }
 
 
-int _wrap_KinDynComputations_getWorldTransform(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
+int _wrap_KinDynComputations_getCenterOfMassPosition(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
     int _v;
     void *vptr = 0;
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      {
-        int res = SWIG_AsVal_int(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
-      if (_v) {
-        return _wrap_KinDynComputations_getWorldTransform__SWIG_0(resc,resv,argc,argv);
-      }
+      return _wrap_KinDynComputations_getCenterOfMassPosition__SWIG_0(resc,resv,argc,argv);
     }
   }
   if (argc == 2) {
@@ -83072,94 +86481,78 @@ int _wrap_KinDynComputations_getWorldTransform(int resc, mxArray *resv[], int ar
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_KinDynComputations_getWorldTransform__SWIG_1(resc,resv,argc,argv);
+        return _wrap_KinDynComputations_getCenterOfMassPosition__SWIG_1(resc,resv,argc,argv);
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getWorldTransform'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getCenterOfMassPosition'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::KinDynComputations::getWorldTransform(iDynTree::FrameIndex const)\n"
-    "    iDynTree::KinDynComputations::getWorldTransform(std::string)\n");
+    "    iDynTree::KinDynComputations::getCenterOfMassPosition()\n"
+    "    iDynTree::KinDynComputations::getCenterOfMassPosition(iDynTree::Span< double,-1 >)\n");
   return 1;
 }
 
 
-int _wrap_KinDynComputations_getWorldTransformsAsHomogeneous(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCenterOfMassVelocity__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  std::vector< std::string,std::allocator< std::string > > *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
-  std::vector< iDynTree::Matrix4x4,std::allocator< iDynTree::Matrix4x4 > > result;
+  iDynTree::Vector3 result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getWorldTransformsAsHomogeneous",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getCenterOfMassVelocity",argc,1,1,0)) {
     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_getWorldTransformsAsHomogeneous" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getCenterOfMassVelocity" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  {
-    std::vector< std::string,std::allocator< std::string > > *ptr = (std::vector< std::string,std::allocator< std::string > > *)0;
-    res2 = swig::asptr(argv[1], &ptr);
-    if (!SWIG_IsOK(res2)) {
-      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getWorldTransformsAsHomogeneous" "', argument " "2"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getWorldTransformsAsHomogeneous" "', argument " "2"" of type '" "std::vector< std::string,std::allocator< std::string > > const &""'"); 
-    }
-    arg2 = ptr;
-  }
-  result = (arg1)->getWorldTransformsAsHomogeneous((std::vector< std::string,std::allocator< std::string > > const &)*arg2);
-  _out = SWIG_NewPointerObj((new std::vector< iDynTree::Matrix4x4,std::allocator< iDynTree::Matrix4x4 > >(static_cast< const std::vector< iDynTree::Matrix4x4,std::allocator< iDynTree::Matrix4x4 > >& >(result))), SWIGTYPE_p_std__vectorT_iDynTree__MatrixFixSizeT_4_4_t_std__allocatorT_iDynTree__MatrixFixSizeT_4_4_t_t_t, SWIG_POINTER_OWN |  0 );
+  result = (arg1)->getCenterOfMassVelocity();
+  _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;
-  if (SWIG_IsNewObj(res2)) delete arg2;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res2)) delete arg2;
   return 1;
 }
 
 
-int _wrap_KinDynComputations_getRelativeTransform__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCenterOfMassVelocity__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::FrameIndex arg2 ;
-  iDynTree::FrameIndex arg3 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  int val3 ;
-  int ecode3 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::Transform result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getRelativeTransform",argc,3,3,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getCenterOfMassVelocity",argc,2,2,0)) {
     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_getRelativeTransform" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getCenterOfMassVelocity" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   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_getRelativeTransform" "', 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_getRelativeTransform" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg3 = static_cast< iDynTree::FrameIndex >(val3);
-  result = (arg1)->getRelativeTransform(arg2,arg3);
-  _out = SWIG_NewPointerObj((new iDynTree::Transform(static_cast< const iDynTree::Transform& >(result))), SWIGTYPE_p_iDynTree__Transform, SWIG_POINTER_OWN |  0 );
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getCenterOfMassVelocity" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getCenterOfMassVelocity" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2));
+    }
+  }
+  result = (bool)(arg1)->getCenterOfMassVelocity(arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -83167,55 +86560,67 @@ int _wrap_KinDynComputations_getRelativeTransform__SWIG_0(int resc, mxArray *res
 }
 
 
-int _wrap_KinDynComputations_getRelativeTransformExplicit(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCenterOfMassVelocity(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_KinDynComputations_getCenterOfMassVelocity__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getCenterOfMassVelocity__SWIG_1(resc,resv,argc,argv);
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getCenterOfMassVelocity'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getCenterOfMassVelocity()\n"
+    "    iDynTree::KinDynComputations::getCenterOfMassVelocity(iDynTree::Span< double,-1 >)\n");
+  return 1;
+}
+
+
+int _wrap_KinDynComputations_getCenterOfMassJacobian__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::FrameIndex arg2 ;
-  iDynTree::FrameIndex arg3 ;
-  iDynTree::FrameIndex arg4 ;
-  iDynTree::FrameIndex arg5 ;
+  iDynTree::MatrixDynSize *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  int val3 ;
-  int ecode3 = 0 ;
-  int val4 ;
-  int ecode4 = 0 ;
-  int val5 ;
-  int ecode5 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::Transform result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getRelativeTransformExplicit",argc,5,5,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getCenterOfMassJacobian",argc,2,2,0)) {
     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_getRelativeTransformExplicit" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getCenterOfMassJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   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_getRelativeTransformExplicit" "', 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_getRelativeTransformExplicit" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg3 = static_cast< iDynTree::FrameIndex >(val3);
-  ecode4 = SWIG_AsVal_int(argv[3], &val4);
-  if (!SWIG_IsOK(ecode4)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "KinDynComputations_getRelativeTransformExplicit" "', argument " "4"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg4 = static_cast< iDynTree::FrameIndex >(val4);
-  ecode5 = SWIG_AsVal_int(argv[4], &val5);
-  if (!SWIG_IsOK(ecode5)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode5), "in method '" "KinDynComputations_getRelativeTransformExplicit" "', argument " "5"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg5 = static_cast< iDynTree::FrameIndex >(val5);
-  result = (arg1)->getRelativeTransformExplicit(arg2,arg3,arg4,arg5);
-  _out = SWIG_NewPointerObj((new iDynTree::Transform(static_cast< const iDynTree::Transform& >(result))), SWIGTYPE_p_iDynTree__Transform, SWIG_POINTER_OWN |  0 );
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getCenterOfMassJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getCenterOfMassJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp2);
+  result = (bool)(arg1)->getCenterOfMassJacobian(*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -83223,172 +86628,137 @@ int _wrap_KinDynComputations_getRelativeTransformExplicit(int resc, mxArray *res
 }
 
 
-int _wrap_KinDynComputations_getRelativeTransform__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCenterOfMassJacobian__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  std::string *arg2 = 0 ;
-  std::string *arg3 = 0 ;
+  iDynTree::MatrixView< double > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
-  int res3 = SWIG_OLDOBJ ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::Transform result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getRelativeTransform",argc,3,3,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getCenterOfMassJacobian",argc,2,2,0)) {
     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_getRelativeTransform" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getCenterOfMassJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
   {
-    std::string *ptr = (std::string *)0;
-    res2 = SWIG_AsPtr_std_string(argv[1], &ptr);
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
     if (!SWIG_IsOK(res2)) {
-      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getRelativeTransform" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeTransform" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
-  }
-  {
-    std::string *ptr = (std::string *)0;
-    res3 = SWIG_AsPtr_std_string(argv[2], &ptr);
-    if (!SWIG_IsOK(res3)) {
-      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getRelativeTransform" "', argument " "3"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeTransform" "', argument " "3"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getCenterOfMassJacobian" "', argument " "2"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getCenterOfMassJacobian" "', argument " "2"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp2));
     }
-    arg3 = ptr;
   }
-  result = (arg1)->getRelativeTransform((std::string const &)*arg2,(std::string const &)*arg3);
-  _out = SWIG_NewPointerObj((new iDynTree::Transform(static_cast< const iDynTree::Transform& >(result))), SWIGTYPE_p_iDynTree__Transform, SWIG_POINTER_OWN |  0 );
+  result = (bool)(arg1)->getCenterOfMassJacobian(arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
-  if (SWIG_IsNewObj(res2)) delete arg2;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res2)) delete arg2;
-  if (SWIG_IsNewObj(res3)) delete arg3;
   return 1;
 }
 
 
-int _wrap_KinDynComputations_getRelativeTransform(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 3) {
+int _wrap_KinDynComputations_getCenterOfMassJacobian(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
     int _v;
     void *vptr = 0;
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      {
-        int res = SWIG_AsVal_int(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+      _v = SWIG_CheckState(res);
       if (_v) {
-        {
-          int res = SWIG_AsVal_int(argv[2], NULL);
-          _v = SWIG_CheckState(res);
-        }
-        if (_v) {
-          return _wrap_KinDynComputations_getRelativeTransform__SWIG_0(resc,resv,argc,argv);
-        }
+        return _wrap_KinDynComputations_getCenterOfMassJacobian__SWIG_0(resc,resv,argc,argv);
       }
     }
   }
-  if (argc == 3) {
+  if (argc == 2) {
     int _v;
     void *vptr = 0;
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        int res = SWIG_AsPtr_std_string(argv[2], (std::string**)(0));
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_KinDynComputations_getRelativeTransform__SWIG_1(resc,resv,argc,argv);
-        }
+        return _wrap_KinDynComputations_getCenterOfMassJacobian__SWIG_1(resc,resv,argc,argv);
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getRelativeTransform'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getCenterOfMassJacobian'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::KinDynComputations::getRelativeTransform(iDynTree::FrameIndex const,iDynTree::FrameIndex const)\n"
-    "    iDynTree::KinDynComputations::getRelativeTransform(std::string const &,std::string const &)\n");
+    "    iDynTree::KinDynComputations::getCenterOfMassJacobian(iDynTree::MatrixDynSize &)\n"
+    "    iDynTree::KinDynComputations::getCenterOfMassJacobian(iDynTree::MatrixView< double >)\n");
   return 1;
 }
 
 
-int _wrap_KinDynComputations_getFrameVel__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCenterOfMassBiasAcc__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  std::string *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
   mxArray * _out;
-  iDynTree::Twist result;
+  iDynTree::Vector3 result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getFrameVel",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getCenterOfMassBiasAcc",argc,1,1,0)) {
     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_getFrameVel" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getCenterOfMassBiasAcc" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(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 '" "KinDynComputations_getFrameVel" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameVel" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
-  }
-  result = (arg1)->getFrameVel((std::string const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::Twist(static_cast< const iDynTree::Twist& >(result))), SWIGTYPE_p_iDynTree__Twist, SWIG_POINTER_OWN |  0 );
+  result = (arg1)->getCenterOfMassBiasAcc();
+  _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;
-  if (SWIG_IsNewObj(res2)) delete arg2;
   return 0;
 fail:
-  if (SWIG_IsNewObj(res2)) delete arg2;
   return 1;
 }
 
 
-int _wrap_KinDynComputations_getFrameVel__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCenterOfMassBiasAcc__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::FrameIndex arg2 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::Twist result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getFrameVel",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getCenterOfMassBiasAcc",argc,2,2,0)) {
     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_getFrameVel" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getCenterOfMassBiasAcc" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   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_getFrameVel" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg2 = static_cast< iDynTree::FrameIndex >(val2);
-  result = (arg1)->getFrameVel(arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::Twist(static_cast< const iDynTree::Twist& >(result))), SWIGTYPE_p_iDynTree__Twist, SWIG_POINTER_OWN |  0 );
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getCenterOfMassBiasAcc" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getCenterOfMassBiasAcc" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2));
+    }
+  }
+  result = (bool)(arg1)->getCenterOfMassBiasAcc(arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -83396,20 +86766,14 @@ int _wrap_KinDynComputations_getFrameVel__SWIG_1(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_KinDynComputations_getFrameVel(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
+int _wrap_KinDynComputations_getCenterOfMassBiasAcc(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
     int _v;
     void *vptr = 0;
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      {
-        int res = SWIG_AsVal_int(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
-      if (_v) {
-        return _wrap_KinDynComputations_getFrameVel__SWIG_1(resc,resv,argc,argv);
-      }
+      return _wrap_KinDynComputations_getCenterOfMassBiasAcc__SWIG_0(resc,resv,argc,argv);
     }
   }
   if (argc == 2) {
@@ -83418,130 +86782,78 @@ int _wrap_KinDynComputations_getFrameVel(int resc, mxArray *resv[], int argc, mx
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_KinDynComputations_getFrameVel__SWIG_0(resc,resv,argc,argv);
+        return _wrap_KinDynComputations_getCenterOfMassBiasAcc__SWIG_1(resc,resv,argc,argv);
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getFrameVel'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getCenterOfMassBiasAcc'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::KinDynComputations::getFrameVel(std::string const &)\n"
-    "    iDynTree::KinDynComputations::getFrameVel(iDynTree::FrameIndex const)\n");
+    "    iDynTree::KinDynComputations::getCenterOfMassBiasAcc()\n"
+    "    iDynTree::KinDynComputations::getCenterOfMassBiasAcc(iDynTree::Span< double,-1 >)\n");
   return 1;
 }
 
 
-int _wrap_KinDynComputations_getFrameAcc__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getAverageVelocity__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  std::string *arg2 = 0 ;
-  iDynTree::Vector6 *arg3 = 0 ;
-  iDynTree::VectorDynSize *arg4 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
   mxArray * _out;
-  iDynTree::Vector6 result;
+  iDynTree::Twist result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getFrameAcc",argc,4,4,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getAverageVelocity",argc,1,1,0)) {
     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_getFrameAcc" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getAverageVelocity" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(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 '" "KinDynComputations_getFrameAcc" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
-  }
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getFrameAcc" "', argument " "3"" of type '" "iDynTree::Vector6 const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "3"" of type '" "iDynTree::Vector6 const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::Vector6 * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getFrameAcc" "', argument " "4"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "4"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::VectorDynSize * >(argp4);
-  result = (arg1)->getFrameAcc((std::string const &)*arg2,(iDynTree::Vector6 const &)*arg3,(iDynTree::VectorDynSize const &)*arg4);
-  _out = SWIG_NewPointerObj((new iDynTree::Vector6(static_cast< const iDynTree::Vector6& >(result))), SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, SWIG_POINTER_OWN |  0 );
+  result = (arg1)->getAverageVelocity();
+  _out = SWIG_NewPointerObj((new iDynTree::Twist(static_cast< const iDynTree::Twist& >(result))), SWIGTYPE_p_iDynTree__Twist, SWIG_POINTER_OWN |  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_KinDynComputations_getFrameAcc__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getAverageVelocity__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::FrameIndex arg2 ;
-  iDynTree::Vector6 *arg3 = 0 ;
-  iDynTree::VectorDynSize *arg4 = 0 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  void *argp4 ;
-  int res4 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::Vector6 result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getFrameAcc",argc,4,4,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getAverageVelocity",argc,2,2,0)) {
     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_getFrameAcc" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getAverageVelocity" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   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_getFrameAcc" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg2 = static_cast< iDynTree::FrameIndex >(val2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getFrameAcc" "', argument " "3"" of type '" "iDynTree::Vector6 const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "3"" of type '" "iDynTree::Vector6 const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::Vector6 * >(argp3);
-  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res4)) {
-    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_getFrameAcc" "', argument " "4"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameAcc" "', argument " "4"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getAverageVelocity" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getAverageVelocity" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2));
+    }
   }
-  arg4 = reinterpret_cast< iDynTree::VectorDynSize * >(argp4);
-  result = (arg1)->getFrameAcc(arg2,(iDynTree::Vector6 const &)*arg3,(iDynTree::VectorDynSize const &)*arg4);
-  _out = SWIG_NewPointerObj((new iDynTree::Vector6(static_cast< const iDynTree::Vector6& >(result))), SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, SWIG_POINTER_OWN |  0 );
+  result = (bool)(arg1)->getAverageVelocity(arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -83549,149 +86861,104 @@ int _wrap_KinDynComputations_getFrameAcc__SWIG_1(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_KinDynComputations_getFrameAcc(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 4) {
+int _wrap_KinDynComputations_getAverageVelocity(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
     int _v;
     void *vptr = 0;
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      {
-        int res = SWIG_AsVal_int(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
-      if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            return _wrap_KinDynComputations_getFrameAcc__SWIG_1(resc,resv,argc,argv);
-          }
-        }
-      }
+      return _wrap_KinDynComputations_getAverageVelocity__SWIG_0(resc,resv,argc,argv);
     }
   }
-  if (argc == 4) {
+  if (argc == 2) {
     int _v;
     void *vptr = 0;
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          void *vptr = 0;
-          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-          _v = SWIG_CheckState(res);
-          if (_v) {
-            return _wrap_KinDynComputations_getFrameAcc__SWIG_0(resc,resv,argc,argv);
-          }
-        }
+        return _wrap_KinDynComputations_getAverageVelocity__SWIG_1(resc,resv,argc,argv);
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getFrameAcc'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getAverageVelocity'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::KinDynComputations::getFrameAcc(std::string const &,iDynTree::Vector6 const &,iDynTree::VectorDynSize const &)\n"
-    "    iDynTree::KinDynComputations::getFrameAcc(iDynTree::FrameIndex const,iDynTree::Vector6 const &,iDynTree::VectorDynSize const &)\n");
+    "    iDynTree::KinDynComputations::getAverageVelocity()\n"
+    "    iDynTree::KinDynComputations::getAverageVelocity(iDynTree::Span< double,-1 >)\n");
   return 1;
 }
 
 
-int _wrap_KinDynComputations_getFrameFreeFloatingJacobian__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getAverageVelocityJacobian__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  std::string *arg2 = 0 ;
-  iDynTree::MatrixDynSize *arg3 = 0 ;
+  iDynTree::MatrixDynSize *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getFrameFreeFloatingJacobian",argc,3,3,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getAverageVelocityJacobian",argc,2,2,0)) {
     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_getFrameFreeFloatingJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getAverageVelocityJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(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 '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    arg2 = ptr;
-  }
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getAverageVelocityJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
   }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getAverageVelocityJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
   }
-  arg3 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp3);
-  result = (bool)(arg1)->getFrameFreeFloatingJacobian((std::string const &)*arg2,*arg3);
+  arg2 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp2);
+  result = (bool)(arg1)->getAverageVelocityJacobian(*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_KinDynComputations_getFrameFreeFloatingJacobian__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getAverageVelocityJacobian__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::FrameIndex arg2 ;
-  iDynTree::MatrixDynSize *arg3 = 0 ;
+  iDynTree::MatrixView< double > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getFrameFreeFloatingJacobian",argc,3,3,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getAverageVelocityJacobian",argc,2,2,0)) {
     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_getFrameFreeFloatingJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getAverageVelocityJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   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_getFrameFreeFloatingJacobian" "', 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_getFrameFreeFloatingJacobian" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameFreeFloatingJacobian" "', argument " "3"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getAverageVelocityJacobian" "', argument " "2"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getAverageVelocityJacobian" "', argument " "2"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp2));
+    }
   }
-  arg3 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp3);
-  result = (bool)(arg1)->getFrameFreeFloatingJacobian(arg2,*arg3);
+  result = (bool)(arg1)->getAverageVelocityJacobian(arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -83700,98 +86967,61 @@ int _wrap_KinDynComputations_getFrameFreeFloatingJacobian__SWIG_1(int resc, mxAr
 }
 
 
-int _wrap_KinDynComputations_getFrameFreeFloatingJacobian(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 3) {
+int _wrap_KinDynComputations_getAverageVelocityJacobian(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
     int _v;
     void *vptr = 0;
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      {
-        int res = SWIG_AsVal_int(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+      _v = SWIG_CheckState(res);
       if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_KinDynComputations_getFrameFreeFloatingJacobian__SWIG_1(resc,resv,argc,argv);
-        }
+        return _wrap_KinDynComputations_getAverageVelocityJacobian__SWIG_0(resc,resv,argc,argv);
       }
     }
   }
-  if (argc == 3) {
+  if (argc == 2) {
     int _v;
     void *vptr = 0;
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        void *vptr = 0;
-        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
-        _v = SWIG_CheckState(res);
-        if (_v) {
-          return _wrap_KinDynComputations_getFrameFreeFloatingJacobian__SWIG_0(resc,resv,argc,argv);
-        }
+        return _wrap_KinDynComputations_getAverageVelocityJacobian__SWIG_1(resc,resv,argc,argv);
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getFrameFreeFloatingJacobian'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getAverageVelocityJacobian'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::KinDynComputations::getFrameFreeFloatingJacobian(std::string const &,iDynTree::MatrixDynSize &)\n"
-    "    iDynTree::KinDynComputations::getFrameFreeFloatingJacobian(iDynTree::FrameIndex const,iDynTree::MatrixDynSize &)\n");
+    "    iDynTree::KinDynComputations::getAverageVelocityJacobian(iDynTree::MatrixDynSize &)\n"
+    "    iDynTree::KinDynComputations::getAverageVelocityJacobian(iDynTree::MatrixView< double >)\n");
   return 1;
 }
 
 
-int _wrap_KinDynComputations_getRelativeJacobian(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCentroidalAverageVelocity__SWIG_0(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;
+  iDynTree::Twist result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getRelativeJacobian",argc,4,4,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getCentroidalAverageVelocity",argc,1,1,0)) {
     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_getRelativeJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getCentroidalAverageVelocity" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   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_getRelativeJacobian" "', 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_getRelativeJacobian" "', 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_getRelativeJacobian" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); 
-  }
-  if (!argp4) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeJacobian" "', argument " "4"" of type '" "iDynTree::MatrixDynSize &""'"); 
-  }
-  arg4 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp4);
-  result = (bool)(arg1)->getRelativeJacobian(arg2,arg3,*arg4);
-  _out = SWIG_From_bool(static_cast< bool >(result));
+  result = (arg1)->getCentroidalAverageVelocity();
+  _out = SWIG_NewPointerObj((new iDynTree::Twist(static_cast< const iDynTree::Twist& >(result))), SWIGTYPE_p_iDynTree__Twist, SWIG_POINTER_OWN |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -83799,65 +87029,36 @@ int _wrap_KinDynComputations_getRelativeJacobian(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_KinDynComputations_getRelativeJacobianExplicit(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCentroidalAverageVelocity__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::FrameIndex arg2 ;
-  iDynTree::FrameIndex arg3 ;
-  iDynTree::FrameIndex arg4 ;
-  iDynTree::FrameIndex arg5 ;
-  iDynTree::MatrixDynSize *arg6 = 0 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
-  int val3 ;
-  int ecode3 = 0 ;
-  int val4 ;
-  int ecode4 = 0 ;
-  int val5 ;
-  int ecode5 = 0 ;
-  void *argp6 = 0 ;
-  int res6 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getRelativeJacobianExplicit",argc,6,6,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getCentroidalAverageVelocity",argc,2,2,0)) {
     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_getRelativeJacobianExplicit" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getCentroidalAverageVelocity" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   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_getRelativeJacobianExplicit" "', 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_getRelativeJacobianExplicit" "', argument " "3"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg3 = static_cast< iDynTree::FrameIndex >(val3);
-  ecode4 = SWIG_AsVal_int(argv[3], &val4);
-  if (!SWIG_IsOK(ecode4)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode4), "in method '" "KinDynComputations_getRelativeJacobianExplicit" "', argument " "4"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg4 = static_cast< iDynTree::FrameIndex >(val4);
-  ecode5 = SWIG_AsVal_int(argv[4], &val5);
-  if (!SWIG_IsOK(ecode5)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode5), "in method '" "KinDynComputations_getRelativeJacobianExplicit" "', argument " "5"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg5 = static_cast< iDynTree::FrameIndex >(val5);
-  res6 = SWIG_ConvertPtr(argv[5], &argp6, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
-  if (!SWIG_IsOK(res6)) {
-    SWIG_exception_fail(SWIG_ArgError(res6), "in method '" "KinDynComputations_getRelativeJacobianExplicit" "', argument " "6"" of type '" "iDynTree::MatrixDynSize &""'"); 
-  }
-  if (!argp6) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getRelativeJacobianExplicit" "', argument " "6"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getCentroidalAverageVelocity" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getCentroidalAverageVelocity" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2));
+    }
   }
-  arg6 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp6);
-  result = (bool)(arg1)->getRelativeJacobianExplicit(arg2,arg3,arg4,arg5,*arg6);
+  result = (bool)(arg1)->getCentroidalAverageVelocity(arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -83866,31 +87067,67 @@ int _wrap_KinDynComputations_getRelativeJacobianExplicit(int resc, mxArray *resv
 }
 
 
-int _wrap_KinDynComputations_getFrameBiasAcc__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCentroidalAverageVelocity(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_KinDynComputations_getCentroidalAverageVelocity__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getCentroidalAverageVelocity__SWIG_1(resc,resv,argc,argv);
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getCentroidalAverageVelocity'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getCentroidalAverageVelocity()\n"
+    "    iDynTree::KinDynComputations::getCentroidalAverageVelocity(iDynTree::Span< double,-1 >)\n");
+  return 1;
+}
+
+
+int _wrap_KinDynComputations_getCentroidalAverageVelocityJacobian__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::FrameIndex arg2 ;
+  iDynTree::MatrixDynSize *arg2 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int val2 ;
-  int ecode2 = 0 ;
+  void *argp2 = 0 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::Vector6 result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getFrameBiasAcc",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getCentroidalAverageVelocityJacobian",argc,2,2,0)) {
     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_getFrameBiasAcc" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getCentroidalAverageVelocityJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   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_getFrameBiasAcc" "', argument " "2"" of type '" "iDynTree::FrameIndex""'");
-  } 
-  arg2 = static_cast< iDynTree::FrameIndex >(val2);
-  result = (arg1)->getFrameBiasAcc(arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::Vector6(static_cast< const iDynTree::Vector6& >(result))), SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, SWIG_POINTER_OWN |  0 );
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  if (!SWIG_IsOK(res2)) {
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getCentroidalAverageVelocityJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  if (!argp2) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getCentroidalAverageVelocityJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  }
+  arg2 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp2);
+  result = (bool)(arg1)->getCentroidalAverageVelocityJacobian(*arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -83898,58 +87135,56 @@ int _wrap_KinDynComputations_getFrameBiasAcc__SWIG_0(int resc, mxArray *resv[],
 }
 
 
-int _wrap_KinDynComputations_getFrameBiasAcc__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCentroidalAverageVelocityJacobian__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  std::string *arg2 = 0 ;
+  iDynTree::MatrixView< double > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  int res2 = SWIG_OLDOBJ ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::Vector6 result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getFrameBiasAcc",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getCentroidalAverageVelocityJacobian",argc,2,2,0)) {
     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_getFrameBiasAcc" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getCentroidalAverageVelocityJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
   {
-    std::string *ptr = (std::string *)0;
-    res2 = SWIG_AsPtr_std_string(argv[1], &ptr);
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
     if (!SWIG_IsOK(res2)) {
-      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getFrameBiasAcc" "', argument " "2"" of type '" "std::string const &""'"); 
-    }
-    if (!ptr) {
-      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFrameBiasAcc" "', argument " "2"" of type '" "std::string const &""'"); 
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getCentroidalAverageVelocityJacobian" "', argument " "2"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getCentroidalAverageVelocityJacobian" "', argument " "2"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp2));
     }
-    arg2 = ptr;
   }
-  result = (arg1)->getFrameBiasAcc((std::string const &)*arg2);
-  _out = SWIG_NewPointerObj((new iDynTree::Vector6(static_cast< const iDynTree::Vector6& >(result))), SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, SWIG_POINTER_OWN |  0 );
+  result = (bool)(arg1)->getCentroidalAverageVelocityJacobian(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_KinDynComputations_getFrameBiasAcc(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCentroidalAverageVelocityJacobian(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   if (argc == 2) {
     int _v;
     void *vptr = 0;
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      {
-        int res = SWIG_AsVal_int(argv[1], NULL);
-        _v = SWIG_CheckState(res);
-      }
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+      _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_KinDynComputations_getFrameBiasAcc__SWIG_0(resc,resv,argc,argv);
+        return _wrap_KinDynComputations_getCentroidalAverageVelocityJacobian__SWIG_0(resc,resv,argc,argv);
       }
     }
   }
@@ -83959,39 +87194,40 @@ int _wrap_KinDynComputations_getFrameBiasAcc(int resc, mxArray *resv[], int argc
     int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
     _v = SWIG_CheckState(res);
     if (_v) {
-      int res = SWIG_AsPtr_std_string(argv[1], (std::string**)(0));
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
       _v = SWIG_CheckState(res);
       if (_v) {
-        return _wrap_KinDynComputations_getFrameBiasAcc__SWIG_1(resc,resv,argc,argv);
+        return _wrap_KinDynComputations_getCentroidalAverageVelocityJacobian__SWIG_1(resc,resv,argc,argv);
       }
     }
   }
   
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getFrameBiasAcc'."
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getCentroidalAverageVelocityJacobian'."
     "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::KinDynComputations::getFrameBiasAcc(iDynTree::FrameIndex const)\n"
-    "    iDynTree::KinDynComputations::getFrameBiasAcc(std::string const &)\n");
+    "    iDynTree::KinDynComputations::getCentroidalAverageVelocityJacobian(iDynTree::MatrixDynSize &)\n"
+    "    iDynTree::KinDynComputations::getCentroidalAverageVelocityJacobian(iDynTree::MatrixView< double >)\n");
   return 1;
 }
 
 
-int _wrap_KinDynComputations_getCenterOfMassPosition(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getLinearAngularMomentum__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::Position result;
+  iDynTree::SpatialMomentum result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getCenterOfMassPosition",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getLinearAngularMomentum",argc,1,1,0)) {
     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_getCenterOfMassPosition" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getLinearAngularMomentum" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (arg1)->getCenterOfMassPosition();
-  _out = SWIG_NewPointerObj((new iDynTree::Position(static_cast< const iDynTree::Position& >(result))), SWIGTYPE_p_iDynTree__Position, SWIG_POINTER_OWN |  0 );
+  result = (arg1)->getLinearAngularMomentum();
+  _out = SWIG_NewPointerObj((new iDynTree::SpatialMomentum(static_cast< const iDynTree::SpatialMomentum& >(result))), SWIGTYPE_p_iDynTree__SpatialMomentum, SWIG_POINTER_OWN |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -83999,23 +87235,37 @@ int _wrap_KinDynComputations_getCenterOfMassPosition(int resc, mxArray *resv[],
 }
 
 
-int _wrap_KinDynComputations_getCenterOfMassVelocity(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getLinearAngularMomentum__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::Vector3 result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getCenterOfMassVelocity",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getLinearAngularMomentum",argc,2,2,0)) {
     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_getCenterOfMassVelocity" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getLinearAngularMomentum" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (arg1)->getCenterOfMassVelocity();
-  _out = SWIG_NewPointerObj((new iDynTree::Vector3(static_cast< const iDynTree::Vector3& >(result))), SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, SWIG_POINTER_OWN |  0 );
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getLinearAngularMomentum" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getLinearAngularMomentum" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2));
+    }
+  }
+  result = (bool)(arg1)->getLinearAngularMomentum(arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -84023,7 +87273,40 @@ int _wrap_KinDynComputations_getCenterOfMassVelocity(int resc, mxArray *resv[],
 }
 
 
-int _wrap_KinDynComputations_getCenterOfMassJacobian(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getLinearAngularMomentum(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_KinDynComputations_getLinearAngularMomentum__SWIG_0(resc,resv,argc,argv);
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getLinearAngularMomentum__SWIG_1(resc,resv,argc,argv);
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getLinearAngularMomentum'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getLinearAngularMomentum()\n"
+    "    iDynTree::KinDynComputations::getLinearAngularMomentum(iDynTree::Span< double,-1 >)\n");
+  return 1;
+}
+
+
+int _wrap_KinDynComputations_getLinearAngularMomentumJacobian__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   iDynTree::MatrixDynSize *arg2 = 0 ;
   void *argp1 = 0 ;
@@ -84033,23 +87316,23 @@ int _wrap_KinDynComputations_getCenterOfMassJacobian(int resc, mxArray *resv[],
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getCenterOfMassJacobian",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getLinearAngularMomentumJacobian",argc,2,2,0)) {
     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_getCenterOfMassJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getLinearAngularMomentumJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getCenterOfMassJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getLinearAngularMomentumJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getCenterOfMassJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getLinearAngularMomentumJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp2);
-  result = (bool)(arg1)->getCenterOfMassJacobian(*arg2);
+  result = (bool)(arg1)->getLinearAngularMomentumJacobian(*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -84058,23 +87341,37 @@ int _wrap_KinDynComputations_getCenterOfMassJacobian(int resc, mxArray *resv[],
 }
 
 
-int _wrap_KinDynComputations_getCenterOfMassBiasAcc(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getLinearAngularMomentumJacobian__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::MatrixView< double > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::Vector3 result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getCenterOfMassBiasAcc",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getLinearAngularMomentumJacobian",argc,2,2,0)) {
     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_getCenterOfMassBiasAcc" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getLinearAngularMomentumJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (arg1)->getCenterOfMassBiasAcc();
-  _out = SWIG_NewPointerObj((new iDynTree::Vector3(static_cast< const iDynTree::Vector3& >(result))), SWIGTYPE_p_iDynTree__VectorFixSizeT_3_t, SWIG_POINTER_OWN |  0 );
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getLinearAngularMomentumJacobian" "', argument " "2"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getLinearAngularMomentumJacobian" "', argument " "2"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp2));
+    }
+  }
+  result = (bool)(arg1)->getLinearAngularMomentumJacobian(arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -84082,23 +87379,61 @@ int _wrap_KinDynComputations_getCenterOfMassBiasAcc(int resc, mxArray *resv[], i
 }
 
 
-int _wrap_KinDynComputations_getAverageVelocity(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getLinearAngularMomentumJacobian(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getLinearAngularMomentumJacobian__SWIG_0(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getLinearAngularMomentumJacobian__SWIG_1(resc,resv,argc,argv);
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getLinearAngularMomentumJacobian'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getLinearAngularMomentumJacobian(iDynTree::MatrixDynSize &)\n"
+    "    iDynTree::KinDynComputations::getLinearAngularMomentumJacobian(iDynTree::MatrixView< double >)\n");
+  return 1;
+}
+
+
+int _wrap_KinDynComputations_getCentroidalTotalMomentum__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
   mxArray * _out;
-  iDynTree::Twist result;
+  iDynTree::SpatialMomentum result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getAverageVelocity",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getCentroidalTotalMomentum",argc,1,1,0)) {
     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_getAverageVelocity" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getCentroidalTotalMomentum" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (arg1)->getAverageVelocity();
-  _out = SWIG_NewPointerObj((new iDynTree::Twist(static_cast< const iDynTree::Twist& >(result))), SWIGTYPE_p_iDynTree__Twist, SWIG_POINTER_OWN |  0 );
+  result = (arg1)->getCentroidalTotalMomentum();
+  _out = SWIG_NewPointerObj((new iDynTree::SpatialMomentum(static_cast< const iDynTree::SpatialMomentum& >(result))), SWIGTYPE_p_iDynTree__SpatialMomentum, SWIG_POINTER_OWN |  0 );
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -84106,33 +87441,36 @@ int _wrap_KinDynComputations_getAverageVelocity(int resc, mxArray *resv[], int a
 }
 
 
-int _wrap_KinDynComputations_getAverageVelocityJacobian(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCentroidalTotalMomentum__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::MatrixDynSize *arg2 = 0 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getAverageVelocityJacobian",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getCentroidalTotalMomentum",argc,2,2,0)) {
     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_getAverageVelocityJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getCentroidalTotalMomentum" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getAverageVelocityJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getAverageVelocityJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getCentroidalTotalMomentum" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getCentroidalTotalMomentum" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2));
+    }
   }
-  arg2 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp2);
-  result = (bool)(arg1)->getAverageVelocityJacobian(*arg2);
+  result = (bool)(arg1)->getCentroidalTotalMomentum(arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -84141,31 +87479,40 @@ int _wrap_KinDynComputations_getAverageVelocityJacobian(int resc, mxArray *resv[
 }
 
 
-int _wrap_KinDynComputations_getCentroidalAverageVelocity(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::Twist result;
-  
-  if (!SWIG_check_num_args("KinDynComputations_getCentroidalAverageVelocity",argc,1,1,0)) {
-    SWIG_fail;
+int _wrap_KinDynComputations_getCentroidalTotalMomentum(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 1) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      return _wrap_KinDynComputations_getCentroidalTotalMomentum__SWIG_0(resc,resv,argc,argv);
+    }
   }
-  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_getCentroidalAverageVelocity" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getCentroidalTotalMomentum__SWIG_1(resc,resv,argc,argv);
+      }
+    }
   }
-  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (arg1)->getCentroidalAverageVelocity();
-  _out = SWIG_NewPointerObj((new iDynTree::Twist(static_cast< const iDynTree::Twist& >(result))), SWIGTYPE_p_iDynTree__Twist, SWIG_POINTER_OWN |  0 );
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getCentroidalTotalMomentum'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getCentroidalTotalMomentum()\n"
+    "    iDynTree::KinDynComputations::getCentroidalTotalMomentum(iDynTree::Span< double,-1 >)\n");
   return 1;
 }
 
 
-int _wrap_KinDynComputations_getCentroidalAverageVelocityJacobian(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCentroidalTotalMomentumJacobian__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   iDynTree::MatrixDynSize *arg2 = 0 ;
   void *argp1 = 0 ;
@@ -84175,23 +87522,23 @@ int _wrap_KinDynComputations_getCentroidalAverageVelocityJacobian(int resc, mxAr
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getCentroidalAverageVelocityJacobian",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getCentroidalTotalMomentumJacobian",argc,2,2,0)) {
     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_getCentroidalAverageVelocityJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getCentroidalTotalMomentumJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getCentroidalAverageVelocityJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getCentroidalTotalMomentumJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getCentroidalAverageVelocityJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getCentroidalTotalMomentumJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp2);
-  result = (bool)(arg1)->getCentroidalAverageVelocityJacobian(*arg2);
+  result = (bool)(arg1)->getCentroidalTotalMomentumJacobian(*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -84200,23 +87547,37 @@ int _wrap_KinDynComputations_getCentroidalAverageVelocityJacobian(int resc, mxAr
 }
 
 
-int _wrap_KinDynComputations_getLinearAngularMomentum(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCentroidalTotalMomentumJacobian__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::MatrixView< double > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::SpatialMomentum result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getLinearAngularMomentum",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getCentroidalTotalMomentumJacobian",argc,2,2,0)) {
     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_getLinearAngularMomentum" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getCentroidalTotalMomentumJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (arg1)->getLinearAngularMomentum();
-  _out = SWIG_NewPointerObj((new iDynTree::SpatialMomentum(static_cast< const iDynTree::SpatialMomentum& >(result))), SWIGTYPE_p_iDynTree__SpatialMomentum, SWIG_POINTER_OWN |  0 );
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getCentroidalTotalMomentumJacobian" "', argument " "2"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getCentroidalTotalMomentumJacobian" "', argument " "2"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp2));
+    }
+  }
+  result = (bool)(arg1)->getCentroidalTotalMomentumJacobian(arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -84224,7 +87585,45 @@ int _wrap_KinDynComputations_getLinearAngularMomentum(int resc, mxArray *resv[],
 }
 
 
-int _wrap_KinDynComputations_getLinearAngularMomentumJacobian(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getCentroidalTotalMomentumJacobian(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getCentroidalTotalMomentumJacobian__SWIG_0(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getCentroidalTotalMomentumJacobian__SWIG_1(resc,resv,argc,argv);
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getCentroidalTotalMomentumJacobian'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getCentroidalTotalMomentumJacobian(iDynTree::MatrixDynSize &)\n"
+    "    iDynTree::KinDynComputations::getCentroidalTotalMomentumJacobian(iDynTree::MatrixView< double >)\n");
+  return 1;
+}
+
+
+int _wrap_KinDynComputations_getFreeFloatingMassMatrix__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   iDynTree::MatrixDynSize *arg2 = 0 ;
   void *argp1 = 0 ;
@@ -84234,23 +87633,23 @@ int _wrap_KinDynComputations_getLinearAngularMomentumJacobian(int resc, mxArray
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getLinearAngularMomentumJacobian",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFreeFloatingMassMatrix",argc,2,2,0)) {
     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_getLinearAngularMomentumJacobian" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFreeFloatingMassMatrix" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
   res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getLinearAngularMomentumJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getFreeFloatingMassMatrix" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getLinearAngularMomentumJacobian" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFreeFloatingMassMatrix" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
   }
   arg2 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp2);
-  result = (bool)(arg1)->getLinearAngularMomentumJacobian(*arg2);
+  result = (bool)(arg1)->getFreeFloatingMassMatrix(*arg2);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -84259,23 +87658,37 @@ int _wrap_KinDynComputations_getLinearAngularMomentumJacobian(int resc, mxArray
 }
 
 
-int _wrap_KinDynComputations_getCentroidalTotalMomentum(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_getFreeFloatingMassMatrix__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  iDynTree::MatrixView< double > arg2 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
   mxArray * _out;
-  iDynTree::SpatialMomentum result;
+  bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getCentroidalTotalMomentum",argc,1,1,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_getFreeFloatingMassMatrix",argc,2,2,0)) {
     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_getCentroidalTotalMomentum" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_getFreeFloatingMassMatrix" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  result = (arg1)->getCentroidalTotalMomentum();
-  _out = SWIG_NewPointerObj((new iDynTree::SpatialMomentum(static_cast< const iDynTree::SpatialMomentum& >(result))), SWIGTYPE_p_iDynTree__SpatialMomentum, SWIG_POINTER_OWN |  0 );
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixViewT_double_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getFreeFloatingMassMatrix" "', argument " "2"" of type '" "iDynTree::MatrixView< double >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFreeFloatingMassMatrix" "', argument " "2"" of type '" "iDynTree::MatrixView< double >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::MatrixView< double > * >(argp2));
+    }
+  }
+  result = (bool)(arg1)->getFreeFloatingMassMatrix(arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
 fail:
@@ -84284,32 +87697,103 @@ int _wrap_KinDynComputations_getCentroidalTotalMomentum(int resc, mxArray *resv[
 
 
 int _wrap_KinDynComputations_getFreeFloatingMassMatrix(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixDynSize, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getFreeFloatingMassMatrix__SWIG_0(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__MatrixViewT_double_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_getFreeFloatingMassMatrix__SWIG_1(resc,resv,argc,argv);
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_getFreeFloatingMassMatrix'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::getFreeFloatingMassMatrix(iDynTree::MatrixDynSize &)\n"
+    "    iDynTree::KinDynComputations::getFreeFloatingMassMatrix(iDynTree::MatrixView< double >)\n");
+  return 1;
+}
+
+
+int _wrap_KinDynComputations_inverseDynamics__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::MatrixDynSize *arg2 = 0 ;
+  iDynTree::Vector6 *arg2 = 0 ;
+  iDynTree::VectorDynSize *arg3 = 0 ;
+  iDynTree::LinkNetExternalWrenches *arg4 = 0 ;
+  iDynTree::FreeFloatingGeneralizedTorques *arg5 = 0 ;
   void *argp1 = 0 ;
   int res1 = 0 ;
-  void *argp2 = 0 ;
+  void *argp2 ;
   int res2 = 0 ;
+  void *argp3 ;
+  int res3 = 0 ;
+  void *argp4 ;
+  int res4 = 0 ;
+  void *argp5 = 0 ;
+  int res5 = 0 ;
   mxArray * _out;
   bool result;
   
-  if (!SWIG_check_num_args("KinDynComputations_getFreeFloatingMassMatrix",argc,2,2,0)) {
+  if (!SWIG_check_num_args("KinDynComputations_inverseDynamics",argc,5,5,0)) {
     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_getFreeFloatingMassMatrix" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_inverseDynamics" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__MatrixDynSize,  0 );
+  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t,  0 );
   if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_getFreeFloatingMassMatrix" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_inverseDynamics" "', argument " "2"" of type '" "iDynTree::Vector6 const &""'"); 
   }
   if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_getFreeFloatingMassMatrix" "', argument " "2"" of type '" "iDynTree::MatrixDynSize &""'"); 
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_inverseDynamics" "', argument " "2"" of type '" "iDynTree::Vector6 const &""'"); 
   }
-  arg2 = reinterpret_cast< iDynTree::MatrixDynSize * >(argp2);
-  result = (bool)(arg1)->getFreeFloatingMassMatrix(*arg2);
+  arg2 = reinterpret_cast< iDynTree::Vector6 * >(argp2);
+  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
+  if (!SWIG_IsOK(res3)) {
+    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_inverseDynamics" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  if (!argp3) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_inverseDynamics" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  }
+  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
+  res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
+  if (!SWIG_IsOK(res4)) {
+    SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_inverseDynamics" "', argument " "4"" of type '" "iDynTree::LinkNetExternalWrenches const &""'"); 
+  }
+  if (!argp4) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_inverseDynamics" "', argument " "4"" of type '" "iDynTree::LinkNetExternalWrenches const &""'"); 
+  }
+  arg4 = reinterpret_cast< iDynTree::LinkNetExternalWrenches * >(argp4);
+  res5 = SWIG_ConvertPtr(argv[4], &argp5, SWIGTYPE_p_iDynTree__FreeFloatingGeneralizedTorques,  0 );
+  if (!SWIG_IsOK(res5)) {
+    SWIG_exception_fail(SWIG_ArgError(res5), "in method '" "KinDynComputations_inverseDynamics" "', argument " "5"" of type '" "iDynTree::FreeFloatingGeneralizedTorques &""'"); 
+  }
+  if (!argp5) {
+    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_inverseDynamics" "', argument " "5"" of type '" "iDynTree::FreeFloatingGeneralizedTorques &""'"); 
+  }
+  arg5 = reinterpret_cast< iDynTree::FreeFloatingGeneralizedTorques * >(argp5);
+  result = (bool)(arg1)->inverseDynamics((iDynTree::Vector6 const &)*arg2,(iDynTree::VectorDynSize const &)*arg3,(iDynTree::LinkNetExternalWrenches const &)*arg4,*arg5);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -84318,10 +87802,10 @@ int _wrap_KinDynComputations_getFreeFloatingMassMatrix(int resc, mxArray *resv[]
 }
 
 
-int _wrap_KinDynComputations_inverseDynamics(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_inverseDynamics__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
-  iDynTree::Vector6 *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg2 ;
+  SwigValueWrapper< iDynTree::Span< double const,-1 > > arg3 ;
   iDynTree::LinkNetExternalWrenches *arg4 = 0 ;
   iDynTree::FreeFloatingGeneralizedTorques *arg5 = 0 ;
   void *argp1 = 0 ;
@@ -84345,22 +87829,28 @@ int _wrap_KinDynComputations_inverseDynamics(int resc, mxArray *resv[], int argc
     SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "KinDynComputations_inverseDynamics" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
   }
   arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_inverseDynamics" "', argument " "2"" of type '" "iDynTree::Vector6 const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_inverseDynamics" "', argument " "2"" of type '" "iDynTree::Vector6 const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Vector6 * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_inverseDynamics" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_inverseDynamics" "', argument " "2"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_inverseDynamics" "', argument " "2"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp2));
+    }
   }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_inverseDynamics" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
+  {
+    res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t,  0 );
+    if (!SWIG_IsOK(res3)) {
+      SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "KinDynComputations_inverseDynamics" "', argument " "3"" of type '" "iDynTree::Span< double const,-1 >""'"); 
+    }  
+    if (!argp3) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_inverseDynamics" "', argument " "3"" of type '" "iDynTree::Span< double const,-1 >""'");
+    } else {
+      arg3 = *(reinterpret_cast< iDynTree::Span< double const,-1 > * >(argp3));
+    }
   }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
   res4 = SWIG_ConvertPtr(argv[3], &argp4, SWIGTYPE_p_iDynTree__LinkWrenches,  0 );
   if (!SWIG_IsOK(res4)) {
     SWIG_exception_fail(SWIG_ArgError(res4), "in method '" "KinDynComputations_inverseDynamics" "', argument " "4"" of type '" "iDynTree::LinkNetExternalWrenches const &""'"); 
@@ -84377,7 +87867,7 @@ int _wrap_KinDynComputations_inverseDynamics(int resc, mxArray *resv[], int argc
     SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_inverseDynamics" "', argument " "5"" of type '" "iDynTree::FreeFloatingGeneralizedTorques &""'"); 
   }
   arg5 = reinterpret_cast< iDynTree::FreeFloatingGeneralizedTorques * >(argp5);
-  result = (bool)(arg1)->inverseDynamics((iDynTree::Vector6 const &)*arg2,(iDynTree::VectorDynSize const &)*arg3,(iDynTree::LinkNetExternalWrenches const &)*arg4,*arg5);
+  result = (bool)(arg1)->inverseDynamics(arg2,arg3,(iDynTree::LinkNetExternalWrenches const &)*arg4,*arg5);
   _out = SWIG_From_bool(static_cast< bool >(result));
   if (_out) --resc, *resv++ = _out;
   return 0;
@@ -84386,7 +87876,75 @@ int _wrap_KinDynComputations_inverseDynamics(int resc, mxArray *resv[], int argc
 }
 
 
-int _wrap_KinDynComputations_generalizedBiasForces(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_inverseDynamics(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 5) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorFixSizeT_6_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__LinkWrenches, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            void *vptr = 0;
+            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__FreeFloatingGeneralizedTorques, 0);
+            _v = SWIG_CheckState(res);
+            if (_v) {
+              return _wrap_KinDynComputations_inverseDynamics__SWIG_0(resc,resv,argc,argv);
+            }
+          }
+        }
+      }
+    }
+  }
+  if (argc == 5) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        void *vptr = 0;
+        int res = SWIG_ConvertPtr(argv[2], &vptr, SWIGTYPE_p_iDynTree__SpanT_double_const__1_t, 0);
+        _v = SWIG_CheckState(res);
+        if (_v) {
+          void *vptr = 0;
+          int res = SWIG_ConvertPtr(argv[3], &vptr, SWIGTYPE_p_iDynTree__LinkWrenches, 0);
+          _v = SWIG_CheckState(res);
+          if (_v) {
+            void *vptr = 0;
+            int res = SWIG_ConvertPtr(argv[4], &vptr, SWIGTYPE_p_iDynTree__FreeFloatingGeneralizedTorques, 0);
+            _v = SWIG_CheckState(res);
+            if (_v) {
+              return _wrap_KinDynComputations_inverseDynamics__SWIG_1(resc,resv,argc,argv);
+            }
+          }
+        }
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_inverseDynamics'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::inverseDynamics(iDynTree::Vector6 const &,iDynTree::VectorDynSize const &,iDynTree::LinkNetExternalWrenches const &,iDynTree::FreeFloatingGeneralizedTorques &)\n"
+    "    iDynTree::KinDynComputations::inverseDynamics(iDynTree::Span< double const,-1 >,iDynTree::Span< double const,-1 >,iDynTree::LinkNetExternalWrenches const &,iDynTree::FreeFloatingGeneralizedTorques &)\n");
+  return 1;
+}
+
+
+int _wrap_KinDynComputations_generalizedBiasForces__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   iDynTree::FreeFloatingGeneralizedTorques *arg2 = 0 ;
   void *argp1 = 0 ;
@@ -84421,7 +87979,83 @@ int _wrap_KinDynComputations_generalizedBiasForces(int resc, mxArray *resv[], in
 }
 
 
-int _wrap_KinDynComputations_generalizedGravityForces(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+int _wrap_KinDynComputations_generalizedBiasForces__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("KinDynComputations_generalizedBiasForces",argc,2,2,0)) {
+    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_generalizedBiasForces" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_generalizedBiasForces" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_generalizedBiasForces" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2));
+    }
+  }
+  result = (bool)(arg1)->generalizedBiasForces(arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_KinDynComputations_generalizedBiasForces(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__FreeFloatingGeneralizedTorques, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_generalizedBiasForces__SWIG_0(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_generalizedBiasForces__SWIG_1(resc,resv,argc,argv);
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_generalizedBiasForces'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::generalizedBiasForces(iDynTree::FreeFloatingGeneralizedTorques &)\n"
+    "    iDynTree::KinDynComputations::generalizedBiasForces(iDynTree::Span< double,-1 >)\n");
+  return 1;
+}
+
+
+int _wrap_KinDynComputations_generalizedGravityForces__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   iDynTree::FreeFloatingGeneralizedTorques *arg2 = 0 ;
   void *argp1 = 0 ;
@@ -84456,6 +88090,82 @@ int _wrap_KinDynComputations_generalizedGravityForces(int resc, mxArray *resv[],
 }
 
 
+int _wrap_KinDynComputations_generalizedGravityForces__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
+  SwigValueWrapper< iDynTree::Span< double,-1 > > arg2 ;
+  void *argp1 = 0 ;
+  int res1 = 0 ;
+  void *argp2 ;
+  int res2 = 0 ;
+  mxArray * _out;
+  bool result;
+  
+  if (!SWIG_check_num_args("KinDynComputations_generalizedGravityForces",argc,2,2,0)) {
+    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_generalizedGravityForces" "', argument " "1"" of type '" "iDynTree::KinDynComputations *""'"); 
+  }
+  arg1 = reinterpret_cast< iDynTree::KinDynComputations * >(argp1);
+  {
+    res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__SpanT_double__1_t,  0 );
+    if (!SWIG_IsOK(res2)) {
+      SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "KinDynComputations_generalizedGravityForces" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'"); 
+    }  
+    if (!argp2) {
+      SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "KinDynComputations_generalizedGravityForces" "', argument " "2"" of type '" "iDynTree::Span< double,-1 >""'");
+    } else {
+      arg2 = *(reinterpret_cast< iDynTree::Span< double,-1 > * >(argp2));
+    }
+  }
+  result = (bool)(arg1)->generalizedGravityForces(arg2);
+  _out = SWIG_From_bool(static_cast< bool >(result));
+  if (_out) --resc, *resv++ = _out;
+  return 0;
+fail:
+  return 1;
+}
+
+
+int _wrap_KinDynComputations_generalizedGravityForces(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__FreeFloatingGeneralizedTorques, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_generalizedGravityForces__SWIG_0(resc,resv,argc,argv);
+      }
+    }
+  }
+  if (argc == 2) {
+    int _v;
+    void *vptr = 0;
+    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__KinDynComputations, 0);
+    _v = SWIG_CheckState(res);
+    if (_v) {
+      void *vptr = 0;
+      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__SpanT_double__1_t, 0);
+      _v = SWIG_CheckState(res);
+      if (_v) {
+        return _wrap_KinDynComputations_generalizedGravityForces__SWIG_1(resc,resv,argc,argv);
+      }
+    }
+  }
+  
+  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'KinDynComputations_generalizedGravityForces'."
+    "  Possible C/C++ prototypes are:\n"
+    "    iDynTree::KinDynComputations::generalizedGravityForces(iDynTree::FreeFloatingGeneralizedTorques &)\n"
+    "    iDynTree::KinDynComputations::generalizedGravityForces(iDynTree::Span< double,-1 >)\n");
+  return 1;
+}
+
+
 int _wrap_KinDynComputations_generalizedExternalForces(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::KinDynComputations *arg1 = (iDynTree::KinDynComputations *) 0 ;
   iDynTree::LinkNetExternalWrenches *arg2 = 0 ;
@@ -91412,52 +95122,6 @@ int _wrap_InverseKinematics_setFloatingBaseOnFrameNamed(int resc, mxArray *resv[
 }
 
 
-int _wrap_InverseKinematics_setRobotConfiguration(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::InverseKinematics *arg1 = (iDynTree::InverseKinematics *) 0 ;
-  iDynTree::Transform *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  void *argp3 ;
-  int res3 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("InverseKinematics_setRobotConfiguration",argc,3,3,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__InverseKinematics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "InverseKinematics_setRobotConfiguration" "', argument " "1"" of type '" "iDynTree::InverseKinematics *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::InverseKinematics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Transform,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "InverseKinematics_setRobotConfiguration" "', argument " "2"" of type '" "iDynTree::Transform const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "InverseKinematics_setRobotConfiguration" "', argument " "2"" of type '" "iDynTree::Transform const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Transform * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "InverseKinematics_setRobotConfiguration" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "InverseKinematics_setRobotConfiguration" "', argument " "3"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  result = (bool)(arg1)->setRobotConfiguration((iDynTree::Transform const &)*arg2,(iDynTree::VectorDynSize const &)*arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
 int _wrap_InverseKinematics_setCurrentRobotConfiguration(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::InverseKinematics *arg1 = (iDynTree::InverseKinematics *) 0 ;
   iDynTree::Transform *arg2 = 0 ;
@@ -94797,128 +98461,6 @@ int _wrap_InverseKinematics_targetResolutionMode(int resc, mxArray *resv[], int
 }
 
 
-int _wrap_InverseKinematics_setDesiredJointConfiguration__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::InverseKinematics *arg1 = (iDynTree::InverseKinematics *) 0 ;
-  iDynTree::VectorDynSize *arg2 = 0 ;
-  double arg3 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  double val3 ;
-  int ecode3 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("InverseKinematics_setDesiredJointConfiguration",argc,3,3,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__InverseKinematics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "InverseKinematics_setDesiredJointConfiguration" "', argument " "1"" of type '" "iDynTree::InverseKinematics *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::InverseKinematics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "InverseKinematics_setDesiredJointConfiguration" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "InverseKinematics_setDesiredJointConfiguration" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  ecode3 = SWIG_AsVal_double(argv[2], &val3);
-  if (!SWIG_IsOK(ecode3)) {
-    SWIG_exception_fail(SWIG_ArgError(ecode3), "in method '" "InverseKinematics_setDesiredJointConfiguration" "', argument " "3"" of type '" "double""'");
-  } 
-  arg3 = static_cast< double >(val3);
-  result = (bool)(arg1)->setDesiredJointConfiguration((iDynTree::VectorDynSize const &)*arg2,arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_InverseKinematics_setDesiredJointConfiguration__SWIG_1(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::InverseKinematics *arg1 = (iDynTree::InverseKinematics *) 0 ;
-  iDynTree::VectorDynSize *arg2 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 ;
-  int res2 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("InverseKinematics_setDesiredJointConfiguration",argc,2,2,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__InverseKinematics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "InverseKinematics_setDesiredJointConfiguration" "', argument " "1"" of type '" "iDynTree::InverseKinematics *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::InverseKinematics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "InverseKinematics_setDesiredJointConfiguration" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "InverseKinematics_setDesiredJointConfiguration" "', argument " "2"" of type '" "iDynTree::VectorDynSize const &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::VectorDynSize * >(argp2);
-  result = (bool)(arg1)->setDesiredJointConfiguration((iDynTree::VectorDynSize const &)*arg2);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
-int _wrap_InverseKinematics_setDesiredJointConfiguration(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  if (argc == 2) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__InverseKinematics, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        return _wrap_InverseKinematics_setDesiredJointConfiguration__SWIG_1(resc,resv,argc,argv);
-      }
-    }
-  }
-  if (argc == 3) {
-    int _v;
-    void *vptr = 0;
-    int res = SWIG_ConvertPtr(argv[0], &vptr, SWIGTYPE_p_iDynTree__InverseKinematics, 0);
-    _v = SWIG_CheckState(res);
-    if (_v) {
-      void *vptr = 0;
-      int res = SWIG_ConvertPtr(argv[1], &vptr, SWIGTYPE_p_iDynTree__VectorDynSize, 0);
-      _v = SWIG_CheckState(res);
-      if (_v) {
-        {
-          int res = SWIG_AsVal_double(argv[2], NULL);
-          _v = SWIG_CheckState(res);
-        }
-        if (_v) {
-          return _wrap_InverseKinematics_setDesiredJointConfiguration__SWIG_0(resc,resv,argc,argv);
-        }
-      }
-    }
-  }
-  
-  SWIG_Error(SWIG_RuntimeError, "No matching function for overload function 'InverseKinematics_setDesiredJointConfiguration'."
-    "  Possible C/C++ prototypes are:\n"
-    "    iDynTree::InverseKinematics::setDesiredJointConfiguration(iDynTree::VectorDynSize const &,double)\n"
-    "    iDynTree::InverseKinematics::setDesiredJointConfiguration(iDynTree::VectorDynSize const &)\n");
-  return 1;
-}
-
-
 int _wrap_InverseKinematics_setDesiredFullJointsConfiguration__SWIG_0(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::InverseKinematics *arg1 = (iDynTree::InverseKinematics *) 0 ;
   iDynTree::VectorDynSize *arg2 = 0 ;
@@ -95295,46 +98837,6 @@ int _wrap_InverseKinematics_setDesiredReducedJointConfiguration(int resc, mxArra
 }
 
 
-int _wrap_InverseKinematics_setInitialCondition(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::InverseKinematics *arg1 = (iDynTree::InverseKinematics *) 0 ;
-  iDynTree::Transform *arg2 = (iDynTree::Transform *) 0 ;
-  iDynTree::VectorDynSize *arg3 = (iDynTree::VectorDynSize *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
-  mxArray * _out;
-  bool result;
-  
-  if (!SWIG_check_num_args("InverseKinematics_setInitialCondition",argc,3,3,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__InverseKinematics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "InverseKinematics_setInitialCondition" "', argument " "1"" of type '" "iDynTree::InverseKinematics *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::InverseKinematics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2,SWIGTYPE_p_iDynTree__Transform, 0 |  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "InverseKinematics_setInitialCondition" "', argument " "2"" of type '" "iDynTree::Transform const *""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Transform * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3,SWIGTYPE_p_iDynTree__VectorDynSize, 0 |  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "InverseKinematics_setInitialCondition" "', argument " "3"" of type '" "iDynTree::VectorDynSize const *""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  result = (bool)(arg1)->setInitialCondition((iDynTree::Transform const *)arg2,(iDynTree::VectorDynSize const *)arg3);
-  _out = SWIG_From_bool(static_cast< bool >(result));
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
 int _wrap_InverseKinematics_setFullJointsInitialCondition(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::InverseKinematics *arg1 = (iDynTree::InverseKinematics *) 0 ;
   iDynTree::Transform *arg2 = (iDynTree::Transform *) 0 ;
@@ -95439,51 +98941,6 @@ int _wrap_InverseKinematics_solve(int resc, mxArray *resv[], int argc, mxArray *
 }
 
 
-int _wrap_InverseKinematics_getSolution(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::InverseKinematics *arg1 = (iDynTree::InverseKinematics *) 0 ;
-  iDynTree::Transform *arg2 = 0 ;
-  iDynTree::VectorDynSize *arg3 = 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  void *argp2 = 0 ;
-  int res2 = 0 ;
-  void *argp3 = 0 ;
-  int res3 = 0 ;
-  mxArray * _out;
-  
-  if (!SWIG_check_num_args("InverseKinematics_getSolution",argc,3,3,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__InverseKinematics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "InverseKinematics_getSolution" "', argument " "1"" of type '" "iDynTree::InverseKinematics *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::InverseKinematics * >(argp1);
-  res2 = SWIG_ConvertPtr(argv[1], &argp2, SWIGTYPE_p_iDynTree__Transform,  0 );
-  if (!SWIG_IsOK(res2)) {
-    SWIG_exception_fail(SWIG_ArgError(res2), "in method '" "InverseKinematics_getSolution" "', argument " "2"" of type '" "iDynTree::Transform &""'"); 
-  }
-  if (!argp2) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "InverseKinematics_getSolution" "', argument " "2"" of type '" "iDynTree::Transform &""'"); 
-  }
-  arg2 = reinterpret_cast< iDynTree::Transform * >(argp2);
-  res3 = SWIG_ConvertPtr(argv[2], &argp3, SWIGTYPE_p_iDynTree__VectorDynSize,  0 );
-  if (!SWIG_IsOK(res3)) {
-    SWIG_exception_fail(SWIG_ArgError(res3), "in method '" "InverseKinematics_getSolution" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  if (!argp3) {
-    SWIG_exception_fail(SWIG_ValueError, "invalid null reference " "in method '" "InverseKinematics_getSolution" "', argument " "3"" of type '" "iDynTree::VectorDynSize &""'"); 
-  }
-  arg3 = reinterpret_cast< iDynTree::VectorDynSize * >(argp3);
-  (arg1)->getSolution(*arg2,*arg3);
-  _out = (mxArray*)0;
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
 int _wrap_InverseKinematics_getFullJointsSolution(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::InverseKinematics *arg1 = (iDynTree::InverseKinematics *) 0 ;
   iDynTree::Transform *arg2 = 0 ;
@@ -95624,30 +99081,6 @@ int _wrap_InverseKinematics_getPoseForFrame(int resc, mxArray *resv[], int argc,
 }
 
 
-int _wrap_InverseKinematics_model(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
-  iDynTree::InverseKinematics *arg1 = (iDynTree::InverseKinematics *) 0 ;
-  void *argp1 = 0 ;
-  int res1 = 0 ;
-  mxArray * _out;
-  iDynTree::Model *result = 0 ;
-  
-  if (!SWIG_check_num_args("InverseKinematics_model",argc,1,1,0)) {
-    SWIG_fail;
-  }
-  res1 = SWIG_ConvertPtr(argv[0], &argp1,SWIGTYPE_p_iDynTree__InverseKinematics, 0 |  0 );
-  if (!SWIG_IsOK(res1)) {
-    SWIG_exception_fail(SWIG_ArgError(res1), "in method '" "InverseKinematics_model" "', argument " "1"" of type '" "iDynTree::InverseKinematics const *""'"); 
-  }
-  arg1 = reinterpret_cast< iDynTree::InverseKinematics * >(argp1);
-  result = (iDynTree::Model *) &((iDynTree::InverseKinematics const *)arg1)->model();
-  _out = SWIG_NewPointerObj(SWIG_as_voidptr(result), SWIGTYPE_p_iDynTree__Model, 0 |  0 );
-  if (_out) --resc, *resv++ = _out;
-  return 0;
-fail:
-  return 1;
-}
-
-
 int _wrap_InverseKinematics_fullModel(int resc, mxArray *resv[], int argc, mxArray *argv[]) {
   iDynTree::InverseKinematics *arg1 = (iDynTree::InverseKinematics *) 0 ;
   void *argp1 = 0 ;
@@ -96283,7 +99716,7 @@ static swig_type_info _swigt__p_const_reference = {"_p_const_reference", "const_
 static swig_type_info _swigt__p_const_reverse_iterator = {"_p_const_reverse_iterator", "const_reverse_iterator *", 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", "iDynTree::Span< double,-1 >::element_type *|iDynTree::Span< double,-1 >::pointer|double *", 0, 0, (void*)0, 0};
+static swig_type_info _swigt__p_double = {"_p_double", "iDynTree::Span< double,-1 >::element_type *|iDynTree::MatrixView< double >::element_type *|iDynTree::Span< double,-1 >::pointer|iDynTree::MatrixView< double >::pointer|double *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_element_type = {"_p_element_type", "element_type *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_iDynTree__AccelerometerSensor = {"_p_iDynTree__AccelerometerSensor", "iDynTree::AccelerometerSensor *", 0, 0, (void*)"iDynTree.AccelerometerSensor", 0};
 static swig_type_info _swigt__p_iDynTree__ArticulatedBodyAlgorithmInternalBuffers = {"_p_iDynTree__ArticulatedBodyAlgorithmInternalBuffers", "iDynTree::ArticulatedBodyAlgorithmInternalBuffers *", 0, 0, (void*)"iDynTree.ArticulatedBodyAlgorithmInternalBuffers", 0};
@@ -96345,6 +99778,7 @@ static swig_type_info _swigt__p_iDynTree__LinkSensor = {"_p_iDynTree__LinkSensor
 static swig_type_info _swigt__p_iDynTree__LinkUnknownWrenchContacts = {"_p_iDynTree__LinkUnknownWrenchContacts", "iDynTree::LinkUnknownWrenchContacts *", 0, 0, (void*)"iDynTree.LinkUnknownWrenchContacts", 0};
 static swig_type_info _swigt__p_iDynTree__LinkVelArray = {"_p_iDynTree__LinkVelArray", "iDynTree::LinkVelArray *", 0, 0, (void*)"iDynTree.LinkVelArray", 0};
 static swig_type_info _swigt__p_iDynTree__LinkWrenches = {"_p_iDynTree__LinkWrenches", "iDynTree::LinkWrenches *|iDynTree::LinkNetExternalWrenches *|iDynTree::LinkInternalWrenches *|iDynTree::LinkNetTotalWrenchesWithoutGravity *", 0, 0, (void*)"iDynTree.LinkWrenches", 0};
+static swig_type_info _swigt__p_iDynTree__Material = {"_p_iDynTree__Material", "iDynTree::Material *", 0, 0, (void*)"iDynTree.Material", 0};
 static swig_type_info _swigt__p_iDynTree__MatrixDynSize = {"_p_iDynTree__MatrixDynSize", "iDynTree::MatrixDynSize *", 0, 0, (void*)"iDynTree.MatrixDynSize", 0};
 static swig_type_info _swigt__p_iDynTree__MatrixFixSizeT_10_16_t = {"_p_iDynTree__MatrixFixSizeT_10_16_t", "iDynTree::MatrixFixSize< 10,16 > *|iDynTree::Matrix10x16 *", 0, 0, (void*)"iDynTree.Matrix10x16", 0};
 static swig_type_info _swigt__p_iDynTree__MatrixFixSizeT_1_6_t = {"_p_iDynTree__MatrixFixSizeT_1_6_t", "iDynTree::Matrix1x6 *|iDynTree::MatrixFixSize< 1,6 > *", 0, 0, (void*)"iDynTree.Matrix1x6", 0};
@@ -96356,6 +99790,8 @@ static swig_type_info _swigt__p_iDynTree__MatrixFixSizeT_4_4_t = {"_p_iDynTree__
 static swig_type_info _swigt__p_iDynTree__MatrixFixSizeT_6_10_t = {"_p_iDynTree__MatrixFixSizeT_6_10_t", "iDynTree::MatrixFixSize< 6,10 > *|iDynTree::Matrix6x10 *", 0, 0, (void*)"iDynTree.Matrix6x10", 0};
 static swig_type_info _swigt__p_iDynTree__MatrixFixSizeT_6_1_t = {"_p_iDynTree__MatrixFixSizeT_6_1_t", "iDynTree::MatrixFixSize< 6,1 > *|iDynTree::Matrix6x1 *", 0, 0, (void*)0, 0};
 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__MatrixViewT_double_const_t = {"_p_iDynTree__MatrixViewT_double_const_t", "iDynTree::MatrixView< double const > *", 0, 0, (void*)0, 0};
+static swig_type_info _swigt__p_iDynTree__MatrixViewT_double_t = {"_p_iDynTree__MatrixViewT_double_t", "iDynTree::MatrixView< double > *", 0, 0, (void*)"iDynTree.DynamicMatrixView", 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__ModelCalibrationHelper = {"_p_iDynTree__ModelCalibrationHelper", "iDynTree::ModelCalibrationHelper *", 0, 0, (void*)"iDynTree.ModelCalibrationHelper", 0};
 static swig_type_info _swigt__p_iDynTree__ModelExporter = {"_p_iDynTree__ModelExporter", "iDynTree::ModelExporter *", 0, 0, (void*)"iDynTree.ModelExporter", 0};
@@ -96388,6 +99824,7 @@ static swig_type_info _swigt__p_iDynTree__SimpleLeggedOdometry = {"_p_iDynTree__
 static swig_type_info _swigt__p_iDynTree__SixAxisForceTorqueSensor = {"_p_iDynTree__SixAxisForceTorqueSensor", "iDynTree::SixAxisForceTorqueSensor *", 0, 0, (void*)"iDynTree.SixAxisForceTorqueSensor", 0};
 static swig_type_info _swigt__p_iDynTree__SolidShape = {"_p_iDynTree__SolidShape", "std::vector< iDynTree::SolidShape * >::value_type|iDynTree::SolidShape *", 0, 0, (void*)"iDynTree.SolidShape", 0};
 static swig_type_info _swigt__p_iDynTree__SpanT_double__1_t = {"_p_iDynTree__SpanT_double__1_t", "iDynTree::Span< iDynTree::Span< double,-1 >::element_type,-1 > *|iDynTree::Span< double,-1 > *", 0, 0, (void*)"iDynTree.DynamicSpan", 0};
+static swig_type_info _swigt__p_iDynTree__SpanT_double_const__1_t = {"_p_iDynTree__SpanT_double_const__1_t", "iDynTree::Span< double const,-1 > *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t = {"_p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t", "iDynTree::SparseMatrix< iDynTree::ColumnMajor > *", 0, 0, (void*)"iDynTree.SparseMatrixColMajor", 0};
 static swig_type_info _swigt__p_iDynTree__SparseMatrixT_iDynTree__RowMajor_t = {"_p_iDynTree__SparseMatrixT_iDynTree__RowMajor_t", "iDynTree::SparseMatrix< iDynTree::RowMajor > *", 0, 0, (void*)"iDynTree.SparseMatrixRowMajor", 0};
 static swig_type_info _swigt__p_iDynTree__SpatialAcc = {"_p_iDynTree__SpatialAcc", "iDynTree::SpatialAcc *", 0, 0, (void*)"iDynTree.SpatialAcc", 0};
@@ -96411,7 +99848,6 @@ static swig_type_info _swigt__p_iDynTree__TransformDerivative = {"_p_iDynTree__T
 static swig_type_info _swigt__p_iDynTree__Traversal = {"_p_iDynTree__Traversal", "iDynTree::Traversal *", 0, 0, (void*)"iDynTree.Traversal", 0};
 static swig_type_info _swigt__p_iDynTree__Triplets = {"_p_iDynTree__Triplets", "iDynTree::Triplets *", 0, 0, (void*)0, 0};
 static swig_type_info _swigt__p_iDynTree__Twist = {"_p_iDynTree__Twist", "iDynTree::Twist *", 0, 0, (void*)"iDynTree.Twist", 0};
-static swig_type_info _swigt__p_iDynTree__URDFParserOptions = {"_p_iDynTree__URDFParserOptions", "iDynTree::URDFParserOptions *", 0, 0, (void*)"iDynTree.URDFParserOptions", 0};
 static swig_type_info _swigt__p_iDynTree__UnknownWrenchContact = {"_p_iDynTree__UnknownWrenchContact", "iDynTree::UnknownWrenchContact *", 0, 0, (void*)"iDynTree.UnknownWrenchContact", 0};
 static swig_type_info _swigt__p_iDynTree__VectorDynSize = {"_p_iDynTree__VectorDynSize", "iDynTree::VectorDynSize *", 0, 0, (void*)"iDynTree.VectorDynSize", 0};
 static swig_type_info _swigt__p_iDynTree__VectorFixSizeT_10_t = {"_p_iDynTree__VectorFixSizeT_10_t", "iDynTree::VectorFixSize< 10 > *|iDynTree::Vector10 *", 0, 0, (void*)"iDynTree.Vector10", 0};
@@ -96539,6 +99975,7 @@ static swig_type_info *swig_type_initial[] = {
   &_swigt__p_iDynTree__LinkUnknownWrenchContacts,
   &_swigt__p_iDynTree__LinkVelArray,
   &_swigt__p_iDynTree__LinkWrenches,
+  &_swigt__p_iDynTree__Material,
   &_swigt__p_iDynTree__MatrixDynSize,
   &_swigt__p_iDynTree__MatrixFixSizeT_10_16_t,
   &_swigt__p_iDynTree__MatrixFixSizeT_1_6_t,
@@ -96550,6 +99987,8 @@ static swig_type_info *swig_type_initial[] = {
   &_swigt__p_iDynTree__MatrixFixSizeT_6_10_t,
   &_swigt__p_iDynTree__MatrixFixSizeT_6_1_t,
   &_swigt__p_iDynTree__MatrixFixSizeT_6_6_t,
+  &_swigt__p_iDynTree__MatrixViewT_double_const_t,
+  &_swigt__p_iDynTree__MatrixViewT_double_t,
   &_swigt__p_iDynTree__Model,
   &_swigt__p_iDynTree__ModelCalibrationHelper,
   &_swigt__p_iDynTree__ModelExporter,
@@ -96582,6 +100021,7 @@ static swig_type_info *swig_type_initial[] = {
   &_swigt__p_iDynTree__SixAxisForceTorqueSensor,
   &_swigt__p_iDynTree__SolidShape,
   &_swigt__p_iDynTree__SpanT_double__1_t,
+  &_swigt__p_iDynTree__SpanT_double_const__1_t,
   &_swigt__p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t,
   &_swigt__p_iDynTree__SparseMatrixT_iDynTree__RowMajor_t,
   &_swigt__p_iDynTree__SpatialAcc,
@@ -96605,7 +100045,6 @@ static swig_type_info *swig_type_initial[] = {
   &_swigt__p_iDynTree__Traversal,
   &_swigt__p_iDynTree__Triplets,
   &_swigt__p_iDynTree__Twist,
-  &_swigt__p_iDynTree__URDFParserOptions,
   &_swigt__p_iDynTree__UnknownWrenchContact,
   &_swigt__p_iDynTree__VectorDynSize,
   &_swigt__p_iDynTree__VectorFixSizeT_10_t,
@@ -96733,6 +100172,7 @@ static swig_cast_info _swigc__p_iDynTree__LinkSensor[] = {  {&_swigt__p_iDynTree
 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}};
+static swig_cast_info _swigc__p_iDynTree__Material[] = {  {&_swigt__p_iDynTree__Material, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__MatrixDynSize[] = {  {&_swigt__p_iDynTree__MatrixDynSize, 0, 0, 0},  {&_swigt__p_iDynTree__FrameFreeFloatingJacobian, _p_iDynTree__FrameFreeFloatingJacobianTo_p_iDynTree__MatrixDynSize, 0, 0},  {&_swigt__p_iDynTree__MomentumFreeFloatingJacobian, _p_iDynTree__MomentumFreeFloatingJacobianTo_p_iDynTree__MatrixDynSize, 0, 0},  {&_swigt__p_iDynTree__FreeFloatingMassMatrix, _p_iDynTree__FreeFloatingMassMatrixTo_p_iDynTree__MatrixDynSize, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__MatrixFixSizeT_10_16_t[] = {  {&_swigt__p_iDynTree__MatrixFixSizeT_10_16_t, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__MatrixFixSizeT_1_6_t[] = {  {&_swigt__p_iDynTree__MatrixFixSizeT_1_6_t, 0, 0, 0},{0, 0, 0, 0}};
@@ -96744,6 +100184,8 @@ static swig_cast_info _swigc__p_iDynTree__MatrixFixSizeT_4_4_t[] = {  {&_swigt__
 static swig_cast_info _swigc__p_iDynTree__MatrixFixSizeT_6_10_t[] = {  {&_swigt__p_iDynTree__MatrixFixSizeT_6_10_t, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__MatrixFixSizeT_6_1_t[] = {  {&_swigt__p_iDynTree__MatrixFixSizeT_6_1_t, 0, 0, 0},{0, 0, 0, 0}};
 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__MatrixViewT_double_const_t[] = {  {&_swigt__p_iDynTree__MatrixViewT_double_const_t, 0, 0, 0},{0, 0, 0, 0}};
+static swig_cast_info _swigc__p_iDynTree__MatrixViewT_double_t[] = {  {&_swigt__p_iDynTree__MatrixViewT_double_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__ModelCalibrationHelper[] = {  {&_swigt__p_iDynTree__ModelCalibrationHelper, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__ModelExporter[] = {  {&_swigt__p_iDynTree__ModelExporter, 0, 0, 0},{0, 0, 0, 0}};
@@ -96776,6 +100218,7 @@ static swig_cast_info _swigc__p_iDynTree__SimpleLeggedOdometry[] = {  {&_swigt__
 static swig_cast_info _swigc__p_iDynTree__SixAxisForceTorqueSensor[] = {  {&_swigt__p_iDynTree__SixAxisForceTorqueSensor, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__SolidShape[] = {  {&_swigt__p_iDynTree__SolidShape, 0, 0, 0},  {&_swigt__p_iDynTree__ExternalMesh, _p_iDynTree__ExternalMeshTo_p_iDynTree__SolidShape, 0, 0},  {&_swigt__p_iDynTree__Box, _p_iDynTree__BoxTo_p_iDynTree__SolidShape, 0, 0},  {&_swigt__p_iDynTree__Cylinder, _p_iDynTree__CylinderTo_p_iDynTree__SolidShape, 0, 0},  {&_swigt__p_iDynTree__Sphere, _p_iDynTree__SphereTo_p_iDynTree__SolidShape, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__SpanT_double__1_t[] = {  {&_swigt__p_iDynTree__SpanT_double__1_t, 0, 0, 0},{0, 0, 0, 0}};
+static swig_cast_info _swigc__p_iDynTree__SpanT_double_const__1_t[] = {  {&_swigt__p_iDynTree__SpanT_double_const__1_t, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t[] = {  {&_swigt__p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__SparseMatrixT_iDynTree__RowMajor_t[] = {  {&_swigt__p_iDynTree__SparseMatrixT_iDynTree__RowMajor_t, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__SpatialAcc[] = {  {&_swigt__p_iDynTree__SpatialAcc, 0, 0, 0},{0, 0, 0, 0}};
@@ -96799,7 +100242,6 @@ static swig_cast_info _swigc__p_iDynTree__TransformDerivative[] = {  {&_swigt__p
 static swig_cast_info _swigc__p_iDynTree__Traversal[] = {  {&_swigt__p_iDynTree__Traversal, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__Triplets[] = {  {&_swigt__p_iDynTree__Triplets, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__Twist[] = {  {&_swigt__p_iDynTree__Twist, 0, 0, 0},{0, 0, 0, 0}};
-static swig_cast_info _swigc__p_iDynTree__URDFParserOptions[] = {  {&_swigt__p_iDynTree__URDFParserOptions, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__UnknownWrenchContact[] = {  {&_swigt__p_iDynTree__UnknownWrenchContact, 0, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__VectorDynSize[] = {  {&_swigt__p_iDynTree__VectorDynSize, 0, 0, 0},  {&_swigt__p_iDynTree__JointPosDoubleArray, _p_iDynTree__JointPosDoubleArrayTo_p_iDynTree__VectorDynSize, 0, 0},  {&_swigt__p_iDynTree__JointDOFsDoubleArray, _p_iDynTree__JointDOFsDoubleArrayTo_p_iDynTree__VectorDynSize, 0, 0},{0, 0, 0, 0}};
 static swig_cast_info _swigc__p_iDynTree__VectorFixSizeT_10_t[] = {  {&_swigt__p_iDynTree__VectorFixSizeT_10_t, 0, 0, 0},{0, 0, 0, 0}};
@@ -96927,6 +100369,7 @@ static swig_cast_info *swig_cast_initial[] = {
   _swigc__p_iDynTree__LinkUnknownWrenchContacts,
   _swigc__p_iDynTree__LinkVelArray,
   _swigc__p_iDynTree__LinkWrenches,
+  _swigc__p_iDynTree__Material,
   _swigc__p_iDynTree__MatrixDynSize,
   _swigc__p_iDynTree__MatrixFixSizeT_10_16_t,
   _swigc__p_iDynTree__MatrixFixSizeT_1_6_t,
@@ -96938,6 +100381,8 @@ static swig_cast_info *swig_cast_initial[] = {
   _swigc__p_iDynTree__MatrixFixSizeT_6_10_t,
   _swigc__p_iDynTree__MatrixFixSizeT_6_1_t,
   _swigc__p_iDynTree__MatrixFixSizeT_6_6_t,
+  _swigc__p_iDynTree__MatrixViewT_double_const_t,
+  _swigc__p_iDynTree__MatrixViewT_double_t,
   _swigc__p_iDynTree__Model,
   _swigc__p_iDynTree__ModelCalibrationHelper,
   _swigc__p_iDynTree__ModelExporter,
@@ -96970,6 +100415,7 @@ static swig_cast_info *swig_cast_initial[] = {
   _swigc__p_iDynTree__SixAxisForceTorqueSensor,
   _swigc__p_iDynTree__SolidShape,
   _swigc__p_iDynTree__SpanT_double__1_t,
+  _swigc__p_iDynTree__SpanT_double_const__1_t,
   _swigc__p_iDynTree__SparseMatrixT_iDynTree__ColumnMajor_t,
   _swigc__p_iDynTree__SparseMatrixT_iDynTree__RowMajor_t,
   _swigc__p_iDynTree__SpatialAcc,
@@ -96993,7 +100439,6 @@ static swig_cast_info *swig_cast_initial[] = {
   _swigc__p_iDynTree__Traversal,
   _swigc__p_iDynTree__Triplets,
   _swigc__p_iDynTree__Twist,
-  _swigc__p_iDynTree__URDFParserOptions,
   _swigc__p_iDynTree__UnknownWrenchContact,
   _swigc__p_iDynTree__VectorDynSize,
   _swigc__p_iDynTree__VectorFixSizeT_10_t,
@@ -98138,669 +101583,669 @@ SWIGINTERN const char* SwigFunctionName(int fcn_id) {
   case 713: return "DynamicSpan_rend";
   case 714: return "DynamicSpan_crbegin";
   case 715: return "DynamicSpan_crend";
-  case 716: return "LINK_INVALID_INDEX_get";
-  case 717: return "LINK_INVALID_INDEX_set";
-  case 718: return "LINK_INVALID_NAME_get";
-  case 719: return "LINK_INVALID_NAME_set";
-  case 720: return "JOINT_INVALID_INDEX_get";
-  case 721: return "JOINT_INVALID_INDEX_set";
-  case 722: return "JOINT_INVALID_NAME_get";
-  case 723: return "JOINT_INVALID_NAME_set";
-  case 724: return "DOF_INVALID_INDEX_get";
-  case 725: return "DOF_INVALID_INDEX_set";
-  case 726: return "DOF_INVALID_NAME_get";
-  case 727: return "DOF_INVALID_NAME_set";
-  case 728: return "FRAME_INVALID_INDEX_get";
-  case 729: return "FRAME_INVALID_INDEX_set";
-  case 730: return "FRAME_INVALID_NAME_get";
-  case 731: return "FRAME_INVALID_NAME_set";
-  case 732: return "TRAVERSAL_INVALID_INDEX_get";
-  case 733: return "TRAVERSAL_INVALID_INDEX_set";
-  case 734: return "new_LinkPositions";
-  case 735: return "LinkPositions_resize";
-  case 736: return "LinkPositions_isConsistent";
-  case 737: return "LinkPositions_getNrOfLinks";
-  case 738: return "LinkPositions_paren";
-  case 739: return "LinkPositions_toString";
-  case 740: return "delete_LinkPositions";
-  case 741: return "new_LinkWrenches";
-  case 742: return "LinkWrenches_resize";
-  case 743: return "LinkWrenches_isConsistent";
-  case 744: return "LinkWrenches_getNrOfLinks";
-  case 745: return "LinkWrenches_paren";
-  case 746: return "LinkWrenches_toString";
-  case 747: return "LinkWrenches_zero";
-  case 748: return "delete_LinkWrenches";
-  case 749: return "new_LinkInertias";
-  case 750: return "LinkInertias_resize";
-  case 751: return "LinkInertias_isConsistent";
-  case 752: return "LinkInertias_paren";
-  case 753: return "delete_LinkInertias";
-  case 754: return "new_LinkArticulatedBodyInertias";
-  case 755: return "LinkArticulatedBodyInertias_resize";
-  case 756: return "LinkArticulatedBodyInertias_isConsistent";
-  case 757: return "LinkArticulatedBodyInertias_paren";
-  case 758: return "delete_LinkArticulatedBodyInertias";
-  case 759: return "new_LinkVelArray";
-  case 760: return "LinkVelArray_resize";
-  case 761: return "LinkVelArray_isConsistent";
-  case 762: return "LinkVelArray_getNrOfLinks";
-  case 763: return "LinkVelArray_paren";
-  case 764: return "LinkVelArray_toString";
-  case 765: return "delete_LinkVelArray";
-  case 766: return "new_LinkAccArray";
-  case 767: return "LinkAccArray_resize";
-  case 768: return "LinkAccArray_isConsistent";
-  case 769: return "LinkAccArray_paren";
-  case 770: return "LinkAccArray_getNrOfLinks";
-  case 771: return "LinkAccArray_toString";
-  case 772: return "delete_LinkAccArray";
-  case 773: return "new_Link";
-  case 774: return "Link_inertia";
-  case 775: return "Link_setInertia";
-  case 776: return "Link_getInertia";
-  case 777: return "Link_setIndex";
-  case 778: return "Link_getIndex";
-  case 779: return "delete_Link";
-  case 780: return "delete_IJoint";
-  case 781: return "IJoint_clone";
-  case 782: return "IJoint_getNrOfPosCoords";
-  case 783: return "IJoint_getNrOfDOFs";
-  case 784: return "IJoint_setAttachedLinks";
-  case 785: return "IJoint_setRestTransform";
-  case 786: return "IJoint_getFirstAttachedLink";
-  case 787: return "IJoint_getSecondAttachedLink";
-  case 788: return "IJoint_getRestTransform";
-  case 789: return "IJoint_getTransform";
-  case 790: return "IJoint_getTransformDerivative";
-  case 791: return "IJoint_getMotionSubspaceVector";
-  case 792: return "IJoint_computeChildPosVelAcc";
-  case 793: return "IJoint_computeChildVelAcc";
-  case 794: return "IJoint_computeChildVel";
-  case 795: return "IJoint_computeChildAcc";
-  case 796: return "IJoint_computeChildBiasAcc";
-  case 797: return "IJoint_computeJointTorque";
-  case 798: return "IJoint_setIndex";
-  case 799: return "IJoint_getIndex";
-  case 800: return "IJoint_setPosCoordsOffset";
-  case 801: return "IJoint_getPosCoordsOffset";
-  case 802: return "IJoint_setDOFsOffset";
-  case 803: return "IJoint_getDOFsOffset";
-  case 804: return "IJoint_hasPosLimits";
-  case 805: return "IJoint_enablePosLimits";
-  case 806: return "IJoint_getPosLimits";
-  case 807: return "IJoint_getMinPosLimit";
-  case 808: return "IJoint_getMaxPosLimit";
-  case 809: return "IJoint_setPosLimits";
-  case 810: return "IJoint_isRevoluteJoint";
-  case 811: return "IJoint_isFixedJoint";
-  case 812: return "IJoint_asRevoluteJoint";
-  case 813: return "IJoint_asFixedJoint";
-  case 814: return "new_FixedJoint";
-  case 815: return "delete_FixedJoint";
-  case 816: return "FixedJoint_clone";
-  case 817: return "FixedJoint_getNrOfPosCoords";
-  case 818: return "FixedJoint_getNrOfDOFs";
-  case 819: return "FixedJoint_setAttachedLinks";
-  case 820: return "FixedJoint_setRestTransform";
-  case 821: return "FixedJoint_getFirstAttachedLink";
-  case 822: return "FixedJoint_getSecondAttachedLink";
-  case 823: return "FixedJoint_getRestTransform";
-  case 824: return "FixedJoint_getTransform";
-  case 825: return "FixedJoint_getTransformDerivative";
-  case 826: return "FixedJoint_getMotionSubspaceVector";
-  case 827: return "FixedJoint_computeChildPosVelAcc";
-  case 828: return "FixedJoint_computeChildVelAcc";
-  case 829: return "FixedJoint_computeChildVel";
-  case 830: return "FixedJoint_computeChildAcc";
-  case 831: return "FixedJoint_computeChildBiasAcc";
-  case 832: return "FixedJoint_computeJointTorque";
-  case 833: return "FixedJoint_setIndex";
-  case 834: return "FixedJoint_getIndex";
-  case 835: return "FixedJoint_setPosCoordsOffset";
-  case 836: return "FixedJoint_getPosCoordsOffset";
-  case 837: return "FixedJoint_setDOFsOffset";
-  case 838: return "FixedJoint_getDOFsOffset";
-  case 839: return "FixedJoint_hasPosLimits";
-  case 840: return "FixedJoint_enablePosLimits";
-  case 841: return "FixedJoint_getPosLimits";
-  case 842: return "FixedJoint_getMinPosLimit";
-  case 843: return "FixedJoint_getMaxPosLimit";
-  case 844: return "FixedJoint_setPosLimits";
-  case 845: return "delete_MovableJointImpl1";
-  case 846: return "MovableJointImpl1_getNrOfPosCoords";
-  case 847: return "MovableJointImpl1_getNrOfDOFs";
-  case 848: return "MovableJointImpl1_setIndex";
-  case 849: return "MovableJointImpl1_getIndex";
-  case 850: return "MovableJointImpl1_setPosCoordsOffset";
-  case 851: return "MovableJointImpl1_getPosCoordsOffset";
-  case 852: return "MovableJointImpl1_setDOFsOffset";
-  case 853: return "MovableJointImpl1_getDOFsOffset";
-  case 854: return "delete_MovableJointImpl2";
-  case 855: return "MovableJointImpl2_getNrOfPosCoords";
-  case 856: return "MovableJointImpl2_getNrOfDOFs";
-  case 857: return "MovableJointImpl2_setIndex";
-  case 858: return "MovableJointImpl2_getIndex";
-  case 859: return "MovableJointImpl2_setPosCoordsOffset";
-  case 860: return "MovableJointImpl2_getPosCoordsOffset";
-  case 861: return "MovableJointImpl2_setDOFsOffset";
-  case 862: return "MovableJointImpl2_getDOFsOffset";
-  case 863: return "delete_MovableJointImpl3";
-  case 864: return "MovableJointImpl3_getNrOfPosCoords";
-  case 865: return "MovableJointImpl3_getNrOfDOFs";
-  case 866: return "MovableJointImpl3_setIndex";
-  case 867: return "MovableJointImpl3_getIndex";
-  case 868: return "MovableJointImpl3_setPosCoordsOffset";
-  case 869: return "MovableJointImpl3_getPosCoordsOffset";
-  case 870: return "MovableJointImpl3_setDOFsOffset";
-  case 871: return "MovableJointImpl3_getDOFsOffset";
-  case 872: return "delete_MovableJointImpl4";
-  case 873: return "MovableJointImpl4_getNrOfPosCoords";
-  case 874: return "MovableJointImpl4_getNrOfDOFs";
-  case 875: return "MovableJointImpl4_setIndex";
-  case 876: return "MovableJointImpl4_getIndex";
-  case 877: return "MovableJointImpl4_setPosCoordsOffset";
-  case 878: return "MovableJointImpl4_getPosCoordsOffset";
-  case 879: return "MovableJointImpl4_setDOFsOffset";
-  case 880: return "MovableJointImpl4_getDOFsOffset";
-  case 881: return "delete_MovableJointImpl5";
-  case 882: return "MovableJointImpl5_getNrOfPosCoords";
-  case 883: return "MovableJointImpl5_getNrOfDOFs";
-  case 884: return "MovableJointImpl5_setIndex";
-  case 885: return "MovableJointImpl5_getIndex";
-  case 886: return "MovableJointImpl5_setPosCoordsOffset";
-  case 887: return "MovableJointImpl5_getPosCoordsOffset";
-  case 888: return "MovableJointImpl5_setDOFsOffset";
-  case 889: return "MovableJointImpl5_getDOFsOffset";
-  case 890: return "delete_MovableJointImpl6";
-  case 891: return "MovableJointImpl6_getNrOfPosCoords";
-  case 892: return "MovableJointImpl6_getNrOfDOFs";
-  case 893: return "MovableJointImpl6_setIndex";
-  case 894: return "MovableJointImpl6_getIndex";
-  case 895: return "MovableJointImpl6_setPosCoordsOffset";
-  case 896: return "MovableJointImpl6_getPosCoordsOffset";
-  case 897: return "MovableJointImpl6_setDOFsOffset";
-  case 898: return "MovableJointImpl6_getDOFsOffset";
-  case 899: return "new_RevoluteJoint";
-  case 900: return "delete_RevoluteJoint";
-  case 901: return "RevoluteJoint_clone";
-  case 902: return "RevoluteJoint_setAttachedLinks";
-  case 903: return "RevoluteJoint_setRestTransform";
-  case 904: return "RevoluteJoint_setAxis";
-  case 905: return "RevoluteJoint_getFirstAttachedLink";
-  case 906: return "RevoluteJoint_getSecondAttachedLink";
-  case 907: return "RevoluteJoint_getAxis";
-  case 908: return "RevoluteJoint_getRestTransform";
-  case 909: return "RevoluteJoint_getTransform";
-  case 910: return "RevoluteJoint_getTransformDerivative";
-  case 911: return "RevoluteJoint_getMotionSubspaceVector";
-  case 912: return "RevoluteJoint_computeChildPosVelAcc";
-  case 913: return "RevoluteJoint_computeChildVel";
-  case 914: return "RevoluteJoint_computeChildVelAcc";
-  case 915: return "RevoluteJoint_computeChildAcc";
-  case 916: return "RevoluteJoint_computeChildBiasAcc";
-  case 917: return "RevoluteJoint_computeJointTorque";
-  case 918: return "RevoluteJoint_hasPosLimits";
-  case 919: return "RevoluteJoint_enablePosLimits";
-  case 920: return "RevoluteJoint_getPosLimits";
-  case 921: return "RevoluteJoint_getMinPosLimit";
-  case 922: return "RevoluteJoint_getMaxPosLimit";
-  case 923: return "RevoluteJoint_setPosLimits";
-  case 924: return "new_PrismaticJoint";
-  case 925: return "delete_PrismaticJoint";
-  case 926: return "PrismaticJoint_clone";
-  case 927: return "PrismaticJoint_setAttachedLinks";
-  case 928: return "PrismaticJoint_setRestTransform";
-  case 929: return "PrismaticJoint_setAxis";
-  case 930: return "PrismaticJoint_getFirstAttachedLink";
-  case 931: return "PrismaticJoint_getSecondAttachedLink";
-  case 932: return "PrismaticJoint_getAxis";
-  case 933: return "PrismaticJoint_getRestTransform";
-  case 934: return "PrismaticJoint_getTransform";
-  case 935: return "PrismaticJoint_getTransformDerivative";
-  case 936: return "PrismaticJoint_getMotionSubspaceVector";
-  case 937: return "PrismaticJoint_computeChildPosVelAcc";
-  case 938: return "PrismaticJoint_computeChildVel";
-  case 939: return "PrismaticJoint_computeChildVelAcc";
-  case 940: return "PrismaticJoint_computeChildAcc";
-  case 941: return "PrismaticJoint_computeChildBiasAcc";
-  case 942: return "PrismaticJoint_computeJointTorque";
-  case 943: return "PrismaticJoint_hasPosLimits";
-  case 944: return "PrismaticJoint_enablePosLimits";
-  case 945: return "PrismaticJoint_getPosLimits";
-  case 946: return "PrismaticJoint_getMinPosLimit";
-  case 947: return "PrismaticJoint_getMaxPosLimit";
-  case 948: return "PrismaticJoint_setPosLimits";
-  case 949: return "new_Traversal";
-  case 950: return "delete_Traversal";
-  case 951: return "Traversal_getNrOfVisitedLinks";
-  case 952: return "Traversal_getLink";
-  case 953: return "Traversal_getBaseLink";
-  case 954: return "Traversal_getParentLink";
-  case 955: return "Traversal_getParentJoint";
-  case 956: return "Traversal_getParentLinkFromLinkIndex";
-  case 957: return "Traversal_getParentJointFromLinkIndex";
-  case 958: return "Traversal_getTraversalIndexFromLinkIndex";
-  case 959: return "Traversal_reset";
-  case 960: return "Traversal_addTraversalBase";
-  case 961: return "Traversal_addTraversalElement";
-  case 962: return "Traversal_isParentOf";
-  case 963: return "Traversal_getChildLinkIndexFromJointIndex";
-  case 964: return "Traversal_getParentLinkIndexFromJointIndex";
-  case 965: return "Traversal_toString";
-  case 966: return "delete_SolidShape";
-  case 967: return "SolidShape_clone";
-  case 968: return "SolidShape_name_get";
-  case 969: return "SolidShape_name_set";
-  case 970: return "SolidShape_nameIsValid_get";
-  case 971: return "SolidShape_nameIsValid_set";
-  case 972: return "SolidShape_link_H_geometry_get";
-  case 973: return "SolidShape_link_H_geometry_set";
-  case 974: return "SolidShape_material_get";
-  case 975: return "SolidShape_material_set";
-  case 976: return "SolidShape_isSphere";
-  case 977: return "SolidShape_isBox";
-  case 978: return "SolidShape_isCylinder";
-  case 979: return "SolidShape_isExternalMesh";
-  case 980: return "SolidShape_asSphere";
-  case 981: return "SolidShape_asBox";
-  case 982: return "SolidShape_asCylinder";
-  case 983: return "SolidShape_asExternalMesh";
-  case 984: return "delete_Sphere";
-  case 985: return "Sphere_clone";
-  case 986: return "Sphere_radius_get";
-  case 987: return "Sphere_radius_set";
-  case 988: return "new_Sphere";
-  case 989: return "delete_Box";
-  case 990: return "Box_clone";
-  case 991: return "Box_x_get";
-  case 992: return "Box_x_set";
-  case 993: return "Box_y_get";
-  case 994: return "Box_y_set";
-  case 995: return "Box_z_get";
-  case 996: return "Box_z_set";
-  case 997: return "new_Box";
-  case 998: return "delete_Cylinder";
-  case 999: return "Cylinder_clone";
-  case 1000: return "Cylinder_length_get";
-  case 1001: return "Cylinder_length_set";
-  case 1002: return "Cylinder_radius_get";
-  case 1003: return "Cylinder_radius_set";
-  case 1004: return "new_Cylinder";
-  case 1005: return "delete_ExternalMesh";
-  case 1006: return "ExternalMesh_clone";
-  case 1007: return "ExternalMesh_filename_get";
-  case 1008: return "ExternalMesh_filename_set";
-  case 1009: return "ExternalMesh_scale_get";
-  case 1010: return "ExternalMesh_scale_set";
-  case 1011: return "new_ExternalMesh";
-  case 1012: return "new_ModelSolidShapes";
-  case 1013: return "ModelSolidShapes_clear";
-  case 1014: return "delete_ModelSolidShapes";
-  case 1015: return "ModelSolidShapes_resize";
-  case 1016: return "ModelSolidShapes_isConsistent";
-  case 1017: return "ModelSolidShapes_linkSolidShapes_get";
-  case 1018: return "ModelSolidShapes_linkSolidShapes_set";
-  case 1019: return "Neighbor_neighborLink_get";
-  case 1020: return "Neighbor_neighborLink_set";
-  case 1021: return "Neighbor_neighborJoint_get";
-  case 1022: return "Neighbor_neighborJoint_set";
-  case 1023: return "new_Neighbor";
-  case 1024: return "delete_Neighbor";
-  case 1025: return "new_Model";
-  case 1026: return "Model_copy";
-  case 1027: return "delete_Model";
-  case 1028: return "Model_getNrOfLinks";
-  case 1029: return "Model_getLinkName";
-  case 1030: return "Model_getLinkIndex";
-  case 1031: return "Model_isValidLinkIndex";
-  case 1032: return "Model_getLink";
-  case 1033: return "Model_addLink";
-  case 1034: return "Model_getNrOfJoints";
-  case 1035: return "Model_getJointName";
-  case 1036: return "Model_getTotalMass";
-  case 1037: return "Model_getJointIndex";
-  case 1038: return "Model_getJoint";
-  case 1039: return "Model_isValidJointIndex";
-  case 1040: return "Model_isLinkNameUsed";
-  case 1041: return "Model_isJointNameUsed";
-  case 1042: return "Model_isFrameNameUsed";
-  case 1043: return "Model_addJoint";
-  case 1044: return "Model_addJointAndLink";
-  case 1045: return "Model_insertLinkToExistingJointAndAddJointForDisplacedLink";
-  case 1046: return "Model_getNrOfPosCoords";
-  case 1047: return "Model_getNrOfDOFs";
-  case 1048: return "Model_getNrOfFrames";
-  case 1049: return "Model_addAdditionalFrameToLink";
-  case 1050: return "Model_getFrameName";
-  case 1051: return "Model_getFrameIndex";
-  case 1052: return "Model_isValidFrameIndex";
-  case 1053: return "Model_getFrameTransform";
-  case 1054: return "Model_getFrameLink";
-  case 1055: return "Model_getLinkAdditionalFrames";
-  case 1056: return "Model_getNrOfNeighbors";
-  case 1057: return "Model_getNeighbor";
-  case 1058: return "Model_setDefaultBaseLink";
-  case 1059: return "Model_getDefaultBaseLink";
-  case 1060: return "Model_computeFullTreeTraversal";
-  case 1061: return "Model_getInertialParameters";
-  case 1062: return "Model_updateInertialParameters";
-  case 1063: return "Model_visualSolidShapes";
-  case 1064: return "Model_collisionSolidShapes";
-  case 1065: return "Model_toString";
-  case 1066: return "new_JointPosDoubleArray";
-  case 1067: return "JointPosDoubleArray_resize";
-  case 1068: return "JointPosDoubleArray_isConsistent";
-  case 1069: return "delete_JointPosDoubleArray";
-  case 1070: return "new_JointDOFsDoubleArray";
-  case 1071: return "JointDOFsDoubleArray_resize";
-  case 1072: return "JointDOFsDoubleArray_isConsistent";
-  case 1073: return "delete_JointDOFsDoubleArray";
-  case 1074: return "new_DOFSpatialForceArray";
-  case 1075: return "DOFSpatialForceArray_resize";
-  case 1076: return "DOFSpatialForceArray_isConsistent";
-  case 1077: return "DOFSpatialForceArray_paren";
-  case 1078: return "delete_DOFSpatialForceArray";
-  case 1079: return "new_DOFSpatialMotionArray";
-  case 1080: return "DOFSpatialMotionArray_resize";
-  case 1081: return "DOFSpatialMotionArray_isConsistent";
-  case 1082: return "DOFSpatialMotionArray_paren";
-  case 1083: return "delete_DOFSpatialMotionArray";
-  case 1084: return "new_FrameFreeFloatingJacobian";
-  case 1085: return "FrameFreeFloatingJacobian_resize";
-  case 1086: return "FrameFreeFloatingJacobian_isConsistent";
-  case 1087: return "delete_FrameFreeFloatingJacobian";
-  case 1088: return "new_MomentumFreeFloatingJacobian";
-  case 1089: return "MomentumFreeFloatingJacobian_resize";
-  case 1090: return "MomentumFreeFloatingJacobian_isConsistent";
-  case 1091: return "delete_MomentumFreeFloatingJacobian";
-  case 1092: return "new_FreeFloatingMassMatrix";
-  case 1093: return "FreeFloatingMassMatrix_resize";
-  case 1094: return "delete_FreeFloatingMassMatrix";
-  case 1095: return "new_FreeFloatingPos";
-  case 1096: return "FreeFloatingPos_resize";
-  case 1097: return "FreeFloatingPos_worldBasePos";
-  case 1098: return "FreeFloatingPos_jointPos";
-  case 1099: return "FreeFloatingPos_getNrOfPosCoords";
-  case 1100: return "delete_FreeFloatingPos";
-  case 1101: return "new_FreeFloatingGeneralizedTorques";
-  case 1102: return "FreeFloatingGeneralizedTorques_resize";
-  case 1103: return "FreeFloatingGeneralizedTorques_baseWrench";
-  case 1104: return "FreeFloatingGeneralizedTorques_jointTorques";
-  case 1105: return "FreeFloatingGeneralizedTorques_getNrOfDOFs";
-  case 1106: return "delete_FreeFloatingGeneralizedTorques";
-  case 1107: return "new_FreeFloatingVel";
-  case 1108: return "FreeFloatingVel_resize";
-  case 1109: return "FreeFloatingVel_baseVel";
-  case 1110: return "FreeFloatingVel_jointVel";
-  case 1111: return "FreeFloatingVel_getNrOfDOFs";
-  case 1112: return "delete_FreeFloatingVel";
-  case 1113: return "new_FreeFloatingAcc";
-  case 1114: return "FreeFloatingAcc_resize";
-  case 1115: return "FreeFloatingAcc_baseAcc";
-  case 1116: return "FreeFloatingAcc_jointAcc";
-  case 1117: return "FreeFloatingAcc_getNrOfDOFs";
-  case 1118: return "delete_FreeFloatingAcc";
-  case 1119: return "ContactWrench_contactId";
-  case 1120: return "ContactWrench_contactPoint";
-  case 1121: return "ContactWrench_contactWrench";
-  case 1122: return "new_ContactWrench";
-  case 1123: return "delete_ContactWrench";
-  case 1124: return "new_LinkContactWrenches";
-  case 1125: return "LinkContactWrenches_resize";
-  case 1126: return "LinkContactWrenches_getNrOfContactsForLink";
-  case 1127: return "LinkContactWrenches_setNrOfContactsForLink";
-  case 1128: return "LinkContactWrenches_getNrOfLinks";
-  case 1129: return "LinkContactWrenches_contactWrench";
-  case 1130: return "LinkContactWrenches_computeNetWrenches";
-  case 1131: return "LinkContactWrenches_toString";
-  case 1132: return "delete_LinkContactWrenches";
-  case 1133: return "SolidShapesVector_pop";
-  case 1134: return "SolidShapesVector_brace";
-  case 1135: return "SolidShapesVector_setbrace";
-  case 1136: return "SolidShapesVector_append";
-  case 1137: return "SolidShapesVector_empty";
-  case 1138: return "SolidShapesVector_size";
-  case 1139: return "SolidShapesVector_swap";
-  case 1140: return "SolidShapesVector_begin";
-  case 1141: return "SolidShapesVector_end";
-  case 1142: return "SolidShapesVector_rbegin";
-  case 1143: return "SolidShapesVector_rend";
-  case 1144: return "SolidShapesVector_clear";
-  case 1145: return "SolidShapesVector_get_allocator";
-  case 1146: return "SolidShapesVector_pop_back";
-  case 1147: return "SolidShapesVector_erase";
-  case 1148: return "new_SolidShapesVector";
-  case 1149: return "SolidShapesVector_push_back";
-  case 1150: return "SolidShapesVector_front";
-  case 1151: return "SolidShapesVector_back";
-  case 1152: return "SolidShapesVector_assign";
-  case 1153: return "SolidShapesVector_resize";
-  case 1154: return "SolidShapesVector_insert";
-  case 1155: return "SolidShapesVector_reserve";
-  case 1156: return "SolidShapesVector_capacity";
-  case 1157: return "delete_SolidShapesVector";
-  case 1158: return "LinksSolidShapesVector_pop";
-  case 1159: return "LinksSolidShapesVector_brace";
-  case 1160: return "LinksSolidShapesVector_setbrace";
-  case 1161: return "LinksSolidShapesVector_append";
-  case 1162: return "LinksSolidShapesVector_empty";
-  case 1163: return "LinksSolidShapesVector_size";
-  case 1164: return "LinksSolidShapesVector_swap";
-  case 1165: return "LinksSolidShapesVector_begin";
-  case 1166: return "LinksSolidShapesVector_end";
-  case 1167: return "LinksSolidShapesVector_rbegin";
-  case 1168: return "LinksSolidShapesVector_rend";
-  case 1169: return "LinksSolidShapesVector_clear";
-  case 1170: return "LinksSolidShapesVector_get_allocator";
-  case 1171: return "LinksSolidShapesVector_pop_back";
-  case 1172: return "LinksSolidShapesVector_erase";
-  case 1173: return "new_LinksSolidShapesVector";
-  case 1174: return "LinksSolidShapesVector_push_back";
-  case 1175: return "LinksSolidShapesVector_front";
-  case 1176: return "LinksSolidShapesVector_back";
-  case 1177: return "LinksSolidShapesVector_assign";
-  case 1178: return "LinksSolidShapesVector_resize";
-  case 1179: return "LinksSolidShapesVector_insert";
-  case 1180: return "LinksSolidShapesVector_reserve";
-  case 1181: return "LinksSolidShapesVector_capacity";
-  case 1182: return "delete_LinksSolidShapesVector";
-  case 1183: return "_wrap_ForwardPositionKinematics";
-  case 1184: return "_wrap_ForwardVelAccKinematics";
-  case 1185: return "_wrap_ForwardPosVelAccKinematics";
-  case 1186: return "_wrap_ForwardPosVelKinematics";
-  case 1187: return "_wrap_ForwardAccKinematics";
-  case 1188: return "_wrap_ForwardBiasAccKinematics";
-  case 1189: return "_wrap_ComputeLinearAndAngularMomentum";
-  case 1190: return "_wrap_ComputeLinearAndAngularMomentumDerivativeBias";
-  case 1191: return "_wrap_RNEADynamicPhase";
-  case 1192: return "_wrap_CompositeRigidBodyAlgorithm";
-  case 1193: return "new_ArticulatedBodyAlgorithmInternalBuffers";
-  case 1194: return "ArticulatedBodyAlgorithmInternalBuffers_resize";
-  case 1195: return "ArticulatedBodyAlgorithmInternalBuffers_isConsistent";
-  case 1196: return "ArticulatedBodyAlgorithmInternalBuffers_S_get";
-  case 1197: return "ArticulatedBodyAlgorithmInternalBuffers_S_set";
-  case 1198: return "ArticulatedBodyAlgorithmInternalBuffers_U_get";
-  case 1199: return "ArticulatedBodyAlgorithmInternalBuffers_U_set";
-  case 1200: return "ArticulatedBodyAlgorithmInternalBuffers_D_get";
-  case 1201: return "ArticulatedBodyAlgorithmInternalBuffers_D_set";
-  case 1202: return "ArticulatedBodyAlgorithmInternalBuffers_u_get";
-  case 1203: return "ArticulatedBodyAlgorithmInternalBuffers_u_set";
-  case 1204: return "ArticulatedBodyAlgorithmInternalBuffers_linksVel_get";
-  case 1205: return "ArticulatedBodyAlgorithmInternalBuffers_linksVel_set";
-  case 1206: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_get";
-  case 1207: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_set";
-  case 1208: return "ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_get";
-  case 1209: return "ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_set";
-  case 1210: return "ArticulatedBodyAlgorithmInternalBuffers_linkABIs_get";
-  case 1211: return "ArticulatedBodyAlgorithmInternalBuffers_linkABIs_set";
-  case 1212: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_get";
-  case 1213: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_set";
-  case 1214: return "delete_ArticulatedBodyAlgorithmInternalBuffers";
-  case 1215: return "_wrap_ArticulatedBodyAlgorithm";
-  case 1216: return "_wrap_InverseDynamicsInertialParametersRegressor";
-  case 1217: return "NR_OF_SENSOR_TYPES_get";
-  case 1218: return "_wrap_isLinkSensor";
-  case 1219: return "_wrap_isJointSensor";
-  case 1220: return "_wrap_getSensorTypeSize";
-  case 1221: return "delete_Sensor";
-  case 1222: return "Sensor_getName";
-  case 1223: return "Sensor_getSensorType";
-  case 1224: return "Sensor_isValid";
-  case 1225: return "Sensor_setName";
-  case 1226: return "Sensor_clone";
-  case 1227: return "Sensor_isConsistent";
-  case 1228: return "Sensor_updateIndices";
-  case 1229: return "Sensor_updateIndeces";
-  case 1230: return "delete_JointSensor";
-  case 1231: return "JointSensor_getParentJoint";
-  case 1232: return "JointSensor_getParentJointIndex";
-  case 1233: return "JointSensor_setParentJoint";
-  case 1234: return "JointSensor_setParentJointIndex";
-  case 1235: return "JointSensor_isConsistent";
-  case 1236: return "delete_LinkSensor";
-  case 1237: return "LinkSensor_getParentLink";
-  case 1238: return "LinkSensor_getParentLinkIndex";
-  case 1239: return "LinkSensor_getLinkSensorTransform";
-  case 1240: return "LinkSensor_setParentLink";
-  case 1241: return "LinkSensor_setParentLinkIndex";
-  case 1242: return "LinkSensor_setLinkSensorTransform";
-  case 1243: return "LinkSensor_isConsistent";
-  case 1244: return "new_SensorsList";
-  case 1245: return "delete_SensorsList";
-  case 1246: return "SensorsList_addSensor";
-  case 1247: return "SensorsList_setSerialization";
-  case 1248: return "SensorsList_getSerialization";
-  case 1249: return "SensorsList_getNrOfSensors";
-  case 1250: return "SensorsList_getSensorIndex";
-  case 1251: return "SensorsList_getSizeOfAllSensorsMeasurements";
-  case 1252: return "SensorsList_getSensor";
-  case 1253: return "SensorsList_isConsistent";
-  case 1254: return "SensorsList_removeSensor";
-  case 1255: return "SensorsList_removeAllSensorsOfType";
-  case 1256: return "SensorsList_getSixAxisForceTorqueSensor";
-  case 1257: return "SensorsList_getAccelerometerSensor";
-  case 1258: return "SensorsList_getGyroscopeSensor";
-  case 1259: return "SensorsList_getThreeAxisAngularAccelerometerSensor";
-  case 1260: return "SensorsList_getThreeAxisForceTorqueContactSensor";
-  case 1261: return "new_SensorsMeasurements";
-  case 1262: return "delete_SensorsMeasurements";
-  case 1263: return "SensorsMeasurements_setNrOfSensors";
-  case 1264: return "SensorsMeasurements_getNrOfSensors";
-  case 1265: return "SensorsMeasurements_resize";
-  case 1266: return "SensorsMeasurements_toVector";
-  case 1267: return "SensorsMeasurements_setMeasurement";
-  case 1268: return "SensorsMeasurements_getMeasurement";
-  case 1269: return "SensorsMeasurements_getSizeOfAllSensorsMeasurements";
-  case 1270: return "new_SixAxisForceTorqueSensor";
-  case 1271: return "delete_SixAxisForceTorqueSensor";
-  case 1272: return "SixAxisForceTorqueSensor_setName";
-  case 1273: return "SixAxisForceTorqueSensor_setFirstLinkSensorTransform";
-  case 1274: return "SixAxisForceTorqueSensor_setSecondLinkSensorTransform";
-  case 1275: return "SixAxisForceTorqueSensor_getFirstLinkIndex";
-  case 1276: return "SixAxisForceTorqueSensor_getSecondLinkIndex";
-  case 1277: return "SixAxisForceTorqueSensor_setFirstLinkName";
-  case 1278: return "SixAxisForceTorqueSensor_setSecondLinkName";
-  case 1279: return "SixAxisForceTorqueSensor_getFirstLinkName";
-  case 1280: return "SixAxisForceTorqueSensor_getSecondLinkName";
-  case 1281: return "SixAxisForceTorqueSensor_setParentJoint";
-  case 1282: return "SixAxisForceTorqueSensor_setParentJointIndex";
-  case 1283: return "SixAxisForceTorqueSensor_setAppliedWrenchLink";
-  case 1284: return "SixAxisForceTorqueSensor_getName";
-  case 1285: return "SixAxisForceTorqueSensor_getSensorType";
-  case 1286: return "SixAxisForceTorqueSensor_getParentJoint";
-  case 1287: return "SixAxisForceTorqueSensor_getParentJointIndex";
-  case 1288: return "SixAxisForceTorqueSensor_isValid";
-  case 1289: return "SixAxisForceTorqueSensor_clone";
-  case 1290: return "SixAxisForceTorqueSensor_updateIndices";
-  case 1291: return "SixAxisForceTorqueSensor_updateIndeces";
-  case 1292: return "SixAxisForceTorqueSensor_getAppliedWrenchLink";
-  case 1293: return "SixAxisForceTorqueSensor_isLinkAttachedToSensor";
-  case 1294: return "SixAxisForceTorqueSensor_getLinkSensorTransform";
-  case 1295: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLink";
-  case 1296: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLinkMatrix";
-  case 1297: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLinkInverseMatrix";
-  case 1298: return "SixAxisForceTorqueSensor_predictMeasurement";
-  case 1299: return "SixAxisForceTorqueSensor_toString";
-  case 1300: return "new_AccelerometerSensor";
-  case 1301: return "delete_AccelerometerSensor";
-  case 1302: return "AccelerometerSensor_setName";
-  case 1303: return "AccelerometerSensor_setLinkSensorTransform";
-  case 1304: return "AccelerometerSensor_setParentLink";
-  case 1305: return "AccelerometerSensor_setParentLinkIndex";
-  case 1306: return "AccelerometerSensor_getName";
-  case 1307: return "AccelerometerSensor_getSensorType";
-  case 1308: return "AccelerometerSensor_getParentLink";
-  case 1309: return "AccelerometerSensor_getParentLinkIndex";
-  case 1310: return "AccelerometerSensor_getLinkSensorTransform";
-  case 1311: return "AccelerometerSensor_isValid";
-  case 1312: return "AccelerometerSensor_clone";
-  case 1313: return "AccelerometerSensor_updateIndices";
-  case 1314: return "AccelerometerSensor_updateIndeces";
-  case 1315: return "AccelerometerSensor_predictMeasurement";
-  case 1316: return "new_GyroscopeSensor";
-  case 1317: return "delete_GyroscopeSensor";
-  case 1318: return "GyroscopeSensor_setName";
-  case 1319: return "GyroscopeSensor_setLinkSensorTransform";
-  case 1320: return "GyroscopeSensor_setParentLink";
-  case 1321: return "GyroscopeSensor_setParentLinkIndex";
-  case 1322: return "GyroscopeSensor_getName";
-  case 1323: return "GyroscopeSensor_getSensorType";
-  case 1324: return "GyroscopeSensor_getParentLink";
-  case 1325: return "GyroscopeSensor_getParentLinkIndex";
-  case 1326: return "GyroscopeSensor_getLinkSensorTransform";
-  case 1327: return "GyroscopeSensor_isValid";
-  case 1328: return "GyroscopeSensor_clone";
-  case 1329: return "GyroscopeSensor_updateIndices";
-  case 1330: return "GyroscopeSensor_updateIndeces";
-  case 1331: return "GyroscopeSensor_predictMeasurement";
-  case 1332: return "new_ThreeAxisAngularAccelerometerSensor";
-  case 1333: return "delete_ThreeAxisAngularAccelerometerSensor";
-  case 1334: return "ThreeAxisAngularAccelerometerSensor_setName";
-  case 1335: return "ThreeAxisAngularAccelerometerSensor_setLinkSensorTransform";
-  case 1336: return "ThreeAxisAngularAccelerometerSensor_setParentLink";
-  case 1337: return "ThreeAxisAngularAccelerometerSensor_setParentLinkIndex";
-  case 1338: return "ThreeAxisAngularAccelerometerSensor_getName";
-  case 1339: return "ThreeAxisAngularAccelerometerSensor_getSensorType";
-  case 1340: return "ThreeAxisAngularAccelerometerSensor_getParentLink";
-  case 1341: return "ThreeAxisAngularAccelerometerSensor_getParentLinkIndex";
-  case 1342: return "ThreeAxisAngularAccelerometerSensor_getLinkSensorTransform";
-  case 1343: return "ThreeAxisAngularAccelerometerSensor_isValid";
-  case 1344: return "ThreeAxisAngularAccelerometerSensor_clone";
-  case 1345: return "ThreeAxisAngularAccelerometerSensor_updateIndices";
-  case 1346: return "ThreeAxisAngularAccelerometerSensor_predictMeasurement";
-  case 1347: return "new_ThreeAxisForceTorqueContactSensor";
-  case 1348: return "delete_ThreeAxisForceTorqueContactSensor";
-  case 1349: return "ThreeAxisForceTorqueContactSensor_setName";
-  case 1350: return "ThreeAxisForceTorqueContactSensor_setLinkSensorTransform";
-  case 1351: return "ThreeAxisForceTorqueContactSensor_setParentLink";
-  case 1352: return "ThreeAxisForceTorqueContactSensor_setParentLinkIndex";
-  case 1353: return "ThreeAxisForceTorqueContactSensor_getName";
-  case 1354: return "ThreeAxisForceTorqueContactSensor_getSensorType";
-  case 1355: return "ThreeAxisForceTorqueContactSensor_getParentLink";
-  case 1356: return "ThreeAxisForceTorqueContactSensor_getParentLinkIndex";
-  case 1357: return "ThreeAxisForceTorqueContactSensor_getLinkSensorTransform";
-  case 1358: return "ThreeAxisForceTorqueContactSensor_isValid";
-  case 1359: return "ThreeAxisForceTorqueContactSensor_clone";
-  case 1360: return "ThreeAxisForceTorqueContactSensor_updateIndices";
-  case 1361: return "ThreeAxisForceTorqueContactSensor_setLoadCellLocations";
-  case 1362: return "ThreeAxisForceTorqueContactSensor_getLoadCellLocations";
-  case 1363: return "ThreeAxisForceTorqueContactSensor_computeThreeAxisForceTorqueFromLoadCellMeasurements";
-  case 1364: return "ThreeAxisForceTorqueContactSensor_computeCenterOfPressureFromLoadCellMeasurements";
-  case 1365: return "_wrap_predictSensorsMeasurements";
-  case 1366: return "_wrap_predictSensorsMeasurementsFromRawBuffers";
-  case 1367: return "URDFParserOptions_addSensorFramesAsAdditionalFrames_get";
-  case 1368: return "URDFParserOptions_addSensorFramesAsAdditionalFrames_set";
-  case 1369: return "URDFParserOptions_originalFilename_get";
-  case 1370: return "URDFParserOptions_originalFilename_set";
-  case 1371: return "new_URDFParserOptions";
-  case 1372: return "delete_URDFParserOptions";
-  case 1373: return "_wrap_modelFromURDF";
-  case 1374: return "_wrap_modelFromURDFString";
-  case 1375: return "_wrap_dofsListFromURDF";
-  case 1376: return "_wrap_dofsListFromURDFString";
-  case 1377: return "_wrap_sensorsFromURDF";
-  case 1378: return "_wrap_sensorsFromURDFString";
+  case 716: return "new_DynamicMatrixView";
+  case 717: return "DynamicMatrixView_storageOrder";
+  case 718: return "DynamicMatrixView_paren";
+  case 719: return "DynamicMatrixView_rows";
+  case 720: return "DynamicMatrixView_cols";
+  case 721: return "delete_DynamicMatrixView";
+  case 722: return "LINK_INVALID_INDEX_get";
+  case 723: return "LINK_INVALID_INDEX_set";
+  case 724: return "LINK_INVALID_NAME_get";
+  case 725: return "LINK_INVALID_NAME_set";
+  case 726: return "JOINT_INVALID_INDEX_get";
+  case 727: return "JOINT_INVALID_INDEX_set";
+  case 728: return "JOINT_INVALID_NAME_get";
+  case 729: return "JOINT_INVALID_NAME_set";
+  case 730: return "DOF_INVALID_INDEX_get";
+  case 731: return "DOF_INVALID_INDEX_set";
+  case 732: return "DOF_INVALID_NAME_get";
+  case 733: return "DOF_INVALID_NAME_set";
+  case 734: return "FRAME_INVALID_INDEX_get";
+  case 735: return "FRAME_INVALID_INDEX_set";
+  case 736: return "FRAME_INVALID_NAME_get";
+  case 737: return "FRAME_INVALID_NAME_set";
+  case 738: return "TRAVERSAL_INVALID_INDEX_get";
+  case 739: return "TRAVERSAL_INVALID_INDEX_set";
+  case 740: return "new_LinkPositions";
+  case 741: return "LinkPositions_resize";
+  case 742: return "LinkPositions_isConsistent";
+  case 743: return "LinkPositions_getNrOfLinks";
+  case 744: return "LinkPositions_paren";
+  case 745: return "LinkPositions_toString";
+  case 746: return "delete_LinkPositions";
+  case 747: return "new_LinkWrenches";
+  case 748: return "LinkWrenches_resize";
+  case 749: return "LinkWrenches_isConsistent";
+  case 750: return "LinkWrenches_getNrOfLinks";
+  case 751: return "LinkWrenches_paren";
+  case 752: return "LinkWrenches_toString";
+  case 753: return "LinkWrenches_zero";
+  case 754: return "delete_LinkWrenches";
+  case 755: return "new_LinkInertias";
+  case 756: return "LinkInertias_resize";
+  case 757: return "LinkInertias_isConsistent";
+  case 758: return "LinkInertias_paren";
+  case 759: return "delete_LinkInertias";
+  case 760: return "new_LinkArticulatedBodyInertias";
+  case 761: return "LinkArticulatedBodyInertias_resize";
+  case 762: return "LinkArticulatedBodyInertias_isConsistent";
+  case 763: return "LinkArticulatedBodyInertias_paren";
+  case 764: return "delete_LinkArticulatedBodyInertias";
+  case 765: return "new_LinkVelArray";
+  case 766: return "LinkVelArray_resize";
+  case 767: return "LinkVelArray_isConsistent";
+  case 768: return "LinkVelArray_getNrOfLinks";
+  case 769: return "LinkVelArray_paren";
+  case 770: return "LinkVelArray_toString";
+  case 771: return "delete_LinkVelArray";
+  case 772: return "new_LinkAccArray";
+  case 773: return "LinkAccArray_resize";
+  case 774: return "LinkAccArray_isConsistent";
+  case 775: return "LinkAccArray_paren";
+  case 776: return "LinkAccArray_getNrOfLinks";
+  case 777: return "LinkAccArray_toString";
+  case 778: return "delete_LinkAccArray";
+  case 779: return "new_Link";
+  case 780: return "Link_inertia";
+  case 781: return "Link_setInertia";
+  case 782: return "Link_getInertia";
+  case 783: return "Link_setIndex";
+  case 784: return "Link_getIndex";
+  case 785: return "delete_Link";
+  case 786: return "delete_IJoint";
+  case 787: return "IJoint_clone";
+  case 788: return "IJoint_getNrOfPosCoords";
+  case 789: return "IJoint_getNrOfDOFs";
+  case 790: return "IJoint_setAttachedLinks";
+  case 791: return "IJoint_setRestTransform";
+  case 792: return "IJoint_getFirstAttachedLink";
+  case 793: return "IJoint_getSecondAttachedLink";
+  case 794: return "IJoint_getRestTransform";
+  case 795: return "IJoint_getTransform";
+  case 796: return "IJoint_getTransformDerivative";
+  case 797: return "IJoint_getMotionSubspaceVector";
+  case 798: return "IJoint_computeChildPosVelAcc";
+  case 799: return "IJoint_computeChildVelAcc";
+  case 800: return "IJoint_computeChildVel";
+  case 801: return "IJoint_computeChildAcc";
+  case 802: return "IJoint_computeChildBiasAcc";
+  case 803: return "IJoint_computeJointTorque";
+  case 804: return "IJoint_setIndex";
+  case 805: return "IJoint_getIndex";
+  case 806: return "IJoint_setPosCoordsOffset";
+  case 807: return "IJoint_getPosCoordsOffset";
+  case 808: return "IJoint_setDOFsOffset";
+  case 809: return "IJoint_getDOFsOffset";
+  case 810: return "IJoint_hasPosLimits";
+  case 811: return "IJoint_enablePosLimits";
+  case 812: return "IJoint_getPosLimits";
+  case 813: return "IJoint_getMinPosLimit";
+  case 814: return "IJoint_getMaxPosLimit";
+  case 815: return "IJoint_setPosLimits";
+  case 816: return "IJoint_isRevoluteJoint";
+  case 817: return "IJoint_isFixedJoint";
+  case 818: return "IJoint_asRevoluteJoint";
+  case 819: return "IJoint_asFixedJoint";
+  case 820: return "new_FixedJoint";
+  case 821: return "delete_FixedJoint";
+  case 822: return "FixedJoint_clone";
+  case 823: return "FixedJoint_getNrOfPosCoords";
+  case 824: return "FixedJoint_getNrOfDOFs";
+  case 825: return "FixedJoint_setAttachedLinks";
+  case 826: return "FixedJoint_setRestTransform";
+  case 827: return "FixedJoint_getFirstAttachedLink";
+  case 828: return "FixedJoint_getSecondAttachedLink";
+  case 829: return "FixedJoint_getRestTransform";
+  case 830: return "FixedJoint_getTransform";
+  case 831: return "FixedJoint_getTransformDerivative";
+  case 832: return "FixedJoint_getMotionSubspaceVector";
+  case 833: return "FixedJoint_computeChildPosVelAcc";
+  case 834: return "FixedJoint_computeChildVelAcc";
+  case 835: return "FixedJoint_computeChildVel";
+  case 836: return "FixedJoint_computeChildAcc";
+  case 837: return "FixedJoint_computeChildBiasAcc";
+  case 838: return "FixedJoint_computeJointTorque";
+  case 839: return "FixedJoint_setIndex";
+  case 840: return "FixedJoint_getIndex";
+  case 841: return "FixedJoint_setPosCoordsOffset";
+  case 842: return "FixedJoint_getPosCoordsOffset";
+  case 843: return "FixedJoint_setDOFsOffset";
+  case 844: return "FixedJoint_getDOFsOffset";
+  case 845: return "FixedJoint_hasPosLimits";
+  case 846: return "FixedJoint_enablePosLimits";
+  case 847: return "FixedJoint_getPosLimits";
+  case 848: return "FixedJoint_getMinPosLimit";
+  case 849: return "FixedJoint_getMaxPosLimit";
+  case 850: return "FixedJoint_setPosLimits";
+  case 851: return "delete_MovableJointImpl1";
+  case 852: return "MovableJointImpl1_getNrOfPosCoords";
+  case 853: return "MovableJointImpl1_getNrOfDOFs";
+  case 854: return "MovableJointImpl1_setIndex";
+  case 855: return "MovableJointImpl1_getIndex";
+  case 856: return "MovableJointImpl1_setPosCoordsOffset";
+  case 857: return "MovableJointImpl1_getPosCoordsOffset";
+  case 858: return "MovableJointImpl1_setDOFsOffset";
+  case 859: return "MovableJointImpl1_getDOFsOffset";
+  case 860: return "delete_MovableJointImpl2";
+  case 861: return "MovableJointImpl2_getNrOfPosCoords";
+  case 862: return "MovableJointImpl2_getNrOfDOFs";
+  case 863: return "MovableJointImpl2_setIndex";
+  case 864: return "MovableJointImpl2_getIndex";
+  case 865: return "MovableJointImpl2_setPosCoordsOffset";
+  case 866: return "MovableJointImpl2_getPosCoordsOffset";
+  case 867: return "MovableJointImpl2_setDOFsOffset";
+  case 868: return "MovableJointImpl2_getDOFsOffset";
+  case 869: return "delete_MovableJointImpl3";
+  case 870: return "MovableJointImpl3_getNrOfPosCoords";
+  case 871: return "MovableJointImpl3_getNrOfDOFs";
+  case 872: return "MovableJointImpl3_setIndex";
+  case 873: return "MovableJointImpl3_getIndex";
+  case 874: return "MovableJointImpl3_setPosCoordsOffset";
+  case 875: return "MovableJointImpl3_getPosCoordsOffset";
+  case 876: return "MovableJointImpl3_setDOFsOffset";
+  case 877: return "MovableJointImpl3_getDOFsOffset";
+  case 878: return "delete_MovableJointImpl4";
+  case 879: return "MovableJointImpl4_getNrOfPosCoords";
+  case 880: return "MovableJointImpl4_getNrOfDOFs";
+  case 881: return "MovableJointImpl4_setIndex";
+  case 882: return "MovableJointImpl4_getIndex";
+  case 883: return "MovableJointImpl4_setPosCoordsOffset";
+  case 884: return "MovableJointImpl4_getPosCoordsOffset";
+  case 885: return "MovableJointImpl4_setDOFsOffset";
+  case 886: return "MovableJointImpl4_getDOFsOffset";
+  case 887: return "delete_MovableJointImpl5";
+  case 888: return "MovableJointImpl5_getNrOfPosCoords";
+  case 889: return "MovableJointImpl5_getNrOfDOFs";
+  case 890: return "MovableJointImpl5_setIndex";
+  case 891: return "MovableJointImpl5_getIndex";
+  case 892: return "MovableJointImpl5_setPosCoordsOffset";
+  case 893: return "MovableJointImpl5_getPosCoordsOffset";
+  case 894: return "MovableJointImpl5_setDOFsOffset";
+  case 895: return "MovableJointImpl5_getDOFsOffset";
+  case 896: return "delete_MovableJointImpl6";
+  case 897: return "MovableJointImpl6_getNrOfPosCoords";
+  case 898: return "MovableJointImpl6_getNrOfDOFs";
+  case 899: return "MovableJointImpl6_setIndex";
+  case 900: return "MovableJointImpl6_getIndex";
+  case 901: return "MovableJointImpl6_setPosCoordsOffset";
+  case 902: return "MovableJointImpl6_getPosCoordsOffset";
+  case 903: return "MovableJointImpl6_setDOFsOffset";
+  case 904: return "MovableJointImpl6_getDOFsOffset";
+  case 905: return "new_RevoluteJoint";
+  case 906: return "delete_RevoluteJoint";
+  case 907: return "RevoluteJoint_clone";
+  case 908: return "RevoluteJoint_setAttachedLinks";
+  case 909: return "RevoluteJoint_setRestTransform";
+  case 910: return "RevoluteJoint_setAxis";
+  case 911: return "RevoluteJoint_getFirstAttachedLink";
+  case 912: return "RevoluteJoint_getSecondAttachedLink";
+  case 913: return "RevoluteJoint_getAxis";
+  case 914: return "RevoluteJoint_getRestTransform";
+  case 915: return "RevoluteJoint_getTransform";
+  case 916: return "RevoluteJoint_getTransformDerivative";
+  case 917: return "RevoluteJoint_getMotionSubspaceVector";
+  case 918: return "RevoluteJoint_computeChildPosVelAcc";
+  case 919: return "RevoluteJoint_computeChildVel";
+  case 920: return "RevoluteJoint_computeChildVelAcc";
+  case 921: return "RevoluteJoint_computeChildAcc";
+  case 922: return "RevoluteJoint_computeChildBiasAcc";
+  case 923: return "RevoluteJoint_computeJointTorque";
+  case 924: return "RevoluteJoint_hasPosLimits";
+  case 925: return "RevoluteJoint_enablePosLimits";
+  case 926: return "RevoluteJoint_getPosLimits";
+  case 927: return "RevoluteJoint_getMinPosLimit";
+  case 928: return "RevoluteJoint_getMaxPosLimit";
+  case 929: return "RevoluteJoint_setPosLimits";
+  case 930: return "new_PrismaticJoint";
+  case 931: return "delete_PrismaticJoint";
+  case 932: return "PrismaticJoint_clone";
+  case 933: return "PrismaticJoint_setAttachedLinks";
+  case 934: return "PrismaticJoint_setRestTransform";
+  case 935: return "PrismaticJoint_setAxis";
+  case 936: return "PrismaticJoint_getFirstAttachedLink";
+  case 937: return "PrismaticJoint_getSecondAttachedLink";
+  case 938: return "PrismaticJoint_getAxis";
+  case 939: return "PrismaticJoint_getRestTransform";
+  case 940: return "PrismaticJoint_getTransform";
+  case 941: return "PrismaticJoint_getTransformDerivative";
+  case 942: return "PrismaticJoint_getMotionSubspaceVector";
+  case 943: return "PrismaticJoint_computeChildPosVelAcc";
+  case 944: return "PrismaticJoint_computeChildVel";
+  case 945: return "PrismaticJoint_computeChildVelAcc";
+  case 946: return "PrismaticJoint_computeChildAcc";
+  case 947: return "PrismaticJoint_computeChildBiasAcc";
+  case 948: return "PrismaticJoint_computeJointTorque";
+  case 949: return "PrismaticJoint_hasPosLimits";
+  case 950: return "PrismaticJoint_enablePosLimits";
+  case 951: return "PrismaticJoint_getPosLimits";
+  case 952: return "PrismaticJoint_getMinPosLimit";
+  case 953: return "PrismaticJoint_getMaxPosLimit";
+  case 954: return "PrismaticJoint_setPosLimits";
+  case 955: return "new_Traversal";
+  case 956: return "delete_Traversal";
+  case 957: return "Traversal_getNrOfVisitedLinks";
+  case 958: return "Traversal_getLink";
+  case 959: return "Traversal_getBaseLink";
+  case 960: return "Traversal_getParentLink";
+  case 961: return "Traversal_getParentJoint";
+  case 962: return "Traversal_getParentLinkFromLinkIndex";
+  case 963: return "Traversal_getParentJointFromLinkIndex";
+  case 964: return "Traversal_getTraversalIndexFromLinkIndex";
+  case 965: return "Traversal_reset";
+  case 966: return "Traversal_addTraversalBase";
+  case 967: return "Traversal_addTraversalElement";
+  case 968: return "Traversal_isParentOf";
+  case 969: return "Traversal_getChildLinkIndexFromJointIndex";
+  case 970: return "Traversal_getParentLinkIndexFromJointIndex";
+  case 971: return "Traversal_toString";
+  case 972: return "new_Material";
+  case 973: return "Material_name";
+  case 974: return "Material_hasColor";
+  case 975: return "Material_color";
+  case 976: return "Material_setColor";
+  case 977: return "Material_hasTexture";
+  case 978: return "Material_texture";
+  case 979: return "Material_setTexture";
+  case 980: return "delete_Material";
+  case 981: return "delete_SolidShape";
+  case 982: return "SolidShape_clone";
+  case 983: return "SolidShape_getName";
+  case 984: return "SolidShape_setName";
+  case 985: return "SolidShape_isNameValid";
+  case 986: return "SolidShape_getLink_H_geometry";
+  case 987: return "SolidShape_setLink_H_geometry";
+  case 988: return "SolidShape_isMaterialSet";
+  case 989: return "SolidShape_getMaterial";
+  case 990: return "SolidShape_setMaterial";
+  case 991: return "SolidShape_isSphere";
+  case 992: return "SolidShape_isBox";
+  case 993: return "SolidShape_isCylinder";
+  case 994: return "SolidShape_isExternalMesh";
+  case 995: return "SolidShape_asSphere";
+  case 996: return "SolidShape_asBox";
+  case 997: return "SolidShape_asCylinder";
+  case 998: return "SolidShape_asExternalMesh";
+  case 999: return "delete_Sphere";
+  case 1000: return "Sphere_clone";
+  case 1001: return "Sphere_getRadius";
+  case 1002: return "Sphere_setRadius";
+  case 1003: return "new_Sphere";
+  case 1004: return "delete_Box";
+  case 1005: return "Box_clone";
+  case 1006: return "Box_getX";
+  case 1007: return "Box_setX";
+  case 1008: return "Box_getY";
+  case 1009: return "Box_setY";
+  case 1010: return "Box_getZ";
+  case 1011: return "Box_setZ";
+  case 1012: return "new_Box";
+  case 1013: return "delete_Cylinder";
+  case 1014: return "Cylinder_clone";
+  case 1015: return "Cylinder_getLength";
+  case 1016: return "Cylinder_setLength";
+  case 1017: return "Cylinder_getRadius";
+  case 1018: return "Cylinder_setRadius";
+  case 1019: return "new_Cylinder";
+  case 1020: return "delete_ExternalMesh";
+  case 1021: return "ExternalMesh_clone";
+  case 1022: return "ExternalMesh_getFilename";
+  case 1023: return "ExternalMesh_setFilename";
+  case 1024: return "ExternalMesh_getScale";
+  case 1025: return "ExternalMesh_setScale";
+  case 1026: return "new_ExternalMesh";
+  case 1027: return "delete_ModelSolidShapes";
+  case 1028: return "new_ModelSolidShapes";
+  case 1029: return "ModelSolidShapes_clear";
+  case 1030: return "ModelSolidShapes_resize";
+  case 1031: return "ModelSolidShapes_isConsistent";
+  case 1032: return "ModelSolidShapes_getLinkSolidShapes";
+  case 1033: return "Neighbor_neighborLink_get";
+  case 1034: return "Neighbor_neighborLink_set";
+  case 1035: return "Neighbor_neighborJoint_get";
+  case 1036: return "Neighbor_neighborJoint_set";
+  case 1037: return "new_Neighbor";
+  case 1038: return "delete_Neighbor";
+  case 1039: return "new_Model";
+  case 1040: return "Model_copy";
+  case 1041: return "delete_Model";
+  case 1042: return "Model_getNrOfLinks";
+  case 1043: return "Model_getLinkName";
+  case 1044: return "Model_getLinkIndex";
+  case 1045: return "Model_isValidLinkIndex";
+  case 1046: return "Model_getLink";
+  case 1047: return "Model_addLink";
+  case 1048: return "Model_getNrOfJoints";
+  case 1049: return "Model_getJointName";
+  case 1050: return "Model_getTotalMass";
+  case 1051: return "Model_getJointIndex";
+  case 1052: return "Model_getJoint";
+  case 1053: return "Model_isValidJointIndex";
+  case 1054: return "Model_isLinkNameUsed";
+  case 1055: return "Model_isJointNameUsed";
+  case 1056: return "Model_isFrameNameUsed";
+  case 1057: return "Model_addJoint";
+  case 1058: return "Model_addJointAndLink";
+  case 1059: return "Model_insertLinkToExistingJointAndAddJointForDisplacedLink";
+  case 1060: return "Model_getNrOfPosCoords";
+  case 1061: return "Model_getNrOfDOFs";
+  case 1062: return "Model_getNrOfFrames";
+  case 1063: return "Model_addAdditionalFrameToLink";
+  case 1064: return "Model_getFrameName";
+  case 1065: return "Model_getFrameIndex";
+  case 1066: return "Model_isValidFrameIndex";
+  case 1067: return "Model_getFrameTransform";
+  case 1068: return "Model_getFrameLink";
+  case 1069: return "Model_getLinkAdditionalFrames";
+  case 1070: return "Model_getNrOfNeighbors";
+  case 1071: return "Model_getNeighbor";
+  case 1072: return "Model_setDefaultBaseLink";
+  case 1073: return "Model_getDefaultBaseLink";
+  case 1074: return "Model_computeFullTreeTraversal";
+  case 1075: return "Model_getInertialParameters";
+  case 1076: return "Model_updateInertialParameters";
+  case 1077: return "Model_visualSolidShapes";
+  case 1078: return "Model_collisionSolidShapes";
+  case 1079: return "Model_toString";
+  case 1080: return "new_JointPosDoubleArray";
+  case 1081: return "JointPosDoubleArray_resize";
+  case 1082: return "JointPosDoubleArray_isConsistent";
+  case 1083: return "delete_JointPosDoubleArray";
+  case 1084: return "new_JointDOFsDoubleArray";
+  case 1085: return "JointDOFsDoubleArray_resize";
+  case 1086: return "JointDOFsDoubleArray_isConsistent";
+  case 1087: return "delete_JointDOFsDoubleArray";
+  case 1088: return "new_DOFSpatialForceArray";
+  case 1089: return "DOFSpatialForceArray_resize";
+  case 1090: return "DOFSpatialForceArray_isConsistent";
+  case 1091: return "DOFSpatialForceArray_paren";
+  case 1092: return "delete_DOFSpatialForceArray";
+  case 1093: return "new_DOFSpatialMotionArray";
+  case 1094: return "DOFSpatialMotionArray_resize";
+  case 1095: return "DOFSpatialMotionArray_isConsistent";
+  case 1096: return "DOFSpatialMotionArray_paren";
+  case 1097: return "delete_DOFSpatialMotionArray";
+  case 1098: return "new_FrameFreeFloatingJacobian";
+  case 1099: return "FrameFreeFloatingJacobian_resize";
+  case 1100: return "FrameFreeFloatingJacobian_isConsistent";
+  case 1101: return "delete_FrameFreeFloatingJacobian";
+  case 1102: return "new_MomentumFreeFloatingJacobian";
+  case 1103: return "MomentumFreeFloatingJacobian_resize";
+  case 1104: return "MomentumFreeFloatingJacobian_isConsistent";
+  case 1105: return "delete_MomentumFreeFloatingJacobian";
+  case 1106: return "new_FreeFloatingMassMatrix";
+  case 1107: return "FreeFloatingMassMatrix_resize";
+  case 1108: return "delete_FreeFloatingMassMatrix";
+  case 1109: return "new_FreeFloatingPos";
+  case 1110: return "FreeFloatingPos_resize";
+  case 1111: return "FreeFloatingPos_worldBasePos";
+  case 1112: return "FreeFloatingPos_jointPos";
+  case 1113: return "FreeFloatingPos_getNrOfPosCoords";
+  case 1114: return "delete_FreeFloatingPos";
+  case 1115: return "new_FreeFloatingGeneralizedTorques";
+  case 1116: return "FreeFloatingGeneralizedTorques_resize";
+  case 1117: return "FreeFloatingGeneralizedTorques_baseWrench";
+  case 1118: return "FreeFloatingGeneralizedTorques_jointTorques";
+  case 1119: return "FreeFloatingGeneralizedTorques_getNrOfDOFs";
+  case 1120: return "delete_FreeFloatingGeneralizedTorques";
+  case 1121: return "new_FreeFloatingVel";
+  case 1122: return "FreeFloatingVel_resize";
+  case 1123: return "FreeFloatingVel_baseVel";
+  case 1124: return "FreeFloatingVel_jointVel";
+  case 1125: return "FreeFloatingVel_getNrOfDOFs";
+  case 1126: return "delete_FreeFloatingVel";
+  case 1127: return "new_FreeFloatingAcc";
+  case 1128: return "FreeFloatingAcc_resize";
+  case 1129: return "FreeFloatingAcc_baseAcc";
+  case 1130: return "FreeFloatingAcc_jointAcc";
+  case 1131: return "FreeFloatingAcc_getNrOfDOFs";
+  case 1132: return "delete_FreeFloatingAcc";
+  case 1133: return "ContactWrench_contactId";
+  case 1134: return "ContactWrench_contactPoint";
+  case 1135: return "ContactWrench_contactWrench";
+  case 1136: return "new_ContactWrench";
+  case 1137: return "delete_ContactWrench";
+  case 1138: return "new_LinkContactWrenches";
+  case 1139: return "LinkContactWrenches_resize";
+  case 1140: return "LinkContactWrenches_getNrOfContactsForLink";
+  case 1141: return "LinkContactWrenches_setNrOfContactsForLink";
+  case 1142: return "LinkContactWrenches_getNrOfLinks";
+  case 1143: return "LinkContactWrenches_contactWrench";
+  case 1144: return "LinkContactWrenches_computeNetWrenches";
+  case 1145: return "LinkContactWrenches_toString";
+  case 1146: return "delete_LinkContactWrenches";
+  case 1147: return "SolidShapesVector_pop";
+  case 1148: return "SolidShapesVector_brace";
+  case 1149: return "SolidShapesVector_setbrace";
+  case 1150: return "SolidShapesVector_append";
+  case 1151: return "SolidShapesVector_empty";
+  case 1152: return "SolidShapesVector_size";
+  case 1153: return "SolidShapesVector_swap";
+  case 1154: return "SolidShapesVector_begin";
+  case 1155: return "SolidShapesVector_end";
+  case 1156: return "SolidShapesVector_rbegin";
+  case 1157: return "SolidShapesVector_rend";
+  case 1158: return "SolidShapesVector_clear";
+  case 1159: return "SolidShapesVector_get_allocator";
+  case 1160: return "SolidShapesVector_pop_back";
+  case 1161: return "SolidShapesVector_erase";
+  case 1162: return "new_SolidShapesVector";
+  case 1163: return "SolidShapesVector_push_back";
+  case 1164: return "SolidShapesVector_front";
+  case 1165: return "SolidShapesVector_back";
+  case 1166: return "SolidShapesVector_assign";
+  case 1167: return "SolidShapesVector_resize";
+  case 1168: return "SolidShapesVector_insert";
+  case 1169: return "SolidShapesVector_reserve";
+  case 1170: return "SolidShapesVector_capacity";
+  case 1171: return "delete_SolidShapesVector";
+  case 1172: return "LinksSolidShapesVector_pop";
+  case 1173: return "LinksSolidShapesVector_brace";
+  case 1174: return "LinksSolidShapesVector_setbrace";
+  case 1175: return "LinksSolidShapesVector_append";
+  case 1176: return "LinksSolidShapesVector_empty";
+  case 1177: return "LinksSolidShapesVector_size";
+  case 1178: return "LinksSolidShapesVector_swap";
+  case 1179: return "LinksSolidShapesVector_begin";
+  case 1180: return "LinksSolidShapesVector_end";
+  case 1181: return "LinksSolidShapesVector_rbegin";
+  case 1182: return "LinksSolidShapesVector_rend";
+  case 1183: return "LinksSolidShapesVector_clear";
+  case 1184: return "LinksSolidShapesVector_get_allocator";
+  case 1185: return "LinksSolidShapesVector_pop_back";
+  case 1186: return "LinksSolidShapesVector_erase";
+  case 1187: return "new_LinksSolidShapesVector";
+  case 1188: return "LinksSolidShapesVector_push_back";
+  case 1189: return "LinksSolidShapesVector_front";
+  case 1190: return "LinksSolidShapesVector_back";
+  case 1191: return "LinksSolidShapesVector_assign";
+  case 1192: return "LinksSolidShapesVector_resize";
+  case 1193: return "LinksSolidShapesVector_insert";
+  case 1194: return "LinksSolidShapesVector_reserve";
+  case 1195: return "LinksSolidShapesVector_capacity";
+  case 1196: return "delete_LinksSolidShapesVector";
+  case 1197: return "_wrap_ForwardPositionKinematics";
+  case 1198: return "_wrap_ForwardVelAccKinematics";
+  case 1199: return "_wrap_ForwardPosVelAccKinematics";
+  case 1200: return "_wrap_ForwardPosVelKinematics";
+  case 1201: return "_wrap_ForwardAccKinematics";
+  case 1202: return "_wrap_ForwardBiasAccKinematics";
+  case 1203: return "_wrap_ComputeLinearAndAngularMomentum";
+  case 1204: return "_wrap_ComputeLinearAndAngularMomentumDerivativeBias";
+  case 1205: return "_wrap_RNEADynamicPhase";
+  case 1206: return "_wrap_CompositeRigidBodyAlgorithm";
+  case 1207: return "new_ArticulatedBodyAlgorithmInternalBuffers";
+  case 1208: return "ArticulatedBodyAlgorithmInternalBuffers_resize";
+  case 1209: return "ArticulatedBodyAlgorithmInternalBuffers_isConsistent";
+  case 1210: return "ArticulatedBodyAlgorithmInternalBuffers_S_get";
+  case 1211: return "ArticulatedBodyAlgorithmInternalBuffers_S_set";
+  case 1212: return "ArticulatedBodyAlgorithmInternalBuffers_U_get";
+  case 1213: return "ArticulatedBodyAlgorithmInternalBuffers_U_set";
+  case 1214: return "ArticulatedBodyAlgorithmInternalBuffers_D_get";
+  case 1215: return "ArticulatedBodyAlgorithmInternalBuffers_D_set";
+  case 1216: return "ArticulatedBodyAlgorithmInternalBuffers_u_get";
+  case 1217: return "ArticulatedBodyAlgorithmInternalBuffers_u_set";
+  case 1218: return "ArticulatedBodyAlgorithmInternalBuffers_linksVel_get";
+  case 1219: return "ArticulatedBodyAlgorithmInternalBuffers_linksVel_set";
+  case 1220: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_get";
+  case 1221: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_set";
+  case 1222: return "ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_get";
+  case 1223: return "ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_set";
+  case 1224: return "ArticulatedBodyAlgorithmInternalBuffers_linkABIs_get";
+  case 1225: return "ArticulatedBodyAlgorithmInternalBuffers_linkABIs_set";
+  case 1226: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_get";
+  case 1227: return "ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_set";
+  case 1228: return "delete_ArticulatedBodyAlgorithmInternalBuffers";
+  case 1229: return "_wrap_ArticulatedBodyAlgorithm";
+  case 1230: return "_wrap_InverseDynamicsInertialParametersRegressor";
+  case 1231: return "NR_OF_SENSOR_TYPES_get";
+  case 1232: return "_wrap_isLinkSensor";
+  case 1233: return "_wrap_isJointSensor";
+  case 1234: return "_wrap_getSensorTypeSize";
+  case 1235: return "delete_Sensor";
+  case 1236: return "Sensor_getName";
+  case 1237: return "Sensor_getSensorType";
+  case 1238: return "Sensor_isValid";
+  case 1239: return "Sensor_setName";
+  case 1240: return "Sensor_clone";
+  case 1241: return "Sensor_isConsistent";
+  case 1242: return "Sensor_updateIndices";
+  case 1243: return "delete_JointSensor";
+  case 1244: return "JointSensor_getParentJoint";
+  case 1245: return "JointSensor_getParentJointIndex";
+  case 1246: return "JointSensor_setParentJoint";
+  case 1247: return "JointSensor_setParentJointIndex";
+  case 1248: return "JointSensor_isConsistent";
+  case 1249: return "delete_LinkSensor";
+  case 1250: return "LinkSensor_getParentLink";
+  case 1251: return "LinkSensor_getParentLinkIndex";
+  case 1252: return "LinkSensor_getLinkSensorTransform";
+  case 1253: return "LinkSensor_setParentLink";
+  case 1254: return "LinkSensor_setParentLinkIndex";
+  case 1255: return "LinkSensor_setLinkSensorTransform";
+  case 1256: return "LinkSensor_isConsistent";
+  case 1257: return "new_SensorsList";
+  case 1258: return "delete_SensorsList";
+  case 1259: return "SensorsList_addSensor";
+  case 1260: return "SensorsList_setSerialization";
+  case 1261: return "SensorsList_getSerialization";
+  case 1262: return "SensorsList_getNrOfSensors";
+  case 1263: return "SensorsList_getSensorIndex";
+  case 1264: return "SensorsList_getSizeOfAllSensorsMeasurements";
+  case 1265: return "SensorsList_getSensor";
+  case 1266: return "SensorsList_isConsistent";
+  case 1267: return "SensorsList_removeSensor";
+  case 1268: return "SensorsList_removeAllSensorsOfType";
+  case 1269: return "SensorsList_getSixAxisForceTorqueSensor";
+  case 1270: return "SensorsList_getAccelerometerSensor";
+  case 1271: return "SensorsList_getGyroscopeSensor";
+  case 1272: return "SensorsList_getThreeAxisAngularAccelerometerSensor";
+  case 1273: return "SensorsList_getThreeAxisForceTorqueContactSensor";
+  case 1274: return "new_SensorsMeasurements";
+  case 1275: return "delete_SensorsMeasurements";
+  case 1276: return "SensorsMeasurements_setNrOfSensors";
+  case 1277: return "SensorsMeasurements_getNrOfSensors";
+  case 1278: return "SensorsMeasurements_resize";
+  case 1279: return "SensorsMeasurements_toVector";
+  case 1280: return "SensorsMeasurements_setMeasurement";
+  case 1281: return "SensorsMeasurements_getMeasurement";
+  case 1282: return "SensorsMeasurements_getSizeOfAllSensorsMeasurements";
+  case 1283: return "new_SixAxisForceTorqueSensor";
+  case 1284: return "delete_SixAxisForceTorqueSensor";
+  case 1285: return "SixAxisForceTorqueSensor_setName";
+  case 1286: return "SixAxisForceTorqueSensor_setFirstLinkSensorTransform";
+  case 1287: return "SixAxisForceTorqueSensor_setSecondLinkSensorTransform";
+  case 1288: return "SixAxisForceTorqueSensor_getFirstLinkIndex";
+  case 1289: return "SixAxisForceTorqueSensor_getSecondLinkIndex";
+  case 1290: return "SixAxisForceTorqueSensor_setFirstLinkName";
+  case 1291: return "SixAxisForceTorqueSensor_setSecondLinkName";
+  case 1292: return "SixAxisForceTorqueSensor_getFirstLinkName";
+  case 1293: return "SixAxisForceTorqueSensor_getSecondLinkName";
+  case 1294: return "SixAxisForceTorqueSensor_setParentJoint";
+  case 1295: return "SixAxisForceTorqueSensor_setParentJointIndex";
+  case 1296: return "SixAxisForceTorqueSensor_setAppliedWrenchLink";
+  case 1297: return "SixAxisForceTorqueSensor_getName";
+  case 1298: return "SixAxisForceTorqueSensor_getSensorType";
+  case 1299: return "SixAxisForceTorqueSensor_getParentJoint";
+  case 1300: return "SixAxisForceTorqueSensor_getParentJointIndex";
+  case 1301: return "SixAxisForceTorqueSensor_isValid";
+  case 1302: return "SixAxisForceTorqueSensor_clone";
+  case 1303: return "SixAxisForceTorqueSensor_updateIndices";
+  case 1304: return "SixAxisForceTorqueSensor_getAppliedWrenchLink";
+  case 1305: return "SixAxisForceTorqueSensor_isLinkAttachedToSensor";
+  case 1306: return "SixAxisForceTorqueSensor_getLinkSensorTransform";
+  case 1307: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLink";
+  case 1308: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLinkMatrix";
+  case 1309: return "SixAxisForceTorqueSensor_getWrenchAppliedOnLinkInverseMatrix";
+  case 1310: return "SixAxisForceTorqueSensor_predictMeasurement";
+  case 1311: return "SixAxisForceTorqueSensor_toString";
+  case 1312: return "new_AccelerometerSensor";
+  case 1313: return "delete_AccelerometerSensor";
+  case 1314: return "AccelerometerSensor_setName";
+  case 1315: return "AccelerometerSensor_setLinkSensorTransform";
+  case 1316: return "AccelerometerSensor_setParentLink";
+  case 1317: return "AccelerometerSensor_setParentLinkIndex";
+  case 1318: return "AccelerometerSensor_getName";
+  case 1319: return "AccelerometerSensor_getSensorType";
+  case 1320: return "AccelerometerSensor_getParentLink";
+  case 1321: return "AccelerometerSensor_getParentLinkIndex";
+  case 1322: return "AccelerometerSensor_getLinkSensorTransform";
+  case 1323: return "AccelerometerSensor_isValid";
+  case 1324: return "AccelerometerSensor_clone";
+  case 1325: return "AccelerometerSensor_updateIndices";
+  case 1326: return "AccelerometerSensor_predictMeasurement";
+  case 1327: return "new_GyroscopeSensor";
+  case 1328: return "delete_GyroscopeSensor";
+  case 1329: return "GyroscopeSensor_setName";
+  case 1330: return "GyroscopeSensor_setLinkSensorTransform";
+  case 1331: return "GyroscopeSensor_setParentLink";
+  case 1332: return "GyroscopeSensor_setParentLinkIndex";
+  case 1333: return "GyroscopeSensor_getName";
+  case 1334: return "GyroscopeSensor_getSensorType";
+  case 1335: return "GyroscopeSensor_getParentLink";
+  case 1336: return "GyroscopeSensor_getParentLinkIndex";
+  case 1337: return "GyroscopeSensor_getLinkSensorTransform";
+  case 1338: return "GyroscopeSensor_isValid";
+  case 1339: return "GyroscopeSensor_clone";
+  case 1340: return "GyroscopeSensor_updateIndices";
+  case 1341: return "GyroscopeSensor_predictMeasurement";
+  case 1342: return "new_ThreeAxisAngularAccelerometerSensor";
+  case 1343: return "delete_ThreeAxisAngularAccelerometerSensor";
+  case 1344: return "ThreeAxisAngularAccelerometerSensor_setName";
+  case 1345: return "ThreeAxisAngularAccelerometerSensor_setLinkSensorTransform";
+  case 1346: return "ThreeAxisAngularAccelerometerSensor_setParentLink";
+  case 1347: return "ThreeAxisAngularAccelerometerSensor_setParentLinkIndex";
+  case 1348: return "ThreeAxisAngularAccelerometerSensor_getName";
+  case 1349: return "ThreeAxisAngularAccelerometerSensor_getSensorType";
+  case 1350: return "ThreeAxisAngularAccelerometerSensor_getParentLink";
+  case 1351: return "ThreeAxisAngularAccelerometerSensor_getParentLinkIndex";
+  case 1352: return "ThreeAxisAngularAccelerometerSensor_getLinkSensorTransform";
+  case 1353: return "ThreeAxisAngularAccelerometerSensor_isValid";
+  case 1354: return "ThreeAxisAngularAccelerometerSensor_clone";
+  case 1355: return "ThreeAxisAngularAccelerometerSensor_updateIndices";
+  case 1356: return "ThreeAxisAngularAccelerometerSensor_predictMeasurement";
+  case 1357: return "new_ThreeAxisForceTorqueContactSensor";
+  case 1358: return "delete_ThreeAxisForceTorqueContactSensor";
+  case 1359: return "ThreeAxisForceTorqueContactSensor_setName";
+  case 1360: return "ThreeAxisForceTorqueContactSensor_setLinkSensorTransform";
+  case 1361: return "ThreeAxisForceTorqueContactSensor_setParentLink";
+  case 1362: return "ThreeAxisForceTorqueContactSensor_setParentLinkIndex";
+  case 1363: return "ThreeAxisForceTorqueContactSensor_getName";
+  case 1364: return "ThreeAxisForceTorqueContactSensor_getSensorType";
+  case 1365: return "ThreeAxisForceTorqueContactSensor_getParentLink";
+  case 1366: return "ThreeAxisForceTorqueContactSensor_getParentLinkIndex";
+  case 1367: return "ThreeAxisForceTorqueContactSensor_getLinkSensorTransform";
+  case 1368: return "ThreeAxisForceTorqueContactSensor_isValid";
+  case 1369: return "ThreeAxisForceTorqueContactSensor_clone";
+  case 1370: return "ThreeAxisForceTorqueContactSensor_updateIndices";
+  case 1371: return "ThreeAxisForceTorqueContactSensor_setLoadCellLocations";
+  case 1372: return "ThreeAxisForceTorqueContactSensor_getLoadCellLocations";
+  case 1373: return "ThreeAxisForceTorqueContactSensor_computeThreeAxisForceTorqueFromLoadCellMeasurements";
+  case 1374: return "ThreeAxisForceTorqueContactSensor_computeCenterOfPressureFromLoadCellMeasurements";
+  case 1375: return "_wrap_predictSensorsMeasurements";
+  case 1376: return "_wrap_predictSensorsMeasurementsFromRawBuffers";
+  case 1377: return "_wrap_dofsListFromURDF";
+  case 1378: return "_wrap_dofsListFromURDFString";
   case 1379: return "ModelParserOptions_addSensorFramesAsAdditionalFrames_get";
   case 1380: return "ModelParserOptions_addSensorFramesAsAdditionalFrames_set";
   case 1381: return "ModelParserOptions_originalFilename_get";
@@ -98823,93 +102268,93 @@ SWIGINTERN const char* SwigFunctionName(int fcn_id) {
   case 1398: return "ModelExporterOptions_baseLink_set";
   case 1399: return "ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_get";
   case 1400: return "ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_set";
-  case 1401: return "new_ModelExporterOptions";
-  case 1402: return "delete_ModelExporterOptions";
-  case 1403: return "new_ModelExporter";
-  case 1404: return "delete_ModelExporter";
-  case 1405: return "ModelExporter_exportingOptions";
-  case 1406: return "ModelExporter_setExportingOptions";
-  case 1407: return "ModelExporter_init";
-  case 1408: return "ModelExporter_model";
-  case 1409: return "ModelExporter_sensors";
-  case 1410: return "ModelExporter_isValid";
-  case 1411: return "ModelExporter_exportModelToString";
-  case 1412: return "ModelExporter_exportModelToFile";
-  case 1413: return "new_ModelCalibrationHelper";
-  case 1414: return "delete_ModelCalibrationHelper";
-  case 1415: return "ModelCalibrationHelper_loadModelFromString";
-  case 1416: return "ModelCalibrationHelper_loadModelFromFile";
-  case 1417: return "ModelCalibrationHelper_updateModelInertialParametersToString";
-  case 1418: return "ModelCalibrationHelper_updateModelInertialParametersToFile";
-  case 1419: return "ModelCalibrationHelper_model";
-  case 1420: return "ModelCalibrationHelper_sensors";
-  case 1421: return "ModelCalibrationHelper_isValid";
-  case 1422: return "new_UnknownWrenchContact";
-  case 1423: return "UnknownWrenchContact_unknownType_get";
-  case 1424: return "UnknownWrenchContact_unknownType_set";
-  case 1425: return "UnknownWrenchContact_contactPoint_get";
-  case 1426: return "UnknownWrenchContact_contactPoint_set";
-  case 1427: return "UnknownWrenchContact_forceDirection_get";
-  case 1428: return "UnknownWrenchContact_forceDirection_set";
-  case 1429: return "UnknownWrenchContact_knownWrench_get";
-  case 1430: return "UnknownWrenchContact_knownWrench_set";
-  case 1431: return "UnknownWrenchContact_contactId_get";
-  case 1432: return "UnknownWrenchContact_contactId_set";
-  case 1433: return "delete_UnknownWrenchContact";
-  case 1434: return "new_LinkUnknownWrenchContacts";
-  case 1435: return "LinkUnknownWrenchContacts_clear";
-  case 1436: return "LinkUnknownWrenchContacts_resize";
-  case 1437: return "LinkUnknownWrenchContacts_getNrOfContactsForLink";
-  case 1438: return "LinkUnknownWrenchContacts_setNrOfContactsForLink";
-  case 1439: return "LinkUnknownWrenchContacts_addNewContactForLink";
-  case 1440: return "LinkUnknownWrenchContacts_addNewContactInFrame";
-  case 1441: return "LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin";
-  case 1442: return "LinkUnknownWrenchContacts_contactWrench";
-  case 1443: return "LinkUnknownWrenchContacts_toString";
-  case 1444: return "delete_LinkUnknownWrenchContacts";
-  case 1445: return "new_estimateExternalWrenchesBuffers";
-  case 1446: return "estimateExternalWrenchesBuffers_resize";
-  case 1447: return "estimateExternalWrenchesBuffers_getNrOfSubModels";
-  case 1448: return "estimateExternalWrenchesBuffers_getNrOfLinks";
-  case 1449: return "estimateExternalWrenchesBuffers_isConsistent";
-  case 1450: return "estimateExternalWrenchesBuffers_A_get";
-  case 1451: return "estimateExternalWrenchesBuffers_A_set";
-  case 1452: return "estimateExternalWrenchesBuffers_x_get";
-  case 1453: return "estimateExternalWrenchesBuffers_x_set";
-  case 1454: return "estimateExternalWrenchesBuffers_b_get";
-  case 1455: return "estimateExternalWrenchesBuffers_b_set";
-  case 1456: return "estimateExternalWrenchesBuffers_pinvA_get";
-  case 1457: return "estimateExternalWrenchesBuffers_pinvA_set";
-  case 1458: return "estimateExternalWrenchesBuffers_b_contacts_subtree_get";
-  case 1459: return "estimateExternalWrenchesBuffers_b_contacts_subtree_set";
-  case 1460: return "estimateExternalWrenchesBuffers_subModelBase_H_link_get";
-  case 1461: return "estimateExternalWrenchesBuffers_subModelBase_H_link_set";
-  case 1462: return "delete_estimateExternalWrenchesBuffers";
-  case 1463: return "_wrap_estimateExternalWrenchesWithoutInternalFT";
-  case 1464: return "_wrap_estimateExternalWrenches";
-  case 1465: return "_wrap_dynamicsEstimationForwardVelAccKinematics";
-  case 1466: return "_wrap_dynamicsEstimationForwardVelKinematics";
-  case 1467: return "_wrap_computeLinkNetWrenchesWithoutGravity";
-  case 1468: return "_wrap_estimateLinkContactWrenchesFromLinkNetExternalWrenches";
-  case 1469: return "new_ExtWrenchesAndJointTorquesEstimator";
-  case 1470: return "delete_ExtWrenchesAndJointTorquesEstimator";
-  case 1471: return "ExtWrenchesAndJointTorquesEstimator_setModelAndSensors";
-  case 1472: return "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile";
-  case 1473: return "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs";
-  case 1474: return "ExtWrenchesAndJointTorquesEstimator_model";
-  case 1475: return "ExtWrenchesAndJointTorquesEstimator_sensors";
-  case 1476: return "ExtWrenchesAndJointTorquesEstimator_submodels";
-  case 1477: return "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase";
-  case 1478: return "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase";
-  case 1479: return "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements";
-  case 1480: return "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques";
-  case 1481: return "ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill";
-  case 1482: return "ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity";
-  case 1483: return "new_SimpleLeggedOdometry";
-  case 1484: return "delete_SimpleLeggedOdometry";
-  case 1485: return "SimpleLeggedOdometry_setModel";
-  case 1486: return "SimpleLeggedOdometry_loadModelFromFile";
-  case 1487: return "SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs";
+  case 1401: return "ModelExporterOptions_robotExportedName_get";
+  case 1402: return "ModelExporterOptions_robotExportedName_set";
+  case 1403: return "new_ModelExporterOptions";
+  case 1404: return "delete_ModelExporterOptions";
+  case 1405: return "new_ModelExporter";
+  case 1406: return "delete_ModelExporter";
+  case 1407: return "ModelExporter_exportingOptions";
+  case 1408: return "ModelExporter_setExportingOptions";
+  case 1409: return "ModelExporter_init";
+  case 1410: return "ModelExporter_model";
+  case 1411: return "ModelExporter_sensors";
+  case 1412: return "ModelExporter_isValid";
+  case 1413: return "ModelExporter_exportModelToString";
+  case 1414: return "ModelExporter_exportModelToFile";
+  case 1415: return "new_ModelCalibrationHelper";
+  case 1416: return "delete_ModelCalibrationHelper";
+  case 1417: return "ModelCalibrationHelper_loadModelFromString";
+  case 1418: return "ModelCalibrationHelper_loadModelFromFile";
+  case 1419: return "ModelCalibrationHelper_updateModelInertialParametersToString";
+  case 1420: return "ModelCalibrationHelper_updateModelInertialParametersToFile";
+  case 1421: return "ModelCalibrationHelper_model";
+  case 1422: return "ModelCalibrationHelper_sensors";
+  case 1423: return "ModelCalibrationHelper_isValid";
+  case 1424: return "new_UnknownWrenchContact";
+  case 1425: return "UnknownWrenchContact_unknownType_get";
+  case 1426: return "UnknownWrenchContact_unknownType_set";
+  case 1427: return "UnknownWrenchContact_contactPoint_get";
+  case 1428: return "UnknownWrenchContact_contactPoint_set";
+  case 1429: return "UnknownWrenchContact_forceDirection_get";
+  case 1430: return "UnknownWrenchContact_forceDirection_set";
+  case 1431: return "UnknownWrenchContact_knownWrench_get";
+  case 1432: return "UnknownWrenchContact_knownWrench_set";
+  case 1433: return "UnknownWrenchContact_contactId_get";
+  case 1434: return "UnknownWrenchContact_contactId_set";
+  case 1435: return "delete_UnknownWrenchContact";
+  case 1436: return "new_LinkUnknownWrenchContacts";
+  case 1437: return "LinkUnknownWrenchContacts_clear";
+  case 1438: return "LinkUnknownWrenchContacts_resize";
+  case 1439: return "LinkUnknownWrenchContacts_getNrOfContactsForLink";
+  case 1440: return "LinkUnknownWrenchContacts_setNrOfContactsForLink";
+  case 1441: return "LinkUnknownWrenchContacts_addNewContactForLink";
+  case 1442: return "LinkUnknownWrenchContacts_addNewContactInFrame";
+  case 1443: return "LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin";
+  case 1444: return "LinkUnknownWrenchContacts_contactWrench";
+  case 1445: return "LinkUnknownWrenchContacts_toString";
+  case 1446: return "delete_LinkUnknownWrenchContacts";
+  case 1447: return "new_estimateExternalWrenchesBuffers";
+  case 1448: return "estimateExternalWrenchesBuffers_resize";
+  case 1449: return "estimateExternalWrenchesBuffers_getNrOfSubModels";
+  case 1450: return "estimateExternalWrenchesBuffers_getNrOfLinks";
+  case 1451: return "estimateExternalWrenchesBuffers_isConsistent";
+  case 1452: return "estimateExternalWrenchesBuffers_A_get";
+  case 1453: return "estimateExternalWrenchesBuffers_A_set";
+  case 1454: return "estimateExternalWrenchesBuffers_x_get";
+  case 1455: return "estimateExternalWrenchesBuffers_x_set";
+  case 1456: return "estimateExternalWrenchesBuffers_b_get";
+  case 1457: return "estimateExternalWrenchesBuffers_b_set";
+  case 1458: return "estimateExternalWrenchesBuffers_pinvA_get";
+  case 1459: return "estimateExternalWrenchesBuffers_pinvA_set";
+  case 1460: return "estimateExternalWrenchesBuffers_b_contacts_subtree_get";
+  case 1461: return "estimateExternalWrenchesBuffers_b_contacts_subtree_set";
+  case 1462: return "estimateExternalWrenchesBuffers_subModelBase_H_link_get";
+  case 1463: return "estimateExternalWrenchesBuffers_subModelBase_H_link_set";
+  case 1464: return "delete_estimateExternalWrenchesBuffers";
+  case 1465: return "_wrap_estimateExternalWrenchesWithoutInternalFT";
+  case 1466: return "_wrap_estimateExternalWrenches";
+  case 1467: return "_wrap_dynamicsEstimationForwardVelAccKinematics";
+  case 1468: return "_wrap_dynamicsEstimationForwardVelKinematics";
+  case 1469: return "_wrap_computeLinkNetWrenchesWithoutGravity";
+  case 1470: return "_wrap_estimateLinkContactWrenchesFromLinkNetExternalWrenches";
+  case 1471: return "new_ExtWrenchesAndJointTorquesEstimator";
+  case 1472: return "delete_ExtWrenchesAndJointTorquesEstimator";
+  case 1473: return "ExtWrenchesAndJointTorquesEstimator_setModelAndSensors";
+  case 1474: return "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile";
+  case 1475: return "ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs";
+  case 1476: return "ExtWrenchesAndJointTorquesEstimator_model";
+  case 1477: return "ExtWrenchesAndJointTorquesEstimator_sensors";
+  case 1478: return "ExtWrenchesAndJointTorquesEstimator_submodels";
+  case 1479: return "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase";
+  case 1480: return "ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase";
+  case 1481: return "ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements";
+  case 1482: return "ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques";
+  case 1483: return "ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill";
+  case 1484: return "ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity";
+  case 1485: return "new_SimpleLeggedOdometry";
+  case 1486: return "delete_SimpleLeggedOdometry";
+  case 1487: return "SimpleLeggedOdometry_setModel";
   case 1488: return "SimpleLeggedOdometry_model";
   case 1489: return "SimpleLeggedOdometry_updateKinematics";
   case 1490: return "SimpleLeggedOdometry_init";
@@ -99129,290 +102574,284 @@ SWIGINTERN const char* SwigFunctionName(int fcn_id) {
   case 1704: return "new_KinDynComputations";
   case 1705: return "delete_KinDynComputations";
   case 1706: return "KinDynComputations_loadRobotModel";
-  case 1707: return "KinDynComputations_loadRobotModelFromFile";
-  case 1708: return "KinDynComputations_loadRobotModelFromString";
-  case 1709: return "KinDynComputations_isValid";
-  case 1710: return "KinDynComputations_setFrameVelocityRepresentation";
-  case 1711: return "KinDynComputations_getFrameVelocityRepresentation";
-  case 1712: return "KinDynComputations_getNrOfDegreesOfFreedom";
-  case 1713: return "KinDynComputations_getDescriptionOfDegreeOfFreedom";
-  case 1714: return "KinDynComputations_getDescriptionOfDegreesOfFreedom";
-  case 1715: return "KinDynComputations_getNrOfLinks";
-  case 1716: return "KinDynComputations_getNrOfFrames";
-  case 1717: return "KinDynComputations_getFloatingBase";
-  case 1718: return "KinDynComputations_setFloatingBase";
-  case 1719: return "KinDynComputations_model";
-  case 1720: return "KinDynComputations_getRobotModel";
-  case 1721: return "KinDynComputations_getRelativeJacobianSparsityPattern";
-  case 1722: return "KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern";
-  case 1723: return "KinDynComputations_setJointPos";
-  case 1724: return "KinDynComputations_setRobotState";
-  case 1725: return "KinDynComputations_getRobotState";
-  case 1726: return "KinDynComputations_getWorldBaseTransform";
-  case 1727: return "KinDynComputations_getBaseTwist";
-  case 1728: return "KinDynComputations_getJointPos";
-  case 1729: return "KinDynComputations_getJointVel";
-  case 1730: return "KinDynComputations_getModelVel";
-  case 1731: return "KinDynComputations_getFrameIndex";
-  case 1732: return "KinDynComputations_getFrameName";
-  case 1733: return "KinDynComputations_getWorldTransform";
-  case 1734: return "KinDynComputations_getWorldTransformsAsHomogeneous";
-  case 1735: return "KinDynComputations_getRelativeTransformExplicit";
-  case 1736: return "KinDynComputations_getRelativeTransform";
-  case 1737: return "KinDynComputations_getFrameVel";
-  case 1738: return "KinDynComputations_getFrameAcc";
-  case 1739: return "KinDynComputations_getFrameFreeFloatingJacobian";
-  case 1740: return "KinDynComputations_getRelativeJacobian";
-  case 1741: return "KinDynComputations_getRelativeJacobianExplicit";
-  case 1742: return "KinDynComputations_getFrameBiasAcc";
-  case 1743: return "KinDynComputations_getCenterOfMassPosition";
-  case 1744: return "KinDynComputations_getCenterOfMassVelocity";
-  case 1745: return "KinDynComputations_getCenterOfMassJacobian";
-  case 1746: return "KinDynComputations_getCenterOfMassBiasAcc";
-  case 1747: return "KinDynComputations_getAverageVelocity";
-  case 1748: return "KinDynComputations_getAverageVelocityJacobian";
-  case 1749: return "KinDynComputations_getCentroidalAverageVelocity";
-  case 1750: return "KinDynComputations_getCentroidalAverageVelocityJacobian";
-  case 1751: return "KinDynComputations_getLinearAngularMomentum";
-  case 1752: return "KinDynComputations_getLinearAngularMomentumJacobian";
-  case 1753: return "KinDynComputations_getCentroidalTotalMomentum";
-  case 1754: return "KinDynComputations_getFreeFloatingMassMatrix";
-  case 1755: return "KinDynComputations_inverseDynamics";
-  case 1756: return "KinDynComputations_generalizedBiasForces";
-  case 1757: return "KinDynComputations_generalizedGravityForces";
-  case 1758: return "KinDynComputations_generalizedExternalForces";
-  case 1759: return "KinDynComputations_inverseDynamicsInertialParametersRegressor";
-  case 1760: return "Matrix4x4Vector_pop";
-  case 1761: return "Matrix4x4Vector_brace";
-  case 1762: return "Matrix4x4Vector_setbrace";
-  case 1763: return "Matrix4x4Vector_append";
-  case 1764: return "Matrix4x4Vector_empty";
-  case 1765: return "Matrix4x4Vector_size";
-  case 1766: return "Matrix4x4Vector_swap";
-  case 1767: return "Matrix4x4Vector_begin";
-  case 1768: return "Matrix4x4Vector_end";
-  case 1769: return "Matrix4x4Vector_rbegin";
-  case 1770: return "Matrix4x4Vector_rend";
-  case 1771: return "Matrix4x4Vector_clear";
-  case 1772: return "Matrix4x4Vector_get_allocator";
-  case 1773: return "Matrix4x4Vector_pop_back";
-  case 1774: return "Matrix4x4Vector_erase";
-  case 1775: return "new_Matrix4x4Vector";
-  case 1776: return "Matrix4x4Vector_push_back";
-  case 1777: return "Matrix4x4Vector_front";
-  case 1778: return "Matrix4x4Vector_back";
-  case 1779: return "Matrix4x4Vector_assign";
-  case 1780: return "Matrix4x4Vector_resize";
-  case 1781: return "Matrix4x4Vector_insert";
-  case 1782: return "Matrix4x4Vector_reserve";
-  case 1783: return "Matrix4x4Vector_capacity";
-  case 1784: return "Matrix4x4Vector_toMatlab";
-  case 1785: return "delete_Matrix4x4Vector";
-  case 1786: return "delete_ICamera";
-  case 1787: return "ICamera_setPosition";
-  case 1788: return "ICamera_setTarget";
-  case 1789: return "ICamera_setUpVector";
-  case 1790: return "ColorViz_r_get";
-  case 1791: return "ColorViz_r_set";
-  case 1792: return "ColorViz_g_get";
-  case 1793: return "ColorViz_g_set";
-  case 1794: return "ColorViz_b_get";
-  case 1795: return "ColorViz_b_set";
-  case 1796: return "ColorViz_a_get";
-  case 1797: return "ColorViz_a_set";
-  case 1798: return "new_ColorViz";
-  case 1799: return "delete_ColorViz";
-  case 1800: return "delete_ILight";
-  case 1801: return "ILight_getName";
-  case 1802: return "ILight_setType";
-  case 1803: return "ILight_getType";
-  case 1804: return "ILight_setPosition";
-  case 1805: return "ILight_getPosition";
-  case 1806: return "ILight_setDirection";
-  case 1807: return "ILight_getDirection";
-  case 1808: return "ILight_setAmbientColor";
-  case 1809: return "ILight_getAmbientColor";
-  case 1810: return "ILight_setSpecularColor";
-  case 1811: return "ILight_getSpecularColor";
-  case 1812: return "ILight_setDiffuseColor";
-  case 1813: return "ILight_getDiffuseColor";
-  case 1814: return "delete_IEnvironment";
-  case 1815: return "IEnvironment_getElements";
-  case 1816: return "IEnvironment_setElementVisibility";
-  case 1817: return "IEnvironment_setBackgroundColor";
-  case 1818: return "IEnvironment_setAmbientLight";
-  case 1819: return "IEnvironment_getLights";
-  case 1820: return "IEnvironment_addLight";
-  case 1821: return "IEnvironment_lightViz";
-  case 1822: return "IEnvironment_removeLight";
-  case 1823: return "delete_IJetsVisualization";
-  case 1824: return "IJetsVisualization_setJetsFrames";
-  case 1825: return "IJetsVisualization_getNrOfJets";
-  case 1826: return "IJetsVisualization_getJetDirection";
-  case 1827: return "IJetsVisualization_setJetDirection";
-  case 1828: return "IJetsVisualization_setJetColor";
-  case 1829: return "IJetsVisualization_setJetsDimensions";
-  case 1830: return "IJetsVisualization_setJetsIntensity";
-  case 1831: return "delete_IVectorsVisualization";
-  case 1832: return "IVectorsVisualization_addVector";
-  case 1833: return "IVectorsVisualization_getNrOfVectors";
-  case 1834: return "IVectorsVisualization_getVector";
-  case 1835: return "IVectorsVisualization_updateVector";
-  case 1836: return "IVectorsVisualization_setVectorColor";
-  case 1837: return "IVectorsVisualization_setVectorsAspect";
-  case 1838: return "delete_IModelVisualization";
-  case 1839: return "IModelVisualization_setPositions";
-  case 1840: return "IModelVisualization_setLinkPositions";
-  case 1841: return "IModelVisualization_model";
-  case 1842: return "IModelVisualization_getInstanceName";
-  case 1843: return "IModelVisualization_setModelVisibility";
-  case 1844: return "IModelVisualization_setModelColor";
-  case 1845: return "IModelVisualization_resetModelColor";
-  case 1846: return "IModelVisualization_setLinkColor";
-  case 1847: return "IModelVisualization_resetLinkColor";
-  case 1848: return "IModelVisualization_getLinkNames";
-  case 1849: return "IModelVisualization_setLinkVisibility";
-  case 1850: return "IModelVisualization_getFeatures";
-  case 1851: return "IModelVisualization_setFeatureVisibility";
-  case 1852: return "IModelVisualization_jets";
-  case 1853: return "IModelVisualization_getWorldModelTransform";
-  case 1854: return "IModelVisualization_getWorldLinkTransform";
-  case 1855: return "VisualizerOptions_verbose_get";
-  case 1856: return "VisualizerOptions_verbose_set";
-  case 1857: return "VisualizerOptions_winWidth_get";
-  case 1858: return "VisualizerOptions_winWidth_set";
-  case 1859: return "VisualizerOptions_winHeight_get";
-  case 1860: return "VisualizerOptions_winHeight_set";
-  case 1861: return "VisualizerOptions_rootFrameArrowsDimension_get";
-  case 1862: return "VisualizerOptions_rootFrameArrowsDimension_set";
-  case 1863: return "new_VisualizerOptions";
-  case 1864: return "delete_VisualizerOptions";
-  case 1865: return "new_Visualizer";
-  case 1866: return "delete_Visualizer";
-  case 1867: return "Visualizer_init";
-  case 1868: return "Visualizer_getNrOfVisualizedModels";
-  case 1869: return "Visualizer_getModelInstanceName";
-  case 1870: return "Visualizer_getModelInstanceIndex";
-  case 1871: return "Visualizer_addModel";
-  case 1872: return "Visualizer_modelViz";
-  case 1873: return "Visualizer_camera";
-  case 1874: return "Visualizer_enviroment";
-  case 1875: return "Visualizer_vectors";
-  case 1876: return "Visualizer_run";
-  case 1877: return "Visualizer_draw";
-  case 1878: return "Visualizer_drawToFile";
-  case 1879: return "Visualizer_close";
-  case 1880: return "Polygon_m_vertices_get";
-  case 1881: return "Polygon_m_vertices_set";
-  case 1882: return "new_Polygon";
-  case 1883: return "Polygon_setNrOfVertices";
-  case 1884: return "Polygon_getNrOfVertices";
-  case 1885: return "Polygon_isValid";
-  case 1886: return "Polygon_applyTransform";
-  case 1887: return "Polygon_paren";
-  case 1888: return "Polygon_XYRectangleFromOffsets";
-  case 1889: return "delete_Polygon";
-  case 1890: return "Polygon2D_m_vertices_get";
-  case 1891: return "Polygon2D_m_vertices_set";
-  case 1892: return "new_Polygon2D";
-  case 1893: return "Polygon2D_setNrOfVertices";
-  case 1894: return "Polygon2D_getNrOfVertices";
-  case 1895: return "Polygon2D_isValid";
-  case 1896: return "Polygon2D_paren";
-  case 1897: return "delete_Polygon2D";
-  case 1898: return "ConvexHullProjectionConstraint_setActive";
-  case 1899: return "ConvexHullProjectionConstraint_isActive";
-  case 1900: return "ConvexHullProjectionConstraint_getNrOfConstraints";
-  case 1901: return "ConvexHullProjectionConstraint_projectedConvexHull_get";
-  case 1902: return "ConvexHullProjectionConstraint_projectedConvexHull_set";
-  case 1903: return "ConvexHullProjectionConstraint_A_get";
-  case 1904: return "ConvexHullProjectionConstraint_A_set";
-  case 1905: return "ConvexHullProjectionConstraint_b_get";
-  case 1906: return "ConvexHullProjectionConstraint_b_set";
-  case 1907: return "ConvexHullProjectionConstraint_P_get";
-  case 1908: return "ConvexHullProjectionConstraint_P_set";
-  case 1909: return "ConvexHullProjectionConstraint_Pdirection_get";
-  case 1910: return "ConvexHullProjectionConstraint_Pdirection_set";
-  case 1911: return "ConvexHullProjectionConstraint_AtimesP_get";
-  case 1912: return "ConvexHullProjectionConstraint_AtimesP_set";
-  case 1913: return "ConvexHullProjectionConstraint_o_get";
-  case 1914: return "ConvexHullProjectionConstraint_o_set";
-  case 1915: return "ConvexHullProjectionConstraint_buildConvexHull";
-  case 1916: return "ConvexHullProjectionConstraint_supportFrameIndices_get";
-  case 1917: return "ConvexHullProjectionConstraint_supportFrameIndices_set";
-  case 1918: return "ConvexHullProjectionConstraint_absoluteFrame_X_supportFrame_get";
-  case 1919: return "ConvexHullProjectionConstraint_absoluteFrame_X_supportFrame_set";
-  case 1920: return "ConvexHullProjectionConstraint_project";
-  case 1921: return "ConvexHullProjectionConstraint_computeMargin";
-  case 1922: return "ConvexHullProjectionConstraint_setProjectionAlongDirection";
-  case 1923: return "ConvexHullProjectionConstraint_projectAlongDirection";
-  case 1924: return "new_ConvexHullProjectionConstraint";
-  case 1925: return "delete_ConvexHullProjectionConstraint";
-  case 1926: return "_wrap_sizeOfRotationParametrization";
-  case 1927: return "new_InverseKinematics";
-  case 1928: return "delete_InverseKinematics";
-  case 1929: return "InverseKinematics_loadModelFromFile";
-  case 1930: return "InverseKinematics_setModel";
-  case 1931: return "InverseKinematics_setJointLimits";
-  case 1932: return "InverseKinematics_getJointLimits";
-  case 1933: return "InverseKinematics_clearProblem";
-  case 1934: return "InverseKinematics_setFloatingBaseOnFrameNamed";
-  case 1935: return "InverseKinematics_setRobotConfiguration";
-  case 1936: return "InverseKinematics_setCurrentRobotConfiguration";
-  case 1937: return "InverseKinematics_setJointConfiguration";
-  case 1938: return "InverseKinematics_setRotationParametrization";
-  case 1939: return "InverseKinematics_rotationParametrization";
-  case 1940: return "InverseKinematics_setMaxIterations";
-  case 1941: return "InverseKinematics_maxIterations";
-  case 1942: return "InverseKinematics_setMaxCPUTime";
-  case 1943: return "InverseKinematics_maxCPUTime";
-  case 1944: return "InverseKinematics_setCostTolerance";
-  case 1945: return "InverseKinematics_costTolerance";
-  case 1946: return "InverseKinematics_setConstraintsTolerance";
-  case 1947: return "InverseKinematics_constraintsTolerance";
-  case 1948: return "InverseKinematics_setVerbosity";
-  case 1949: return "InverseKinematics_linearSolverName";
-  case 1950: return "InverseKinematics_setLinearSolverName";
-  case 1951: return "InverseKinematics_addFrameConstraint";
-  case 1952: return "InverseKinematics_addFramePositionConstraint";
-  case 1953: return "InverseKinematics_addFrameRotationConstraint";
-  case 1954: return "InverseKinematics_activateFrameConstraint";
-  case 1955: return "InverseKinematics_deactivateFrameConstraint";
-  case 1956: return "InverseKinematics_isFrameConstraintActive";
-  case 1957: return "InverseKinematics_addCenterOfMassProjectionConstraint";
-  case 1958: return "InverseKinematics_getCenterOfMassProjectionMargin";
-  case 1959: return "InverseKinematics_getCenterOfMassProjectConstraintConvexHull";
-  case 1960: return "InverseKinematics_addTarget";
-  case 1961: return "InverseKinematics_addPositionTarget";
-  case 1962: return "InverseKinematics_addRotationTarget";
-  case 1963: return "InverseKinematics_updateTarget";
-  case 1964: return "InverseKinematics_updatePositionTarget";
-  case 1965: return "InverseKinematics_updateRotationTarget";
-  case 1966: return "InverseKinematics_setDefaultTargetResolutionMode";
-  case 1967: return "InverseKinematics_defaultTargetResolutionMode";
-  case 1968: return "InverseKinematics_setTargetResolutionMode";
-  case 1969: return "InverseKinematics_targetResolutionMode";
-  case 1970: return "InverseKinematics_setDesiredJointConfiguration";
-  case 1971: return "InverseKinematics_setDesiredFullJointsConfiguration";
-  case 1972: return "InverseKinematics_setDesiredReducedJointConfiguration";
-  case 1973: return "InverseKinematics_setInitialCondition";
-  case 1974: return "InverseKinematics_setFullJointsInitialCondition";
-  case 1975: return "InverseKinematics_setReducedInitialCondition";
-  case 1976: return "InverseKinematics_solve";
-  case 1977: return "InverseKinematics_getSolution";
-  case 1978: return "InverseKinematics_getFullJointsSolution";
-  case 1979: return "InverseKinematics_getReducedSolution";
-  case 1980: return "InverseKinematics_getPoseForFrame";
-  case 1981: return "InverseKinematics_model";
-  case 1982: return "InverseKinematics_fullModel";
-  case 1983: return "InverseKinematics_reducedModel";
-  case 1984: return "InverseKinematics_setCOMTarget";
-  case 1985: return "InverseKinematics_setCOMAsConstraint";
-  case 1986: return "InverseKinematics_setCOMAsConstraintTolerance";
-  case 1987: return "InverseKinematics_isCOMAConstraint";
-  case 1988: return "InverseKinematics_isCOMTargetActive";
-  case 1989: return "InverseKinematics_deactivateCOMTarget";
-  case 1990: return "InverseKinematics_setCOMConstraintProjectionDirection";
+  case 1707: return "KinDynComputations_isValid";
+  case 1708: return "KinDynComputations_setFrameVelocityRepresentation";
+  case 1709: return "KinDynComputations_getFrameVelocityRepresentation";
+  case 1710: return "KinDynComputations_getNrOfDegreesOfFreedom";
+  case 1711: return "KinDynComputations_getDescriptionOfDegreeOfFreedom";
+  case 1712: return "KinDynComputations_getDescriptionOfDegreesOfFreedom";
+  case 1713: return "KinDynComputations_getNrOfLinks";
+  case 1714: return "KinDynComputations_getNrOfFrames";
+  case 1715: return "KinDynComputations_getFloatingBase";
+  case 1716: return "KinDynComputations_setFloatingBase";
+  case 1717: return "KinDynComputations_model";
+  case 1718: return "KinDynComputations_getRobotModel";
+  case 1719: return "KinDynComputations_getRelativeJacobianSparsityPattern";
+  case 1720: return "KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern";
+  case 1721: return "KinDynComputations_setJointPos";
+  case 1722: return "KinDynComputations_setRobotState";
+  case 1723: return "KinDynComputations_getRobotState";
+  case 1724: return "KinDynComputations_getWorldBaseTransform";
+  case 1725: return "KinDynComputations_getBaseTwist";
+  case 1726: return "KinDynComputations_getJointPos";
+  case 1727: return "KinDynComputations_getJointVel";
+  case 1728: return "KinDynComputations_getModelVel";
+  case 1729: return "KinDynComputations_getFrameIndex";
+  case 1730: return "KinDynComputations_getFrameName";
+  case 1731: return "KinDynComputations_getWorldTransform";
+  case 1732: return "KinDynComputations_getWorldTransformsAsHomogeneous";
+  case 1733: return "KinDynComputations_getRelativeTransformExplicit";
+  case 1734: return "KinDynComputations_getRelativeTransform";
+  case 1735: return "KinDynComputations_getFrameVel";
+  case 1736: return "KinDynComputations_getFrameAcc";
+  case 1737: return "KinDynComputations_getFrameFreeFloatingJacobian";
+  case 1738: return "KinDynComputations_getRelativeJacobian";
+  case 1739: return "KinDynComputations_getRelativeJacobianExplicit";
+  case 1740: return "KinDynComputations_getFrameBiasAcc";
+  case 1741: return "KinDynComputations_getCenterOfMassPosition";
+  case 1742: return "KinDynComputations_getCenterOfMassVelocity";
+  case 1743: return "KinDynComputations_getCenterOfMassJacobian";
+  case 1744: return "KinDynComputations_getCenterOfMassBiasAcc";
+  case 1745: return "KinDynComputations_getAverageVelocity";
+  case 1746: return "KinDynComputations_getAverageVelocityJacobian";
+  case 1747: return "KinDynComputations_getCentroidalAverageVelocity";
+  case 1748: return "KinDynComputations_getCentroidalAverageVelocityJacobian";
+  case 1749: return "KinDynComputations_getLinearAngularMomentum";
+  case 1750: return "KinDynComputations_getLinearAngularMomentumJacobian";
+  case 1751: return "KinDynComputations_getCentroidalTotalMomentum";
+  case 1752: return "KinDynComputations_getCentroidalTotalMomentumJacobian";
+  case 1753: return "KinDynComputations_getFreeFloatingMassMatrix";
+  case 1754: return "KinDynComputations_inverseDynamics";
+  case 1755: return "KinDynComputations_generalizedBiasForces";
+  case 1756: return "KinDynComputations_generalizedGravityForces";
+  case 1757: return "KinDynComputations_generalizedExternalForces";
+  case 1758: return "KinDynComputations_inverseDynamicsInertialParametersRegressor";
+  case 1759: return "Matrix4x4Vector_pop";
+  case 1760: return "Matrix4x4Vector_brace";
+  case 1761: return "Matrix4x4Vector_setbrace";
+  case 1762: return "Matrix4x4Vector_append";
+  case 1763: return "Matrix4x4Vector_empty";
+  case 1764: return "Matrix4x4Vector_size";
+  case 1765: return "Matrix4x4Vector_swap";
+  case 1766: return "Matrix4x4Vector_begin";
+  case 1767: return "Matrix4x4Vector_end";
+  case 1768: return "Matrix4x4Vector_rbegin";
+  case 1769: return "Matrix4x4Vector_rend";
+  case 1770: return "Matrix4x4Vector_clear";
+  case 1771: return "Matrix4x4Vector_get_allocator";
+  case 1772: return "Matrix4x4Vector_pop_back";
+  case 1773: return "Matrix4x4Vector_erase";
+  case 1774: return "new_Matrix4x4Vector";
+  case 1775: return "Matrix4x4Vector_push_back";
+  case 1776: return "Matrix4x4Vector_front";
+  case 1777: return "Matrix4x4Vector_back";
+  case 1778: return "Matrix4x4Vector_assign";
+  case 1779: return "Matrix4x4Vector_resize";
+  case 1780: return "Matrix4x4Vector_insert";
+  case 1781: return "Matrix4x4Vector_reserve";
+  case 1782: return "Matrix4x4Vector_capacity";
+  case 1783: return "Matrix4x4Vector_toMatlab";
+  case 1784: return "delete_Matrix4x4Vector";
+  case 1785: return "delete_ICamera";
+  case 1786: return "ICamera_setPosition";
+  case 1787: return "ICamera_setTarget";
+  case 1788: return "ICamera_setUpVector";
+  case 1789: return "ColorViz_r_get";
+  case 1790: return "ColorViz_r_set";
+  case 1791: return "ColorViz_g_get";
+  case 1792: return "ColorViz_g_set";
+  case 1793: return "ColorViz_b_get";
+  case 1794: return "ColorViz_b_set";
+  case 1795: return "ColorViz_a_get";
+  case 1796: return "ColorViz_a_set";
+  case 1797: return "new_ColorViz";
+  case 1798: return "delete_ColorViz";
+  case 1799: return "delete_ILight";
+  case 1800: return "ILight_getName";
+  case 1801: return "ILight_setType";
+  case 1802: return "ILight_getType";
+  case 1803: return "ILight_setPosition";
+  case 1804: return "ILight_getPosition";
+  case 1805: return "ILight_setDirection";
+  case 1806: return "ILight_getDirection";
+  case 1807: return "ILight_setAmbientColor";
+  case 1808: return "ILight_getAmbientColor";
+  case 1809: return "ILight_setSpecularColor";
+  case 1810: return "ILight_getSpecularColor";
+  case 1811: return "ILight_setDiffuseColor";
+  case 1812: return "ILight_getDiffuseColor";
+  case 1813: return "delete_IEnvironment";
+  case 1814: return "IEnvironment_getElements";
+  case 1815: return "IEnvironment_setElementVisibility";
+  case 1816: return "IEnvironment_setBackgroundColor";
+  case 1817: return "IEnvironment_setAmbientLight";
+  case 1818: return "IEnvironment_getLights";
+  case 1819: return "IEnvironment_addLight";
+  case 1820: return "IEnvironment_lightViz";
+  case 1821: return "IEnvironment_removeLight";
+  case 1822: return "delete_IJetsVisualization";
+  case 1823: return "IJetsVisualization_setJetsFrames";
+  case 1824: return "IJetsVisualization_getNrOfJets";
+  case 1825: return "IJetsVisualization_getJetDirection";
+  case 1826: return "IJetsVisualization_setJetDirection";
+  case 1827: return "IJetsVisualization_setJetColor";
+  case 1828: return "IJetsVisualization_setJetsDimensions";
+  case 1829: return "IJetsVisualization_setJetsIntensity";
+  case 1830: return "delete_IVectorsVisualization";
+  case 1831: return "IVectorsVisualization_addVector";
+  case 1832: return "IVectorsVisualization_getNrOfVectors";
+  case 1833: return "IVectorsVisualization_getVector";
+  case 1834: return "IVectorsVisualization_updateVector";
+  case 1835: return "IVectorsVisualization_setVectorColor";
+  case 1836: return "IVectorsVisualization_setVectorsAspect";
+  case 1837: return "delete_IModelVisualization";
+  case 1838: return "IModelVisualization_setPositions";
+  case 1839: return "IModelVisualization_setLinkPositions";
+  case 1840: return "IModelVisualization_model";
+  case 1841: return "IModelVisualization_getInstanceName";
+  case 1842: return "IModelVisualization_setModelVisibility";
+  case 1843: return "IModelVisualization_setModelColor";
+  case 1844: return "IModelVisualization_resetModelColor";
+  case 1845: return "IModelVisualization_setLinkColor";
+  case 1846: return "IModelVisualization_resetLinkColor";
+  case 1847: return "IModelVisualization_getLinkNames";
+  case 1848: return "IModelVisualization_setLinkVisibility";
+  case 1849: return "IModelVisualization_getFeatures";
+  case 1850: return "IModelVisualization_setFeatureVisibility";
+  case 1851: return "IModelVisualization_jets";
+  case 1852: return "IModelVisualization_getWorldModelTransform";
+  case 1853: return "IModelVisualization_getWorldLinkTransform";
+  case 1854: return "VisualizerOptions_verbose_get";
+  case 1855: return "VisualizerOptions_verbose_set";
+  case 1856: return "VisualizerOptions_winWidth_get";
+  case 1857: return "VisualizerOptions_winWidth_set";
+  case 1858: return "VisualizerOptions_winHeight_get";
+  case 1859: return "VisualizerOptions_winHeight_set";
+  case 1860: return "VisualizerOptions_rootFrameArrowsDimension_get";
+  case 1861: return "VisualizerOptions_rootFrameArrowsDimension_set";
+  case 1862: return "new_VisualizerOptions";
+  case 1863: return "delete_VisualizerOptions";
+  case 1864: return "new_Visualizer";
+  case 1865: return "delete_Visualizer";
+  case 1866: return "Visualizer_init";
+  case 1867: return "Visualizer_getNrOfVisualizedModels";
+  case 1868: return "Visualizer_getModelInstanceName";
+  case 1869: return "Visualizer_getModelInstanceIndex";
+  case 1870: return "Visualizer_addModel";
+  case 1871: return "Visualizer_modelViz";
+  case 1872: return "Visualizer_camera";
+  case 1873: return "Visualizer_enviroment";
+  case 1874: return "Visualizer_vectors";
+  case 1875: return "Visualizer_run";
+  case 1876: return "Visualizer_draw";
+  case 1877: return "Visualizer_drawToFile";
+  case 1878: return "Visualizer_close";
+  case 1879: return "Polygon_m_vertices_get";
+  case 1880: return "Polygon_m_vertices_set";
+  case 1881: return "new_Polygon";
+  case 1882: return "Polygon_setNrOfVertices";
+  case 1883: return "Polygon_getNrOfVertices";
+  case 1884: return "Polygon_isValid";
+  case 1885: return "Polygon_applyTransform";
+  case 1886: return "Polygon_paren";
+  case 1887: return "Polygon_XYRectangleFromOffsets";
+  case 1888: return "delete_Polygon";
+  case 1889: return "Polygon2D_m_vertices_get";
+  case 1890: return "Polygon2D_m_vertices_set";
+  case 1891: return "new_Polygon2D";
+  case 1892: return "Polygon2D_setNrOfVertices";
+  case 1893: return "Polygon2D_getNrOfVertices";
+  case 1894: return "Polygon2D_isValid";
+  case 1895: return "Polygon2D_paren";
+  case 1896: return "delete_Polygon2D";
+  case 1897: return "ConvexHullProjectionConstraint_setActive";
+  case 1898: return "ConvexHullProjectionConstraint_isActive";
+  case 1899: return "ConvexHullProjectionConstraint_getNrOfConstraints";
+  case 1900: return "ConvexHullProjectionConstraint_projectedConvexHull_get";
+  case 1901: return "ConvexHullProjectionConstraint_projectedConvexHull_set";
+  case 1902: return "ConvexHullProjectionConstraint_A_get";
+  case 1903: return "ConvexHullProjectionConstraint_A_set";
+  case 1904: return "ConvexHullProjectionConstraint_b_get";
+  case 1905: return "ConvexHullProjectionConstraint_b_set";
+  case 1906: return "ConvexHullProjectionConstraint_P_get";
+  case 1907: return "ConvexHullProjectionConstraint_P_set";
+  case 1908: return "ConvexHullProjectionConstraint_Pdirection_get";
+  case 1909: return "ConvexHullProjectionConstraint_Pdirection_set";
+  case 1910: return "ConvexHullProjectionConstraint_AtimesP_get";
+  case 1911: return "ConvexHullProjectionConstraint_AtimesP_set";
+  case 1912: return "ConvexHullProjectionConstraint_o_get";
+  case 1913: return "ConvexHullProjectionConstraint_o_set";
+  case 1914: return "ConvexHullProjectionConstraint_buildConvexHull";
+  case 1915: return "ConvexHullProjectionConstraint_supportFrameIndices_get";
+  case 1916: return "ConvexHullProjectionConstraint_supportFrameIndices_set";
+  case 1917: return "ConvexHullProjectionConstraint_absoluteFrame_X_supportFrame_get";
+  case 1918: return "ConvexHullProjectionConstraint_absoluteFrame_X_supportFrame_set";
+  case 1919: return "ConvexHullProjectionConstraint_project";
+  case 1920: return "ConvexHullProjectionConstraint_computeMargin";
+  case 1921: return "ConvexHullProjectionConstraint_setProjectionAlongDirection";
+  case 1922: return "ConvexHullProjectionConstraint_projectAlongDirection";
+  case 1923: return "new_ConvexHullProjectionConstraint";
+  case 1924: return "delete_ConvexHullProjectionConstraint";
+  case 1925: return "_wrap_sizeOfRotationParametrization";
+  case 1926: return "new_InverseKinematics";
+  case 1927: return "delete_InverseKinematics";
+  case 1928: return "InverseKinematics_loadModelFromFile";
+  case 1929: return "InverseKinematics_setModel";
+  case 1930: return "InverseKinematics_setJointLimits";
+  case 1931: return "InverseKinematics_getJointLimits";
+  case 1932: return "InverseKinematics_clearProblem";
+  case 1933: return "InverseKinematics_setFloatingBaseOnFrameNamed";
+  case 1934: return "InverseKinematics_setCurrentRobotConfiguration";
+  case 1935: return "InverseKinematics_setJointConfiguration";
+  case 1936: return "InverseKinematics_setRotationParametrization";
+  case 1937: return "InverseKinematics_rotationParametrization";
+  case 1938: return "InverseKinematics_setMaxIterations";
+  case 1939: return "InverseKinematics_maxIterations";
+  case 1940: return "InverseKinematics_setMaxCPUTime";
+  case 1941: return "InverseKinematics_maxCPUTime";
+  case 1942: return "InverseKinematics_setCostTolerance";
+  case 1943: return "InverseKinematics_costTolerance";
+  case 1944: return "InverseKinematics_setConstraintsTolerance";
+  case 1945: return "InverseKinematics_constraintsTolerance";
+  case 1946: return "InverseKinematics_setVerbosity";
+  case 1947: return "InverseKinematics_linearSolverName";
+  case 1948: return "InverseKinematics_setLinearSolverName";
+  case 1949: return "InverseKinematics_addFrameConstraint";
+  case 1950: return "InverseKinematics_addFramePositionConstraint";
+  case 1951: return "InverseKinematics_addFrameRotationConstraint";
+  case 1952: return "InverseKinematics_activateFrameConstraint";
+  case 1953: return "InverseKinematics_deactivateFrameConstraint";
+  case 1954: return "InverseKinematics_isFrameConstraintActive";
+  case 1955: return "InverseKinematics_addCenterOfMassProjectionConstraint";
+  case 1956: return "InverseKinematics_getCenterOfMassProjectionMargin";
+  case 1957: return "InverseKinematics_getCenterOfMassProjectConstraintConvexHull";
+  case 1958: return "InverseKinematics_addTarget";
+  case 1959: return "InverseKinematics_addPositionTarget";
+  case 1960: return "InverseKinematics_addRotationTarget";
+  case 1961: return "InverseKinematics_updateTarget";
+  case 1962: return "InverseKinematics_updatePositionTarget";
+  case 1963: return "InverseKinematics_updateRotationTarget";
+  case 1964: return "InverseKinematics_setDefaultTargetResolutionMode";
+  case 1965: return "InverseKinematics_defaultTargetResolutionMode";
+  case 1966: return "InverseKinematics_setTargetResolutionMode";
+  case 1967: return "InverseKinematics_targetResolutionMode";
+  case 1968: return "InverseKinematics_setDesiredFullJointsConfiguration";
+  case 1969: return "InverseKinematics_setDesiredReducedJointConfiguration";
+  case 1970: return "InverseKinematics_setFullJointsInitialCondition";
+  case 1971: return "InverseKinematics_setReducedInitialCondition";
+  case 1972: return "InverseKinematics_solve";
+  case 1973: return "InverseKinematics_getFullJointsSolution";
+  case 1974: return "InverseKinematics_getReducedSolution";
+  case 1975: return "InverseKinematics_getPoseForFrame";
+  case 1976: return "InverseKinematics_fullModel";
+  case 1977: return "InverseKinematics_reducedModel";
+  case 1978: return "InverseKinematics_setCOMTarget";
+  case 1979: return "InverseKinematics_setCOMAsConstraint";
+  case 1980: return "InverseKinematics_setCOMAsConstraintTolerance";
+  case 1981: return "InverseKinematics_isCOMAConstraint";
+  case 1982: return "InverseKinematics_isCOMTargetActive";
+  case 1983: return "InverseKinematics_deactivateCOMTarget";
+  case 1984: return "InverseKinematics_setCOMConstraintProjectionDirection";
   default: return 0;
   }
 }
@@ -100185,669 +103624,669 @@ void mexFunction(int resc, mxArray *resv[], int argc, const mxArray *argv[]) {
   case 713: flag=_wrap_DynamicSpan_rend(resc,resv,argc,(mxArray**)(argv)); break;
   case 714: flag=_wrap_DynamicSpan_crbegin(resc,resv,argc,(mxArray**)(argv)); break;
   case 715: flag=_wrap_DynamicSpan_crend(resc,resv,argc,(mxArray**)(argv)); break;
-  case 716: flag=_wrap_LINK_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 717: flag=_wrap_LINK_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 718: flag=_wrap_LINK_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 719: flag=_wrap_LINK_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 720: flag=_wrap_JOINT_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 721: flag=_wrap_JOINT_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 722: flag=_wrap_JOINT_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 723: flag=_wrap_JOINT_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 724: flag=_wrap_DOF_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 725: flag=_wrap_DOF_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 726: flag=_wrap_DOF_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 727: flag=_wrap_DOF_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 728: flag=_wrap_FRAME_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 729: flag=_wrap_FRAME_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 730: flag=_wrap_FRAME_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 731: flag=_wrap_FRAME_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 732: flag=_wrap_TRAVERSAL_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 733: flag=_wrap_TRAVERSAL_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 734: flag=_wrap_new_LinkPositions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 735: flag=_wrap_LinkPositions_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 736: flag=_wrap_LinkPositions_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 737: flag=_wrap_LinkPositions_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 738: flag=_wrap_LinkPositions_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 739: flag=_wrap_LinkPositions_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 740: flag=_wrap_delete_LinkPositions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 741: flag=_wrap_new_LinkWrenches(resc,resv,argc,(mxArray**)(argv)); break;
-  case 742: flag=_wrap_LinkWrenches_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 743: flag=_wrap_LinkWrenches_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 744: flag=_wrap_LinkWrenches_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 745: flag=_wrap_LinkWrenches_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 746: flag=_wrap_LinkWrenches_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 747: flag=_wrap_LinkWrenches_zero(resc,resv,argc,(mxArray**)(argv)); break;
-  case 748: flag=_wrap_delete_LinkWrenches(resc,resv,argc,(mxArray**)(argv)); break;
-  case 749: flag=_wrap_new_LinkInertias(resc,resv,argc,(mxArray**)(argv)); break;
-  case 750: flag=_wrap_LinkInertias_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 751: flag=_wrap_LinkInertias_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 752: flag=_wrap_LinkInertias_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 753: flag=_wrap_delete_LinkInertias(resc,resv,argc,(mxArray**)(argv)); break;
-  case 754: flag=_wrap_new_LinkArticulatedBodyInertias(resc,resv,argc,(mxArray**)(argv)); break;
-  case 755: flag=_wrap_LinkArticulatedBodyInertias_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 756: flag=_wrap_LinkArticulatedBodyInertias_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 757: flag=_wrap_LinkArticulatedBodyInertias_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 758: flag=_wrap_delete_LinkArticulatedBodyInertias(resc,resv,argc,(mxArray**)(argv)); break;
-  case 759: flag=_wrap_new_LinkVelArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 760: flag=_wrap_LinkVelArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 761: flag=_wrap_LinkVelArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 762: flag=_wrap_LinkVelArray_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 763: flag=_wrap_LinkVelArray_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 764: flag=_wrap_LinkVelArray_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 765: flag=_wrap_delete_LinkVelArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 766: flag=_wrap_new_LinkAccArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 767: flag=_wrap_LinkAccArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 768: flag=_wrap_LinkAccArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 769: flag=_wrap_LinkAccArray_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 770: flag=_wrap_LinkAccArray_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 771: flag=_wrap_LinkAccArray_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 772: flag=_wrap_delete_LinkAccArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 773: flag=_wrap_new_Link(resc,resv,argc,(mxArray**)(argv)); break;
-  case 774: flag=_wrap_Link_inertia(resc,resv,argc,(mxArray**)(argv)); break;
-  case 775: flag=_wrap_Link_setInertia(resc,resv,argc,(mxArray**)(argv)); break;
-  case 776: flag=_wrap_Link_getInertia(resc,resv,argc,(mxArray**)(argv)); break;
-  case 777: flag=_wrap_Link_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 778: flag=_wrap_Link_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 779: flag=_wrap_delete_Link(resc,resv,argc,(mxArray**)(argv)); break;
-  case 780: flag=_wrap_delete_IJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 781: flag=_wrap_IJoint_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 782: flag=_wrap_IJoint_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 783: flag=_wrap_IJoint_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 784: flag=_wrap_IJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 785: flag=_wrap_IJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 786: flag=_wrap_IJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 787: flag=_wrap_IJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 788: flag=_wrap_IJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 789: flag=_wrap_IJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 790: flag=_wrap_IJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 791: flag=_wrap_IJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 792: flag=_wrap_IJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 793: flag=_wrap_IJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 794: flag=_wrap_IJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 795: flag=_wrap_IJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 796: flag=_wrap_IJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 797: flag=_wrap_IJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break;
-  case 798: flag=_wrap_IJoint_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 799: flag=_wrap_IJoint_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 800: flag=_wrap_IJoint_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 801: flag=_wrap_IJoint_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 802: flag=_wrap_IJoint_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 803: flag=_wrap_IJoint_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 804: flag=_wrap_IJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 805: flag=_wrap_IJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 806: flag=_wrap_IJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 807: flag=_wrap_IJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 808: flag=_wrap_IJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 809: flag=_wrap_IJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 810: flag=_wrap_IJoint_isRevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 811: flag=_wrap_IJoint_isFixedJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 812: flag=_wrap_IJoint_asRevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 813: flag=_wrap_IJoint_asFixedJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 814: flag=_wrap_new_FixedJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 815: flag=_wrap_delete_FixedJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 816: flag=_wrap_FixedJoint_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 817: flag=_wrap_FixedJoint_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 818: flag=_wrap_FixedJoint_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 819: flag=_wrap_FixedJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 820: flag=_wrap_FixedJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 821: flag=_wrap_FixedJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 822: flag=_wrap_FixedJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 823: flag=_wrap_FixedJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 824: flag=_wrap_FixedJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 825: flag=_wrap_FixedJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 826: flag=_wrap_FixedJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 827: flag=_wrap_FixedJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 828: flag=_wrap_FixedJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 829: flag=_wrap_FixedJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 830: flag=_wrap_FixedJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 831: flag=_wrap_FixedJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 832: flag=_wrap_FixedJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break;
-  case 833: flag=_wrap_FixedJoint_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 834: flag=_wrap_FixedJoint_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 835: flag=_wrap_FixedJoint_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 836: flag=_wrap_FixedJoint_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 837: flag=_wrap_FixedJoint_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 838: flag=_wrap_FixedJoint_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 839: flag=_wrap_FixedJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 840: flag=_wrap_FixedJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 841: flag=_wrap_FixedJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 842: flag=_wrap_FixedJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 843: flag=_wrap_FixedJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 844: flag=_wrap_FixedJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 845: flag=_wrap_delete_MovableJointImpl1(resc,resv,argc,(mxArray**)(argv)); break;
-  case 846: flag=_wrap_MovableJointImpl1_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 847: flag=_wrap_MovableJointImpl1_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 848: flag=_wrap_MovableJointImpl1_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 849: flag=_wrap_MovableJointImpl1_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 850: flag=_wrap_MovableJointImpl1_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 851: flag=_wrap_MovableJointImpl1_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 852: flag=_wrap_MovableJointImpl1_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 853: flag=_wrap_MovableJointImpl1_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 854: flag=_wrap_delete_MovableJointImpl2(resc,resv,argc,(mxArray**)(argv)); break;
-  case 855: flag=_wrap_MovableJointImpl2_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 856: flag=_wrap_MovableJointImpl2_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 857: flag=_wrap_MovableJointImpl2_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 858: flag=_wrap_MovableJointImpl2_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 859: flag=_wrap_MovableJointImpl2_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 860: flag=_wrap_MovableJointImpl2_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 861: flag=_wrap_MovableJointImpl2_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 862: flag=_wrap_MovableJointImpl2_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 863: flag=_wrap_delete_MovableJointImpl3(resc,resv,argc,(mxArray**)(argv)); break;
-  case 864: flag=_wrap_MovableJointImpl3_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 865: flag=_wrap_MovableJointImpl3_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 866: flag=_wrap_MovableJointImpl3_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 867: flag=_wrap_MovableJointImpl3_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 868: flag=_wrap_MovableJointImpl3_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 869: flag=_wrap_MovableJointImpl3_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 870: flag=_wrap_MovableJointImpl3_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 871: flag=_wrap_MovableJointImpl3_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 872: flag=_wrap_delete_MovableJointImpl4(resc,resv,argc,(mxArray**)(argv)); break;
-  case 873: flag=_wrap_MovableJointImpl4_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 874: flag=_wrap_MovableJointImpl4_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 875: flag=_wrap_MovableJointImpl4_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 876: flag=_wrap_MovableJointImpl4_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 877: flag=_wrap_MovableJointImpl4_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 878: flag=_wrap_MovableJointImpl4_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 879: flag=_wrap_MovableJointImpl4_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 880: flag=_wrap_MovableJointImpl4_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 881: flag=_wrap_delete_MovableJointImpl5(resc,resv,argc,(mxArray**)(argv)); break;
-  case 882: flag=_wrap_MovableJointImpl5_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 883: flag=_wrap_MovableJointImpl5_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 884: flag=_wrap_MovableJointImpl5_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 885: flag=_wrap_MovableJointImpl5_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 886: flag=_wrap_MovableJointImpl5_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 887: flag=_wrap_MovableJointImpl5_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 888: flag=_wrap_MovableJointImpl5_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 889: flag=_wrap_MovableJointImpl5_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 890: flag=_wrap_delete_MovableJointImpl6(resc,resv,argc,(mxArray**)(argv)); break;
-  case 891: flag=_wrap_MovableJointImpl6_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 892: flag=_wrap_MovableJointImpl6_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 893: flag=_wrap_MovableJointImpl6_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 894: flag=_wrap_MovableJointImpl6_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 895: flag=_wrap_MovableJointImpl6_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 896: flag=_wrap_MovableJointImpl6_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 897: flag=_wrap_MovableJointImpl6_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 898: flag=_wrap_MovableJointImpl6_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 899: flag=_wrap_new_RevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 900: flag=_wrap_delete_RevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 901: flag=_wrap_RevoluteJoint_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 902: flag=_wrap_RevoluteJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 903: flag=_wrap_RevoluteJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 904: flag=_wrap_RevoluteJoint_setAxis(resc,resv,argc,(mxArray**)(argv)); break;
-  case 905: flag=_wrap_RevoluteJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 906: flag=_wrap_RevoluteJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 907: flag=_wrap_RevoluteJoint_getAxis(resc,resv,argc,(mxArray**)(argv)); break;
-  case 908: flag=_wrap_RevoluteJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 909: flag=_wrap_RevoluteJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 910: flag=_wrap_RevoluteJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 911: flag=_wrap_RevoluteJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 912: flag=_wrap_RevoluteJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 913: flag=_wrap_RevoluteJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 914: flag=_wrap_RevoluteJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 915: flag=_wrap_RevoluteJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 916: flag=_wrap_RevoluteJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 917: flag=_wrap_RevoluteJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break;
-  case 918: flag=_wrap_RevoluteJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 919: flag=_wrap_RevoluteJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 920: flag=_wrap_RevoluteJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 921: flag=_wrap_RevoluteJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 922: flag=_wrap_RevoluteJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 923: flag=_wrap_RevoluteJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 924: flag=_wrap_new_PrismaticJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 925: flag=_wrap_delete_PrismaticJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 926: flag=_wrap_PrismaticJoint_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 927: flag=_wrap_PrismaticJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 928: flag=_wrap_PrismaticJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 929: flag=_wrap_PrismaticJoint_setAxis(resc,resv,argc,(mxArray**)(argv)); break;
-  case 930: flag=_wrap_PrismaticJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 931: flag=_wrap_PrismaticJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 932: flag=_wrap_PrismaticJoint_getAxis(resc,resv,argc,(mxArray**)(argv)); break;
-  case 933: flag=_wrap_PrismaticJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 934: flag=_wrap_PrismaticJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 935: flag=_wrap_PrismaticJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
-  case 936: flag=_wrap_PrismaticJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 937: flag=_wrap_PrismaticJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 938: flag=_wrap_PrismaticJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 939: flag=_wrap_PrismaticJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 940: flag=_wrap_PrismaticJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 941: flag=_wrap_PrismaticJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 942: flag=_wrap_PrismaticJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break;
-  case 943: flag=_wrap_PrismaticJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 944: flag=_wrap_PrismaticJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 945: flag=_wrap_PrismaticJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 946: flag=_wrap_PrismaticJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 947: flag=_wrap_PrismaticJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 948: flag=_wrap_PrismaticJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 949: flag=_wrap_new_Traversal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 950: flag=_wrap_delete_Traversal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 951: flag=_wrap_Traversal_getNrOfVisitedLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 952: flag=_wrap_Traversal_getLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 953: flag=_wrap_Traversal_getBaseLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 954: flag=_wrap_Traversal_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 955: flag=_wrap_Traversal_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 956: flag=_wrap_Traversal_getParentLinkFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 957: flag=_wrap_Traversal_getParentJointFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 958: flag=_wrap_Traversal_getTraversalIndexFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 959: flag=_wrap_Traversal_reset(resc,resv,argc,(mxArray**)(argv)); break;
-  case 960: flag=_wrap_Traversal_addTraversalBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 961: flag=_wrap_Traversal_addTraversalElement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 962: flag=_wrap_Traversal_isParentOf(resc,resv,argc,(mxArray**)(argv)); break;
-  case 963: flag=_wrap_Traversal_getChildLinkIndexFromJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 964: flag=_wrap_Traversal_getParentLinkIndexFromJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 965: flag=_wrap_Traversal_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 966: flag=_wrap_delete_SolidShape(resc,resv,argc,(mxArray**)(argv)); break;
-  case 967: flag=_wrap_SolidShape_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 968: flag=_wrap_SolidShape_name_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 969: flag=_wrap_SolidShape_name_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 970: flag=_wrap_SolidShape_nameIsValid_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 971: flag=_wrap_SolidShape_nameIsValid_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 972: flag=_wrap_SolidShape_link_H_geometry_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 973: flag=_wrap_SolidShape_link_H_geometry_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 974: flag=_wrap_SolidShape_material_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 975: flag=_wrap_SolidShape_material_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 976: flag=_wrap_SolidShape_isSphere(resc,resv,argc,(mxArray**)(argv)); break;
-  case 977: flag=_wrap_SolidShape_isBox(resc,resv,argc,(mxArray**)(argv)); break;
-  case 978: flag=_wrap_SolidShape_isCylinder(resc,resv,argc,(mxArray**)(argv)); break;
-  case 979: flag=_wrap_SolidShape_isExternalMesh(resc,resv,argc,(mxArray**)(argv)); break;
-  case 980: flag=_wrap_SolidShape_asSphere(resc,resv,argc,(mxArray**)(argv)); break;
-  case 981: flag=_wrap_SolidShape_asBox(resc,resv,argc,(mxArray**)(argv)); break;
-  case 982: flag=_wrap_SolidShape_asCylinder(resc,resv,argc,(mxArray**)(argv)); break;
-  case 983: flag=_wrap_SolidShape_asExternalMesh(resc,resv,argc,(mxArray**)(argv)); break;
-  case 984: flag=_wrap_delete_Sphere(resc,resv,argc,(mxArray**)(argv)); break;
-  case 985: flag=_wrap_Sphere_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 986: flag=_wrap_Sphere_radius_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 987: flag=_wrap_Sphere_radius_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 988: flag=_wrap_new_Sphere(resc,resv,argc,(mxArray**)(argv)); break;
-  case 989: flag=_wrap_delete_Box(resc,resv,argc,(mxArray**)(argv)); break;
-  case 990: flag=_wrap_Box_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 991: flag=_wrap_Box_x_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 992: flag=_wrap_Box_x_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 993: flag=_wrap_Box_y_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 994: flag=_wrap_Box_y_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 995: flag=_wrap_Box_z_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 996: flag=_wrap_Box_z_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 997: flag=_wrap_new_Box(resc,resv,argc,(mxArray**)(argv)); break;
-  case 998: flag=_wrap_delete_Cylinder(resc,resv,argc,(mxArray**)(argv)); break;
-  case 999: flag=_wrap_Cylinder_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1000: flag=_wrap_Cylinder_length_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1001: flag=_wrap_Cylinder_length_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1002: flag=_wrap_Cylinder_radius_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1003: flag=_wrap_Cylinder_radius_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1004: flag=_wrap_new_Cylinder(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1005: flag=_wrap_delete_ExternalMesh(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1006: flag=_wrap_ExternalMesh_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1007: flag=_wrap_ExternalMesh_filename_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1008: flag=_wrap_ExternalMesh_filename_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1009: flag=_wrap_ExternalMesh_scale_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1010: flag=_wrap_ExternalMesh_scale_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1011: flag=_wrap_new_ExternalMesh(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1012: flag=_wrap_new_ModelSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1013: flag=_wrap_ModelSolidShapes_clear(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1014: flag=_wrap_delete_ModelSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1015: flag=_wrap_ModelSolidShapes_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1016: flag=_wrap_ModelSolidShapes_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1017: flag=_wrap_ModelSolidShapes_linkSolidShapes_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1018: flag=_wrap_ModelSolidShapes_linkSolidShapes_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1019: flag=_wrap_Neighbor_neighborLink_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1020: flag=_wrap_Neighbor_neighborLink_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1021: flag=_wrap_Neighbor_neighborJoint_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1022: flag=_wrap_Neighbor_neighborJoint_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1023: flag=_wrap_new_Neighbor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1024: flag=_wrap_delete_Neighbor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1025: flag=_wrap_new_Model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1026: flag=_wrap_Model_copy(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1027: flag=_wrap_delete_Model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1028: flag=_wrap_Model_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1029: flag=_wrap_Model_getLinkName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1030: flag=_wrap_Model_getLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1031: flag=_wrap_Model_isValidLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1032: flag=_wrap_Model_getLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1033: flag=_wrap_Model_addLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1034: flag=_wrap_Model_getNrOfJoints(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1035: flag=_wrap_Model_getJointName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1036: flag=_wrap_Model_getTotalMass(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1037: flag=_wrap_Model_getJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1038: flag=_wrap_Model_getJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1039: flag=_wrap_Model_isValidJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1040: flag=_wrap_Model_isLinkNameUsed(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1041: flag=_wrap_Model_isJointNameUsed(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1042: flag=_wrap_Model_isFrameNameUsed(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1043: flag=_wrap_Model_addJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1044: flag=_wrap_Model_addJointAndLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1045: flag=_wrap_Model_insertLinkToExistingJointAndAddJointForDisplacedLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1046: flag=_wrap_Model_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1047: flag=_wrap_Model_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1048: flag=_wrap_Model_getNrOfFrames(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1049: flag=_wrap_Model_addAdditionalFrameToLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1050: flag=_wrap_Model_getFrameName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1051: flag=_wrap_Model_getFrameIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1052: flag=_wrap_Model_isValidFrameIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1053: flag=_wrap_Model_getFrameTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1054: flag=_wrap_Model_getFrameLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1055: flag=_wrap_Model_getLinkAdditionalFrames(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1056: flag=_wrap_Model_getNrOfNeighbors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1057: flag=_wrap_Model_getNeighbor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1058: flag=_wrap_Model_setDefaultBaseLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1059: flag=_wrap_Model_getDefaultBaseLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1060: flag=_wrap_Model_computeFullTreeTraversal(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1061: flag=_wrap_Model_getInertialParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1062: flag=_wrap_Model_updateInertialParameters(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1063: flag=_wrap_Model_visualSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1064: flag=_wrap_Model_collisionSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1065: flag=_wrap_Model_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1066: flag=_wrap_new_JointPosDoubleArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1067: flag=_wrap_JointPosDoubleArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1068: flag=_wrap_JointPosDoubleArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1069: flag=_wrap_delete_JointPosDoubleArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1070: flag=_wrap_new_JointDOFsDoubleArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1071: flag=_wrap_JointDOFsDoubleArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1072: flag=_wrap_JointDOFsDoubleArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1073: flag=_wrap_delete_JointDOFsDoubleArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1074: flag=_wrap_new_DOFSpatialForceArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1075: flag=_wrap_DOFSpatialForceArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1076: flag=_wrap_DOFSpatialForceArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1077: flag=_wrap_DOFSpatialForceArray_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1078: flag=_wrap_delete_DOFSpatialForceArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1079: flag=_wrap_new_DOFSpatialMotionArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1080: flag=_wrap_DOFSpatialMotionArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1081: flag=_wrap_DOFSpatialMotionArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1082: flag=_wrap_DOFSpatialMotionArray_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1083: flag=_wrap_delete_DOFSpatialMotionArray(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1084: flag=_wrap_new_FrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1085: flag=_wrap_FrameFreeFloatingJacobian_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1086: flag=_wrap_FrameFreeFloatingJacobian_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1087: flag=_wrap_delete_FrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1088: flag=_wrap_new_MomentumFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1089: flag=_wrap_MomentumFreeFloatingJacobian_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1090: flag=_wrap_MomentumFreeFloatingJacobian_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1091: flag=_wrap_delete_MomentumFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1092: flag=_wrap_new_FreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1093: flag=_wrap_FreeFloatingMassMatrix_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1094: flag=_wrap_delete_FreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1095: flag=_wrap_new_FreeFloatingPos(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1096: flag=_wrap_FreeFloatingPos_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1097: flag=_wrap_FreeFloatingPos_worldBasePos(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1098: flag=_wrap_FreeFloatingPos_jointPos(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1099: flag=_wrap_FreeFloatingPos_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1100: flag=_wrap_delete_FreeFloatingPos(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1101: flag=_wrap_new_FreeFloatingGeneralizedTorques(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1102: flag=_wrap_FreeFloatingGeneralizedTorques_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1103: flag=_wrap_FreeFloatingGeneralizedTorques_baseWrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1104: flag=_wrap_FreeFloatingGeneralizedTorques_jointTorques(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1105: flag=_wrap_FreeFloatingGeneralizedTorques_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1106: flag=_wrap_delete_FreeFloatingGeneralizedTorques(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1107: flag=_wrap_new_FreeFloatingVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1108: flag=_wrap_FreeFloatingVel_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1109: flag=_wrap_FreeFloatingVel_baseVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1110: flag=_wrap_FreeFloatingVel_jointVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1111: flag=_wrap_FreeFloatingVel_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1112: flag=_wrap_delete_FreeFloatingVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1113: flag=_wrap_new_FreeFloatingAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1114: flag=_wrap_FreeFloatingAcc_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1115: flag=_wrap_FreeFloatingAcc_baseAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1116: flag=_wrap_FreeFloatingAcc_jointAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1117: flag=_wrap_FreeFloatingAcc_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1118: flag=_wrap_delete_FreeFloatingAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1119: flag=_wrap_ContactWrench_contactId(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1120: flag=_wrap_ContactWrench_contactPoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1121: flag=_wrap_ContactWrench_contactWrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1122: flag=_wrap_new_ContactWrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1123: flag=_wrap_delete_ContactWrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1124: flag=_wrap_new_LinkContactWrenches(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1125: flag=_wrap_LinkContactWrenches_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1126: flag=_wrap_LinkContactWrenches_getNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1127: flag=_wrap_LinkContactWrenches_setNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1128: flag=_wrap_LinkContactWrenches_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1129: flag=_wrap_LinkContactWrenches_contactWrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1130: flag=_wrap_LinkContactWrenches_computeNetWrenches(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1131: flag=_wrap_LinkContactWrenches_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1132: flag=_wrap_delete_LinkContactWrenches(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1133: flag=_wrap_SolidShapesVector_pop(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1134: flag=_wrap_SolidShapesVector_brace(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1135: flag=_wrap_SolidShapesVector_setbrace(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1136: flag=_wrap_SolidShapesVector_append(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1137: flag=_wrap_SolidShapesVector_empty(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1138: flag=_wrap_SolidShapesVector_size(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1139: flag=_wrap_SolidShapesVector_swap(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1140: flag=_wrap_SolidShapesVector_begin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1141: flag=_wrap_SolidShapesVector_end(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1142: flag=_wrap_SolidShapesVector_rbegin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1143: flag=_wrap_SolidShapesVector_rend(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1144: flag=_wrap_SolidShapesVector_clear(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1145: flag=_wrap_SolidShapesVector_get_allocator(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1146: flag=_wrap_SolidShapesVector_pop_back(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1147: flag=_wrap_SolidShapesVector_erase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1148: flag=_wrap_new_SolidShapesVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1149: flag=_wrap_SolidShapesVector_push_back(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1150: flag=_wrap_SolidShapesVector_front(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1151: flag=_wrap_SolidShapesVector_back(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1152: flag=_wrap_SolidShapesVector_assign(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1153: flag=_wrap_SolidShapesVector_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1154: flag=_wrap_SolidShapesVector_insert(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1155: flag=_wrap_SolidShapesVector_reserve(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1156: flag=_wrap_SolidShapesVector_capacity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1157: flag=_wrap_delete_SolidShapesVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1158: flag=_wrap_LinksSolidShapesVector_pop(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1159: flag=_wrap_LinksSolidShapesVector_brace(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1160: flag=_wrap_LinksSolidShapesVector_setbrace(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1161: flag=_wrap_LinksSolidShapesVector_append(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1162: flag=_wrap_LinksSolidShapesVector_empty(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1163: flag=_wrap_LinksSolidShapesVector_size(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1164: flag=_wrap_LinksSolidShapesVector_swap(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1165: flag=_wrap_LinksSolidShapesVector_begin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1166: flag=_wrap_LinksSolidShapesVector_end(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1167: flag=_wrap_LinksSolidShapesVector_rbegin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1168: flag=_wrap_LinksSolidShapesVector_rend(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1169: flag=_wrap_LinksSolidShapesVector_clear(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1170: flag=_wrap_LinksSolidShapesVector_get_allocator(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1171: flag=_wrap_LinksSolidShapesVector_pop_back(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1172: flag=_wrap_LinksSolidShapesVector_erase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1173: flag=_wrap_new_LinksSolidShapesVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1174: flag=_wrap_LinksSolidShapesVector_push_back(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1175: flag=_wrap_LinksSolidShapesVector_front(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1176: flag=_wrap_LinksSolidShapesVector_back(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1177: flag=_wrap_LinksSolidShapesVector_assign(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1178: flag=_wrap_LinksSolidShapesVector_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1179: flag=_wrap_LinksSolidShapesVector_insert(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1180: flag=_wrap_LinksSolidShapesVector_reserve(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1181: flag=_wrap_LinksSolidShapesVector_capacity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1182: flag=_wrap_delete_LinksSolidShapesVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1183: flag=_wrap_ForwardPositionKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1184: flag=_wrap_ForwardVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1185: flag=_wrap_ForwardPosVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1186: flag=_wrap_ForwardPosVelKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1187: flag=_wrap_ForwardAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1188: flag=_wrap_ForwardBiasAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1189: flag=_wrap_ComputeLinearAndAngularMomentum(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1190: flag=_wrap_ComputeLinearAndAngularMomentumDerivativeBias(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1191: flag=_wrap_RNEADynamicPhase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1192: flag=_wrap_CompositeRigidBodyAlgorithm(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1193: flag=_wrap_new_ArticulatedBodyAlgorithmInternalBuffers(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1194: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1195: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1196: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_S_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1197: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_S_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1198: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_U_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1199: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_U_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1200: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_D_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1201: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_D_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1202: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_u_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1203: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_u_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1204: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksVel_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1205: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksVel_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1206: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1207: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1208: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1209: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1210: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linkABIs_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1211: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linkABIs_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1212: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1213: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1214: flag=_wrap_delete_ArticulatedBodyAlgorithmInternalBuffers(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1215: flag=_wrap_ArticulatedBodyAlgorithm(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1216: flag=_wrap_InverseDynamicsInertialParametersRegressor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1217: flag=_wrap_NR_OF_SENSOR_TYPES_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1218: flag=_wrap_isLinkSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1219: flag=_wrap_isJointSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1220: flag=_wrap_getSensorTypeSize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1221: flag=_wrap_delete_Sensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1222: flag=_wrap_Sensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1223: flag=_wrap_Sensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1224: flag=_wrap_Sensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1225: flag=_wrap_Sensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1226: flag=_wrap_Sensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1227: flag=_wrap_Sensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1228: flag=_wrap_Sensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1229: flag=_wrap_Sensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1230: flag=_wrap_delete_JointSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1231: flag=_wrap_JointSensor_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1232: flag=_wrap_JointSensor_getParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1233: flag=_wrap_JointSensor_setParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1234: flag=_wrap_JointSensor_setParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1235: flag=_wrap_JointSensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1236: flag=_wrap_delete_LinkSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1237: flag=_wrap_LinkSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1238: flag=_wrap_LinkSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1239: flag=_wrap_LinkSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1240: flag=_wrap_LinkSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1241: flag=_wrap_LinkSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1242: flag=_wrap_LinkSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1243: flag=_wrap_LinkSensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1244: flag=_wrap_new_SensorsList(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1245: flag=_wrap_delete_SensorsList(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1246: flag=_wrap_SensorsList_addSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1247: flag=_wrap_SensorsList_setSerialization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1248: flag=_wrap_SensorsList_getSerialization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1249: flag=_wrap_SensorsList_getNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1250: flag=_wrap_SensorsList_getSensorIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1251: flag=_wrap_SensorsList_getSizeOfAllSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1252: flag=_wrap_SensorsList_getSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1253: flag=_wrap_SensorsList_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1254: flag=_wrap_SensorsList_removeSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1255: flag=_wrap_SensorsList_removeAllSensorsOfType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1256: flag=_wrap_SensorsList_getSixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1257: flag=_wrap_SensorsList_getAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1258: flag=_wrap_SensorsList_getGyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1259: flag=_wrap_SensorsList_getThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1260: flag=_wrap_SensorsList_getThreeAxisForceTorqueContactSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1261: flag=_wrap_new_SensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1262: flag=_wrap_delete_SensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1263: flag=_wrap_SensorsMeasurements_setNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1264: flag=_wrap_SensorsMeasurements_getNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1265: flag=_wrap_SensorsMeasurements_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1266: flag=_wrap_SensorsMeasurements_toVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1267: flag=_wrap_SensorsMeasurements_setMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1268: flag=_wrap_SensorsMeasurements_getMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1269: flag=_wrap_SensorsMeasurements_getSizeOfAllSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1270: flag=_wrap_new_SixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1271: flag=_wrap_delete_SixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1272: flag=_wrap_SixAxisForceTorqueSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1273: flag=_wrap_SixAxisForceTorqueSensor_setFirstLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1274: flag=_wrap_SixAxisForceTorqueSensor_setSecondLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1275: flag=_wrap_SixAxisForceTorqueSensor_getFirstLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1276: flag=_wrap_SixAxisForceTorqueSensor_getSecondLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1277: flag=_wrap_SixAxisForceTorqueSensor_setFirstLinkName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1278: flag=_wrap_SixAxisForceTorqueSensor_setSecondLinkName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1279: flag=_wrap_SixAxisForceTorqueSensor_getFirstLinkName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1280: flag=_wrap_SixAxisForceTorqueSensor_getSecondLinkName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1281: flag=_wrap_SixAxisForceTorqueSensor_setParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1282: flag=_wrap_SixAxisForceTorqueSensor_setParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1283: flag=_wrap_SixAxisForceTorqueSensor_setAppliedWrenchLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1284: flag=_wrap_SixAxisForceTorqueSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1285: flag=_wrap_SixAxisForceTorqueSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1286: flag=_wrap_SixAxisForceTorqueSensor_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1287: flag=_wrap_SixAxisForceTorqueSensor_getParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1288: flag=_wrap_SixAxisForceTorqueSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1289: flag=_wrap_SixAxisForceTorqueSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1290: flag=_wrap_SixAxisForceTorqueSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1291: flag=_wrap_SixAxisForceTorqueSensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1292: flag=_wrap_SixAxisForceTorqueSensor_getAppliedWrenchLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1293: flag=_wrap_SixAxisForceTorqueSensor_isLinkAttachedToSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1294: flag=_wrap_SixAxisForceTorqueSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1295: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1296: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLinkMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1297: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLinkInverseMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1298: flag=_wrap_SixAxisForceTorqueSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1299: flag=_wrap_SixAxisForceTorqueSensor_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1300: flag=_wrap_new_AccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1301: flag=_wrap_delete_AccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1302: flag=_wrap_AccelerometerSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1303: flag=_wrap_AccelerometerSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1304: flag=_wrap_AccelerometerSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1305: flag=_wrap_AccelerometerSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1306: flag=_wrap_AccelerometerSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1307: flag=_wrap_AccelerometerSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1308: flag=_wrap_AccelerometerSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1309: flag=_wrap_AccelerometerSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1310: flag=_wrap_AccelerometerSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1311: flag=_wrap_AccelerometerSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1312: flag=_wrap_AccelerometerSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1313: flag=_wrap_AccelerometerSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1314: flag=_wrap_AccelerometerSensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1315: flag=_wrap_AccelerometerSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1316: flag=_wrap_new_GyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1317: flag=_wrap_delete_GyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1318: flag=_wrap_GyroscopeSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1319: flag=_wrap_GyroscopeSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1320: flag=_wrap_GyroscopeSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1321: flag=_wrap_GyroscopeSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1322: flag=_wrap_GyroscopeSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1323: flag=_wrap_GyroscopeSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1324: flag=_wrap_GyroscopeSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1325: flag=_wrap_GyroscopeSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1326: flag=_wrap_GyroscopeSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1327: flag=_wrap_GyroscopeSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1328: flag=_wrap_GyroscopeSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1329: flag=_wrap_GyroscopeSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1330: flag=_wrap_GyroscopeSensor_updateIndeces(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1331: flag=_wrap_GyroscopeSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1332: flag=_wrap_new_ThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1333: flag=_wrap_delete_ThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1334: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1335: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1336: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1337: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1338: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1339: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1340: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1341: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1342: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1343: flag=_wrap_ThreeAxisAngularAccelerometerSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1344: flag=_wrap_ThreeAxisAngularAccelerometerSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1345: flag=_wrap_ThreeAxisAngularAccelerometerSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1346: flag=_wrap_ThreeAxisAngularAccelerometerSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1347: flag=_wrap_new_ThreeAxisForceTorqueContactSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1348: flag=_wrap_delete_ThreeAxisForceTorqueContactSensor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1349: flag=_wrap_ThreeAxisForceTorqueContactSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1350: flag=_wrap_ThreeAxisForceTorqueContactSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1351: flag=_wrap_ThreeAxisForceTorqueContactSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1352: flag=_wrap_ThreeAxisForceTorqueContactSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1353: flag=_wrap_ThreeAxisForceTorqueContactSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1354: flag=_wrap_ThreeAxisForceTorqueContactSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1355: flag=_wrap_ThreeAxisForceTorqueContactSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1356: flag=_wrap_ThreeAxisForceTorqueContactSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1357: flag=_wrap_ThreeAxisForceTorqueContactSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1358: flag=_wrap_ThreeAxisForceTorqueContactSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1359: flag=_wrap_ThreeAxisForceTorqueContactSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1360: flag=_wrap_ThreeAxisForceTorqueContactSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1361: flag=_wrap_ThreeAxisForceTorqueContactSensor_setLoadCellLocations(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1362: flag=_wrap_ThreeAxisForceTorqueContactSensor_getLoadCellLocations(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1363: flag=_wrap_ThreeAxisForceTorqueContactSensor_computeThreeAxisForceTorqueFromLoadCellMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1364: flag=_wrap_ThreeAxisForceTorqueContactSensor_computeCenterOfPressureFromLoadCellMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1365: flag=_wrap_predictSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1366: flag=_wrap_predictSensorsMeasurementsFromRawBuffers(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1367: flag=_wrap_URDFParserOptions_addSensorFramesAsAdditionalFrames_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1368: flag=_wrap_URDFParserOptions_addSensorFramesAsAdditionalFrames_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1369: flag=_wrap_URDFParserOptions_originalFilename_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1370: flag=_wrap_URDFParserOptions_originalFilename_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1371: flag=_wrap_new_URDFParserOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1372: flag=_wrap_delete_URDFParserOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1373: flag=_wrap_modelFromURDF(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1374: flag=_wrap_modelFromURDFString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1375: flag=_wrap_dofsListFromURDF(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1376: flag=_wrap_dofsListFromURDFString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1377: flag=_wrap_sensorsFromURDF(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1378: flag=_wrap_sensorsFromURDFString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 716: flag=_wrap_new_DynamicMatrixView(resc,resv,argc,(mxArray**)(argv)); break;
+  case 717: flag=_wrap_DynamicMatrixView_storageOrder(resc,resv,argc,(mxArray**)(argv)); break;
+  case 718: flag=_wrap_DynamicMatrixView_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 719: flag=_wrap_DynamicMatrixView_rows(resc,resv,argc,(mxArray**)(argv)); break;
+  case 720: flag=_wrap_DynamicMatrixView_cols(resc,resv,argc,(mxArray**)(argv)); break;
+  case 721: flag=_wrap_delete_DynamicMatrixView(resc,resv,argc,(mxArray**)(argv)); break;
+  case 722: flag=_wrap_LINK_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 723: flag=_wrap_LINK_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 724: flag=_wrap_LINK_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 725: flag=_wrap_LINK_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 726: flag=_wrap_JOINT_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 727: flag=_wrap_JOINT_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 728: flag=_wrap_JOINT_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 729: flag=_wrap_JOINT_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 730: flag=_wrap_DOF_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 731: flag=_wrap_DOF_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 732: flag=_wrap_DOF_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 733: flag=_wrap_DOF_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 734: flag=_wrap_FRAME_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 735: flag=_wrap_FRAME_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 736: flag=_wrap_FRAME_INVALID_NAME_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 737: flag=_wrap_FRAME_INVALID_NAME_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 738: flag=_wrap_TRAVERSAL_INVALID_INDEX_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 739: flag=_wrap_TRAVERSAL_INVALID_INDEX_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 740: flag=_wrap_new_LinkPositions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 741: flag=_wrap_LinkPositions_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 742: flag=_wrap_LinkPositions_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 743: flag=_wrap_LinkPositions_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 744: flag=_wrap_LinkPositions_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 745: flag=_wrap_LinkPositions_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 746: flag=_wrap_delete_LinkPositions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 747: flag=_wrap_new_LinkWrenches(resc,resv,argc,(mxArray**)(argv)); break;
+  case 748: flag=_wrap_LinkWrenches_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 749: flag=_wrap_LinkWrenches_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 750: flag=_wrap_LinkWrenches_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 751: flag=_wrap_LinkWrenches_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 752: flag=_wrap_LinkWrenches_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 753: flag=_wrap_LinkWrenches_zero(resc,resv,argc,(mxArray**)(argv)); break;
+  case 754: flag=_wrap_delete_LinkWrenches(resc,resv,argc,(mxArray**)(argv)); break;
+  case 755: flag=_wrap_new_LinkInertias(resc,resv,argc,(mxArray**)(argv)); break;
+  case 756: flag=_wrap_LinkInertias_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 757: flag=_wrap_LinkInertias_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 758: flag=_wrap_LinkInertias_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 759: flag=_wrap_delete_LinkInertias(resc,resv,argc,(mxArray**)(argv)); break;
+  case 760: flag=_wrap_new_LinkArticulatedBodyInertias(resc,resv,argc,(mxArray**)(argv)); break;
+  case 761: flag=_wrap_LinkArticulatedBodyInertias_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 762: flag=_wrap_LinkArticulatedBodyInertias_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 763: flag=_wrap_LinkArticulatedBodyInertias_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 764: flag=_wrap_delete_LinkArticulatedBodyInertias(resc,resv,argc,(mxArray**)(argv)); break;
+  case 765: flag=_wrap_new_LinkVelArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 766: flag=_wrap_LinkVelArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 767: flag=_wrap_LinkVelArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 768: flag=_wrap_LinkVelArray_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 769: flag=_wrap_LinkVelArray_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 770: flag=_wrap_LinkVelArray_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 771: flag=_wrap_delete_LinkVelArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 772: flag=_wrap_new_LinkAccArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 773: flag=_wrap_LinkAccArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 774: flag=_wrap_LinkAccArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 775: flag=_wrap_LinkAccArray_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 776: flag=_wrap_LinkAccArray_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 777: flag=_wrap_LinkAccArray_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 778: flag=_wrap_delete_LinkAccArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 779: flag=_wrap_new_Link(resc,resv,argc,(mxArray**)(argv)); break;
+  case 780: flag=_wrap_Link_inertia(resc,resv,argc,(mxArray**)(argv)); break;
+  case 781: flag=_wrap_Link_setInertia(resc,resv,argc,(mxArray**)(argv)); break;
+  case 782: flag=_wrap_Link_getInertia(resc,resv,argc,(mxArray**)(argv)); break;
+  case 783: flag=_wrap_Link_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 784: flag=_wrap_Link_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 785: flag=_wrap_delete_Link(resc,resv,argc,(mxArray**)(argv)); break;
+  case 786: flag=_wrap_delete_IJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 787: flag=_wrap_IJoint_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 788: flag=_wrap_IJoint_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 789: flag=_wrap_IJoint_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 790: flag=_wrap_IJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 791: flag=_wrap_IJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 792: flag=_wrap_IJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 793: flag=_wrap_IJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 794: flag=_wrap_IJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 795: flag=_wrap_IJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 796: flag=_wrap_IJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 797: flag=_wrap_IJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 798: flag=_wrap_IJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 799: flag=_wrap_IJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 800: flag=_wrap_IJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 801: flag=_wrap_IJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 802: flag=_wrap_IJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 803: flag=_wrap_IJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break;
+  case 804: flag=_wrap_IJoint_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 805: flag=_wrap_IJoint_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 806: flag=_wrap_IJoint_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 807: flag=_wrap_IJoint_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 808: flag=_wrap_IJoint_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 809: flag=_wrap_IJoint_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 810: flag=_wrap_IJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 811: flag=_wrap_IJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 812: flag=_wrap_IJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 813: flag=_wrap_IJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 814: flag=_wrap_IJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 815: flag=_wrap_IJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 816: flag=_wrap_IJoint_isRevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 817: flag=_wrap_IJoint_isFixedJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 818: flag=_wrap_IJoint_asRevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 819: flag=_wrap_IJoint_asFixedJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 820: flag=_wrap_new_FixedJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 821: flag=_wrap_delete_FixedJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 822: flag=_wrap_FixedJoint_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 823: flag=_wrap_FixedJoint_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 824: flag=_wrap_FixedJoint_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 825: flag=_wrap_FixedJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 826: flag=_wrap_FixedJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 827: flag=_wrap_FixedJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 828: flag=_wrap_FixedJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 829: flag=_wrap_FixedJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 830: flag=_wrap_FixedJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 831: flag=_wrap_FixedJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 832: flag=_wrap_FixedJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 833: flag=_wrap_FixedJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 834: flag=_wrap_FixedJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 835: flag=_wrap_FixedJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 836: flag=_wrap_FixedJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 837: flag=_wrap_FixedJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 838: flag=_wrap_FixedJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break;
+  case 839: flag=_wrap_FixedJoint_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 840: flag=_wrap_FixedJoint_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 841: flag=_wrap_FixedJoint_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 842: flag=_wrap_FixedJoint_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 843: flag=_wrap_FixedJoint_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 844: flag=_wrap_FixedJoint_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 845: flag=_wrap_FixedJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 846: flag=_wrap_FixedJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 847: flag=_wrap_FixedJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 848: flag=_wrap_FixedJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 849: flag=_wrap_FixedJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 850: flag=_wrap_FixedJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 851: flag=_wrap_delete_MovableJointImpl1(resc,resv,argc,(mxArray**)(argv)); break;
+  case 852: flag=_wrap_MovableJointImpl1_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 853: flag=_wrap_MovableJointImpl1_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 854: flag=_wrap_MovableJointImpl1_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 855: flag=_wrap_MovableJointImpl1_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 856: flag=_wrap_MovableJointImpl1_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 857: flag=_wrap_MovableJointImpl1_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 858: flag=_wrap_MovableJointImpl1_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 859: flag=_wrap_MovableJointImpl1_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 860: flag=_wrap_delete_MovableJointImpl2(resc,resv,argc,(mxArray**)(argv)); break;
+  case 861: flag=_wrap_MovableJointImpl2_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 862: flag=_wrap_MovableJointImpl2_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 863: flag=_wrap_MovableJointImpl2_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 864: flag=_wrap_MovableJointImpl2_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 865: flag=_wrap_MovableJointImpl2_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 866: flag=_wrap_MovableJointImpl2_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 867: flag=_wrap_MovableJointImpl2_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 868: flag=_wrap_MovableJointImpl2_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 869: flag=_wrap_delete_MovableJointImpl3(resc,resv,argc,(mxArray**)(argv)); break;
+  case 870: flag=_wrap_MovableJointImpl3_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 871: flag=_wrap_MovableJointImpl3_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 872: flag=_wrap_MovableJointImpl3_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 873: flag=_wrap_MovableJointImpl3_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 874: flag=_wrap_MovableJointImpl3_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 875: flag=_wrap_MovableJointImpl3_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 876: flag=_wrap_MovableJointImpl3_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 877: flag=_wrap_MovableJointImpl3_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 878: flag=_wrap_delete_MovableJointImpl4(resc,resv,argc,(mxArray**)(argv)); break;
+  case 879: flag=_wrap_MovableJointImpl4_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 880: flag=_wrap_MovableJointImpl4_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 881: flag=_wrap_MovableJointImpl4_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 882: flag=_wrap_MovableJointImpl4_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 883: flag=_wrap_MovableJointImpl4_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 884: flag=_wrap_MovableJointImpl4_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 885: flag=_wrap_MovableJointImpl4_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 886: flag=_wrap_MovableJointImpl4_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 887: flag=_wrap_delete_MovableJointImpl5(resc,resv,argc,(mxArray**)(argv)); break;
+  case 888: flag=_wrap_MovableJointImpl5_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 889: flag=_wrap_MovableJointImpl5_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 890: flag=_wrap_MovableJointImpl5_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 891: flag=_wrap_MovableJointImpl5_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 892: flag=_wrap_MovableJointImpl5_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 893: flag=_wrap_MovableJointImpl5_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 894: flag=_wrap_MovableJointImpl5_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 895: flag=_wrap_MovableJointImpl5_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 896: flag=_wrap_delete_MovableJointImpl6(resc,resv,argc,(mxArray**)(argv)); break;
+  case 897: flag=_wrap_MovableJointImpl6_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 898: flag=_wrap_MovableJointImpl6_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 899: flag=_wrap_MovableJointImpl6_setIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 900: flag=_wrap_MovableJointImpl6_getIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 901: flag=_wrap_MovableJointImpl6_setPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 902: flag=_wrap_MovableJointImpl6_getPosCoordsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 903: flag=_wrap_MovableJointImpl6_setDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 904: flag=_wrap_MovableJointImpl6_getDOFsOffset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 905: flag=_wrap_new_RevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 906: flag=_wrap_delete_RevoluteJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 907: flag=_wrap_RevoluteJoint_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 908: flag=_wrap_RevoluteJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 909: flag=_wrap_RevoluteJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 910: flag=_wrap_RevoluteJoint_setAxis(resc,resv,argc,(mxArray**)(argv)); break;
+  case 911: flag=_wrap_RevoluteJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 912: flag=_wrap_RevoluteJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 913: flag=_wrap_RevoluteJoint_getAxis(resc,resv,argc,(mxArray**)(argv)); break;
+  case 914: flag=_wrap_RevoluteJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 915: flag=_wrap_RevoluteJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 916: flag=_wrap_RevoluteJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 917: flag=_wrap_RevoluteJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 918: flag=_wrap_RevoluteJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 919: flag=_wrap_RevoluteJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 920: flag=_wrap_RevoluteJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 921: flag=_wrap_RevoluteJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 922: flag=_wrap_RevoluteJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 923: flag=_wrap_RevoluteJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break;
+  case 924: flag=_wrap_RevoluteJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 925: flag=_wrap_RevoluteJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 926: flag=_wrap_RevoluteJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 927: flag=_wrap_RevoluteJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 928: flag=_wrap_RevoluteJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 929: flag=_wrap_RevoluteJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 930: flag=_wrap_new_PrismaticJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 931: flag=_wrap_delete_PrismaticJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 932: flag=_wrap_PrismaticJoint_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 933: flag=_wrap_PrismaticJoint_setAttachedLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 934: flag=_wrap_PrismaticJoint_setRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 935: flag=_wrap_PrismaticJoint_setAxis(resc,resv,argc,(mxArray**)(argv)); break;
+  case 936: flag=_wrap_PrismaticJoint_getFirstAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 937: flag=_wrap_PrismaticJoint_getSecondAttachedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 938: flag=_wrap_PrismaticJoint_getAxis(resc,resv,argc,(mxArray**)(argv)); break;
+  case 939: flag=_wrap_PrismaticJoint_getRestTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 940: flag=_wrap_PrismaticJoint_getTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 941: flag=_wrap_PrismaticJoint_getTransformDerivative(resc,resv,argc,(mxArray**)(argv)); break;
+  case 942: flag=_wrap_PrismaticJoint_getMotionSubspaceVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 943: flag=_wrap_PrismaticJoint_computeChildPosVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 944: flag=_wrap_PrismaticJoint_computeChildVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 945: flag=_wrap_PrismaticJoint_computeChildVelAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 946: flag=_wrap_PrismaticJoint_computeChildAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 947: flag=_wrap_PrismaticJoint_computeChildBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 948: flag=_wrap_PrismaticJoint_computeJointTorque(resc,resv,argc,(mxArray**)(argv)); break;
+  case 949: flag=_wrap_PrismaticJoint_hasPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 950: flag=_wrap_PrismaticJoint_enablePosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 951: flag=_wrap_PrismaticJoint_getPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 952: flag=_wrap_PrismaticJoint_getMinPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 953: flag=_wrap_PrismaticJoint_getMaxPosLimit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 954: flag=_wrap_PrismaticJoint_setPosLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 955: flag=_wrap_new_Traversal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 956: flag=_wrap_delete_Traversal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 957: flag=_wrap_Traversal_getNrOfVisitedLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 958: flag=_wrap_Traversal_getLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 959: flag=_wrap_Traversal_getBaseLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 960: flag=_wrap_Traversal_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 961: flag=_wrap_Traversal_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 962: flag=_wrap_Traversal_getParentLinkFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 963: flag=_wrap_Traversal_getParentJointFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 964: flag=_wrap_Traversal_getTraversalIndexFromLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 965: flag=_wrap_Traversal_reset(resc,resv,argc,(mxArray**)(argv)); break;
+  case 966: flag=_wrap_Traversal_addTraversalBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 967: flag=_wrap_Traversal_addTraversalElement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 968: flag=_wrap_Traversal_isParentOf(resc,resv,argc,(mxArray**)(argv)); break;
+  case 969: flag=_wrap_Traversal_getChildLinkIndexFromJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 970: flag=_wrap_Traversal_getParentLinkIndexFromJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 971: flag=_wrap_Traversal_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 972: flag=_wrap_new_Material(resc,resv,argc,(mxArray**)(argv)); break;
+  case 973: flag=_wrap_Material_name(resc,resv,argc,(mxArray**)(argv)); break;
+  case 974: flag=_wrap_Material_hasColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 975: flag=_wrap_Material_color(resc,resv,argc,(mxArray**)(argv)); break;
+  case 976: flag=_wrap_Material_setColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 977: flag=_wrap_Material_hasTexture(resc,resv,argc,(mxArray**)(argv)); break;
+  case 978: flag=_wrap_Material_texture(resc,resv,argc,(mxArray**)(argv)); break;
+  case 979: flag=_wrap_Material_setTexture(resc,resv,argc,(mxArray**)(argv)); break;
+  case 980: flag=_wrap_delete_Material(resc,resv,argc,(mxArray**)(argv)); break;
+  case 981: flag=_wrap_delete_SolidShape(resc,resv,argc,(mxArray**)(argv)); break;
+  case 982: flag=_wrap_SolidShape_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 983: flag=_wrap_SolidShape_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 984: flag=_wrap_SolidShape_setName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 985: flag=_wrap_SolidShape_isNameValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 986: flag=_wrap_SolidShape_getLink_H_geometry(resc,resv,argc,(mxArray**)(argv)); break;
+  case 987: flag=_wrap_SolidShape_setLink_H_geometry(resc,resv,argc,(mxArray**)(argv)); break;
+  case 988: flag=_wrap_SolidShape_isMaterialSet(resc,resv,argc,(mxArray**)(argv)); break;
+  case 989: flag=_wrap_SolidShape_getMaterial(resc,resv,argc,(mxArray**)(argv)); break;
+  case 990: flag=_wrap_SolidShape_setMaterial(resc,resv,argc,(mxArray**)(argv)); break;
+  case 991: flag=_wrap_SolidShape_isSphere(resc,resv,argc,(mxArray**)(argv)); break;
+  case 992: flag=_wrap_SolidShape_isBox(resc,resv,argc,(mxArray**)(argv)); break;
+  case 993: flag=_wrap_SolidShape_isCylinder(resc,resv,argc,(mxArray**)(argv)); break;
+  case 994: flag=_wrap_SolidShape_isExternalMesh(resc,resv,argc,(mxArray**)(argv)); break;
+  case 995: flag=_wrap_SolidShape_asSphere(resc,resv,argc,(mxArray**)(argv)); break;
+  case 996: flag=_wrap_SolidShape_asBox(resc,resv,argc,(mxArray**)(argv)); break;
+  case 997: flag=_wrap_SolidShape_asCylinder(resc,resv,argc,(mxArray**)(argv)); break;
+  case 998: flag=_wrap_SolidShape_asExternalMesh(resc,resv,argc,(mxArray**)(argv)); break;
+  case 999: flag=_wrap_delete_Sphere(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1000: flag=_wrap_Sphere_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1001: flag=_wrap_Sphere_getRadius(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1002: flag=_wrap_Sphere_setRadius(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1003: flag=_wrap_new_Sphere(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1004: flag=_wrap_delete_Box(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1005: flag=_wrap_Box_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1006: flag=_wrap_Box_getX(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1007: flag=_wrap_Box_setX(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1008: flag=_wrap_Box_getY(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1009: flag=_wrap_Box_setY(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1010: flag=_wrap_Box_getZ(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1011: flag=_wrap_Box_setZ(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1012: flag=_wrap_new_Box(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1013: flag=_wrap_delete_Cylinder(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1014: flag=_wrap_Cylinder_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1015: flag=_wrap_Cylinder_getLength(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1016: flag=_wrap_Cylinder_setLength(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1017: flag=_wrap_Cylinder_getRadius(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1018: flag=_wrap_Cylinder_setRadius(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1019: flag=_wrap_new_Cylinder(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1020: flag=_wrap_delete_ExternalMesh(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1021: flag=_wrap_ExternalMesh_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1022: flag=_wrap_ExternalMesh_getFilename(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1023: flag=_wrap_ExternalMesh_setFilename(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1024: flag=_wrap_ExternalMesh_getScale(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1025: flag=_wrap_ExternalMesh_setScale(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1026: flag=_wrap_new_ExternalMesh(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1027: flag=_wrap_delete_ModelSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1028: flag=_wrap_new_ModelSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1029: flag=_wrap_ModelSolidShapes_clear(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1030: flag=_wrap_ModelSolidShapes_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1031: flag=_wrap_ModelSolidShapes_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1032: flag=_wrap_ModelSolidShapes_getLinkSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1033: flag=_wrap_Neighbor_neighborLink_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1034: flag=_wrap_Neighbor_neighborLink_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1035: flag=_wrap_Neighbor_neighborJoint_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1036: flag=_wrap_Neighbor_neighborJoint_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1037: flag=_wrap_new_Neighbor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1038: flag=_wrap_delete_Neighbor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1039: flag=_wrap_new_Model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1040: flag=_wrap_Model_copy(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1041: flag=_wrap_delete_Model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1042: flag=_wrap_Model_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1043: flag=_wrap_Model_getLinkName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1044: flag=_wrap_Model_getLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1045: flag=_wrap_Model_isValidLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1046: flag=_wrap_Model_getLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1047: flag=_wrap_Model_addLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1048: flag=_wrap_Model_getNrOfJoints(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1049: flag=_wrap_Model_getJointName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1050: flag=_wrap_Model_getTotalMass(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1051: flag=_wrap_Model_getJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1052: flag=_wrap_Model_getJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1053: flag=_wrap_Model_isValidJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1054: flag=_wrap_Model_isLinkNameUsed(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1055: flag=_wrap_Model_isJointNameUsed(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1056: flag=_wrap_Model_isFrameNameUsed(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1057: flag=_wrap_Model_addJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1058: flag=_wrap_Model_addJointAndLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1059: flag=_wrap_Model_insertLinkToExistingJointAndAddJointForDisplacedLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1060: flag=_wrap_Model_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1061: flag=_wrap_Model_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1062: flag=_wrap_Model_getNrOfFrames(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1063: flag=_wrap_Model_addAdditionalFrameToLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1064: flag=_wrap_Model_getFrameName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1065: flag=_wrap_Model_getFrameIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1066: flag=_wrap_Model_isValidFrameIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1067: flag=_wrap_Model_getFrameTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1068: flag=_wrap_Model_getFrameLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1069: flag=_wrap_Model_getLinkAdditionalFrames(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1070: flag=_wrap_Model_getNrOfNeighbors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1071: flag=_wrap_Model_getNeighbor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1072: flag=_wrap_Model_setDefaultBaseLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1073: flag=_wrap_Model_getDefaultBaseLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1074: flag=_wrap_Model_computeFullTreeTraversal(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1075: flag=_wrap_Model_getInertialParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1076: flag=_wrap_Model_updateInertialParameters(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1077: flag=_wrap_Model_visualSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1078: flag=_wrap_Model_collisionSolidShapes(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1079: flag=_wrap_Model_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1080: flag=_wrap_new_JointPosDoubleArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1081: flag=_wrap_JointPosDoubleArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1082: flag=_wrap_JointPosDoubleArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1083: flag=_wrap_delete_JointPosDoubleArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1084: flag=_wrap_new_JointDOFsDoubleArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1085: flag=_wrap_JointDOFsDoubleArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1086: flag=_wrap_JointDOFsDoubleArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1087: flag=_wrap_delete_JointDOFsDoubleArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1088: flag=_wrap_new_DOFSpatialForceArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1089: flag=_wrap_DOFSpatialForceArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1090: flag=_wrap_DOFSpatialForceArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1091: flag=_wrap_DOFSpatialForceArray_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1092: flag=_wrap_delete_DOFSpatialForceArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1093: flag=_wrap_new_DOFSpatialMotionArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1094: flag=_wrap_DOFSpatialMotionArray_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1095: flag=_wrap_DOFSpatialMotionArray_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1096: flag=_wrap_DOFSpatialMotionArray_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1097: flag=_wrap_delete_DOFSpatialMotionArray(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1098: flag=_wrap_new_FrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1099: flag=_wrap_FrameFreeFloatingJacobian_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1100: flag=_wrap_FrameFreeFloatingJacobian_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1101: flag=_wrap_delete_FrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1102: flag=_wrap_new_MomentumFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1103: flag=_wrap_MomentumFreeFloatingJacobian_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1104: flag=_wrap_MomentumFreeFloatingJacobian_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1105: flag=_wrap_delete_MomentumFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1106: flag=_wrap_new_FreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1107: flag=_wrap_FreeFloatingMassMatrix_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1108: flag=_wrap_delete_FreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1109: flag=_wrap_new_FreeFloatingPos(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1110: flag=_wrap_FreeFloatingPos_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1111: flag=_wrap_FreeFloatingPos_worldBasePos(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1112: flag=_wrap_FreeFloatingPos_jointPos(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1113: flag=_wrap_FreeFloatingPos_getNrOfPosCoords(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1114: flag=_wrap_delete_FreeFloatingPos(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1115: flag=_wrap_new_FreeFloatingGeneralizedTorques(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1116: flag=_wrap_FreeFloatingGeneralizedTorques_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1117: flag=_wrap_FreeFloatingGeneralizedTorques_baseWrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1118: flag=_wrap_FreeFloatingGeneralizedTorques_jointTorques(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1119: flag=_wrap_FreeFloatingGeneralizedTorques_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1120: flag=_wrap_delete_FreeFloatingGeneralizedTorques(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1121: flag=_wrap_new_FreeFloatingVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1122: flag=_wrap_FreeFloatingVel_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1123: flag=_wrap_FreeFloatingVel_baseVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1124: flag=_wrap_FreeFloatingVel_jointVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1125: flag=_wrap_FreeFloatingVel_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1126: flag=_wrap_delete_FreeFloatingVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1127: flag=_wrap_new_FreeFloatingAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1128: flag=_wrap_FreeFloatingAcc_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1129: flag=_wrap_FreeFloatingAcc_baseAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1130: flag=_wrap_FreeFloatingAcc_jointAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1131: flag=_wrap_FreeFloatingAcc_getNrOfDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1132: flag=_wrap_delete_FreeFloatingAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1133: flag=_wrap_ContactWrench_contactId(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1134: flag=_wrap_ContactWrench_contactPoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1135: flag=_wrap_ContactWrench_contactWrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1136: flag=_wrap_new_ContactWrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1137: flag=_wrap_delete_ContactWrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1138: flag=_wrap_new_LinkContactWrenches(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1139: flag=_wrap_LinkContactWrenches_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1140: flag=_wrap_LinkContactWrenches_getNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1141: flag=_wrap_LinkContactWrenches_setNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1142: flag=_wrap_LinkContactWrenches_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1143: flag=_wrap_LinkContactWrenches_contactWrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1144: flag=_wrap_LinkContactWrenches_computeNetWrenches(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1145: flag=_wrap_LinkContactWrenches_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1146: flag=_wrap_delete_LinkContactWrenches(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1147: flag=_wrap_SolidShapesVector_pop(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1148: flag=_wrap_SolidShapesVector_brace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1149: flag=_wrap_SolidShapesVector_setbrace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1150: flag=_wrap_SolidShapesVector_append(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1151: flag=_wrap_SolidShapesVector_empty(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1152: flag=_wrap_SolidShapesVector_size(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1153: flag=_wrap_SolidShapesVector_swap(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1154: flag=_wrap_SolidShapesVector_begin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1155: flag=_wrap_SolidShapesVector_end(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1156: flag=_wrap_SolidShapesVector_rbegin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1157: flag=_wrap_SolidShapesVector_rend(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1158: flag=_wrap_SolidShapesVector_clear(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1159: flag=_wrap_SolidShapesVector_get_allocator(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1160: flag=_wrap_SolidShapesVector_pop_back(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1161: flag=_wrap_SolidShapesVector_erase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1162: flag=_wrap_new_SolidShapesVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1163: flag=_wrap_SolidShapesVector_push_back(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1164: flag=_wrap_SolidShapesVector_front(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1165: flag=_wrap_SolidShapesVector_back(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1166: flag=_wrap_SolidShapesVector_assign(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1167: flag=_wrap_SolidShapesVector_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1168: flag=_wrap_SolidShapesVector_insert(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1169: flag=_wrap_SolidShapesVector_reserve(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1170: flag=_wrap_SolidShapesVector_capacity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1171: flag=_wrap_delete_SolidShapesVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1172: flag=_wrap_LinksSolidShapesVector_pop(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1173: flag=_wrap_LinksSolidShapesVector_brace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1174: flag=_wrap_LinksSolidShapesVector_setbrace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1175: flag=_wrap_LinksSolidShapesVector_append(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1176: flag=_wrap_LinksSolidShapesVector_empty(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1177: flag=_wrap_LinksSolidShapesVector_size(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1178: flag=_wrap_LinksSolidShapesVector_swap(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1179: flag=_wrap_LinksSolidShapesVector_begin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1180: flag=_wrap_LinksSolidShapesVector_end(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1181: flag=_wrap_LinksSolidShapesVector_rbegin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1182: flag=_wrap_LinksSolidShapesVector_rend(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1183: flag=_wrap_LinksSolidShapesVector_clear(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1184: flag=_wrap_LinksSolidShapesVector_get_allocator(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1185: flag=_wrap_LinksSolidShapesVector_pop_back(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1186: flag=_wrap_LinksSolidShapesVector_erase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1187: flag=_wrap_new_LinksSolidShapesVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1188: flag=_wrap_LinksSolidShapesVector_push_back(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1189: flag=_wrap_LinksSolidShapesVector_front(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1190: flag=_wrap_LinksSolidShapesVector_back(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1191: flag=_wrap_LinksSolidShapesVector_assign(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1192: flag=_wrap_LinksSolidShapesVector_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1193: flag=_wrap_LinksSolidShapesVector_insert(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1194: flag=_wrap_LinksSolidShapesVector_reserve(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1195: flag=_wrap_LinksSolidShapesVector_capacity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1196: flag=_wrap_delete_LinksSolidShapesVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1197: flag=_wrap_ForwardPositionKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1198: flag=_wrap_ForwardVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1199: flag=_wrap_ForwardPosVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1200: flag=_wrap_ForwardPosVelKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1201: flag=_wrap_ForwardAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1202: flag=_wrap_ForwardBiasAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1203: flag=_wrap_ComputeLinearAndAngularMomentum(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1204: flag=_wrap_ComputeLinearAndAngularMomentumDerivativeBias(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1205: flag=_wrap_RNEADynamicPhase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1206: flag=_wrap_CompositeRigidBodyAlgorithm(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1207: flag=_wrap_new_ArticulatedBodyAlgorithmInternalBuffers(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1208: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1209: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1210: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_S_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1211: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_S_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1212: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_U_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1213: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_U_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1214: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_D_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1215: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_D_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1216: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_u_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1217: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_u_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1218: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksVel_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1219: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksVel_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1220: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1221: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasAcceleration_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1222: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1223: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksAccelerations_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1224: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linkABIs_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1225: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linkABIs_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1226: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1227: flag=_wrap_ArticulatedBodyAlgorithmInternalBuffers_linksBiasWrench_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1228: flag=_wrap_delete_ArticulatedBodyAlgorithmInternalBuffers(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1229: flag=_wrap_ArticulatedBodyAlgorithm(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1230: flag=_wrap_InverseDynamicsInertialParametersRegressor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1231: flag=_wrap_NR_OF_SENSOR_TYPES_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1232: flag=_wrap_isLinkSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1233: flag=_wrap_isJointSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1234: flag=_wrap_getSensorTypeSize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1235: flag=_wrap_delete_Sensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1236: flag=_wrap_Sensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1237: flag=_wrap_Sensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1238: flag=_wrap_Sensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1239: flag=_wrap_Sensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1240: flag=_wrap_Sensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1241: flag=_wrap_Sensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1242: flag=_wrap_Sensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1243: flag=_wrap_delete_JointSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1244: flag=_wrap_JointSensor_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1245: flag=_wrap_JointSensor_getParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1246: flag=_wrap_JointSensor_setParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1247: flag=_wrap_JointSensor_setParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1248: flag=_wrap_JointSensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1249: flag=_wrap_delete_LinkSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1250: flag=_wrap_LinkSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1251: flag=_wrap_LinkSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1252: flag=_wrap_LinkSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1253: flag=_wrap_LinkSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1254: flag=_wrap_LinkSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1255: flag=_wrap_LinkSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1256: flag=_wrap_LinkSensor_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1257: flag=_wrap_new_SensorsList(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1258: flag=_wrap_delete_SensorsList(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1259: flag=_wrap_SensorsList_addSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1260: flag=_wrap_SensorsList_setSerialization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1261: flag=_wrap_SensorsList_getSerialization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1262: flag=_wrap_SensorsList_getNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1263: flag=_wrap_SensorsList_getSensorIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1264: flag=_wrap_SensorsList_getSizeOfAllSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1265: flag=_wrap_SensorsList_getSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1266: flag=_wrap_SensorsList_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1267: flag=_wrap_SensorsList_removeSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1268: flag=_wrap_SensorsList_removeAllSensorsOfType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1269: flag=_wrap_SensorsList_getSixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1270: flag=_wrap_SensorsList_getAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1271: flag=_wrap_SensorsList_getGyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1272: flag=_wrap_SensorsList_getThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1273: flag=_wrap_SensorsList_getThreeAxisForceTorqueContactSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1274: flag=_wrap_new_SensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1275: flag=_wrap_delete_SensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1276: flag=_wrap_SensorsMeasurements_setNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1277: flag=_wrap_SensorsMeasurements_getNrOfSensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1278: flag=_wrap_SensorsMeasurements_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1279: flag=_wrap_SensorsMeasurements_toVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1280: flag=_wrap_SensorsMeasurements_setMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1281: flag=_wrap_SensorsMeasurements_getMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1282: flag=_wrap_SensorsMeasurements_getSizeOfAllSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1283: flag=_wrap_new_SixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1284: flag=_wrap_delete_SixAxisForceTorqueSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1285: flag=_wrap_SixAxisForceTorqueSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1286: flag=_wrap_SixAxisForceTorqueSensor_setFirstLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1287: flag=_wrap_SixAxisForceTorqueSensor_setSecondLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1288: flag=_wrap_SixAxisForceTorqueSensor_getFirstLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1289: flag=_wrap_SixAxisForceTorqueSensor_getSecondLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1290: flag=_wrap_SixAxisForceTorqueSensor_setFirstLinkName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1291: flag=_wrap_SixAxisForceTorqueSensor_setSecondLinkName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1292: flag=_wrap_SixAxisForceTorqueSensor_getFirstLinkName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1293: flag=_wrap_SixAxisForceTorqueSensor_getSecondLinkName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1294: flag=_wrap_SixAxisForceTorqueSensor_setParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1295: flag=_wrap_SixAxisForceTorqueSensor_setParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1296: flag=_wrap_SixAxisForceTorqueSensor_setAppliedWrenchLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1297: flag=_wrap_SixAxisForceTorqueSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1298: flag=_wrap_SixAxisForceTorqueSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1299: flag=_wrap_SixAxisForceTorqueSensor_getParentJoint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1300: flag=_wrap_SixAxisForceTorqueSensor_getParentJointIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1301: flag=_wrap_SixAxisForceTorqueSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1302: flag=_wrap_SixAxisForceTorqueSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1303: flag=_wrap_SixAxisForceTorqueSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1304: flag=_wrap_SixAxisForceTorqueSensor_getAppliedWrenchLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1305: flag=_wrap_SixAxisForceTorqueSensor_isLinkAttachedToSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1306: flag=_wrap_SixAxisForceTorqueSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1307: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1308: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLinkMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1309: flag=_wrap_SixAxisForceTorqueSensor_getWrenchAppliedOnLinkInverseMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1310: flag=_wrap_SixAxisForceTorqueSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1311: flag=_wrap_SixAxisForceTorqueSensor_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1312: flag=_wrap_new_AccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1313: flag=_wrap_delete_AccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1314: flag=_wrap_AccelerometerSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1315: flag=_wrap_AccelerometerSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1316: flag=_wrap_AccelerometerSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1317: flag=_wrap_AccelerometerSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1318: flag=_wrap_AccelerometerSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1319: flag=_wrap_AccelerometerSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1320: flag=_wrap_AccelerometerSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1321: flag=_wrap_AccelerometerSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1322: flag=_wrap_AccelerometerSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1323: flag=_wrap_AccelerometerSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1324: flag=_wrap_AccelerometerSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1325: flag=_wrap_AccelerometerSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1326: flag=_wrap_AccelerometerSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1327: flag=_wrap_new_GyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1328: flag=_wrap_delete_GyroscopeSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1329: flag=_wrap_GyroscopeSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1330: flag=_wrap_GyroscopeSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1331: flag=_wrap_GyroscopeSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1332: flag=_wrap_GyroscopeSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1333: flag=_wrap_GyroscopeSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1334: flag=_wrap_GyroscopeSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1335: flag=_wrap_GyroscopeSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1336: flag=_wrap_GyroscopeSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1337: flag=_wrap_GyroscopeSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1338: flag=_wrap_GyroscopeSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1339: flag=_wrap_GyroscopeSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1340: flag=_wrap_GyroscopeSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1341: flag=_wrap_GyroscopeSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1342: flag=_wrap_new_ThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1343: flag=_wrap_delete_ThreeAxisAngularAccelerometerSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1344: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1345: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1346: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1347: flag=_wrap_ThreeAxisAngularAccelerometerSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1348: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1349: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1350: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1351: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1352: flag=_wrap_ThreeAxisAngularAccelerometerSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1353: flag=_wrap_ThreeAxisAngularAccelerometerSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1354: flag=_wrap_ThreeAxisAngularAccelerometerSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1355: flag=_wrap_ThreeAxisAngularAccelerometerSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1356: flag=_wrap_ThreeAxisAngularAccelerometerSensor_predictMeasurement(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1357: flag=_wrap_new_ThreeAxisForceTorqueContactSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1358: flag=_wrap_delete_ThreeAxisForceTorqueContactSensor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1359: flag=_wrap_ThreeAxisForceTorqueContactSensor_setName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1360: flag=_wrap_ThreeAxisForceTorqueContactSensor_setLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1361: flag=_wrap_ThreeAxisForceTorqueContactSensor_setParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1362: flag=_wrap_ThreeAxisForceTorqueContactSensor_setParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1363: flag=_wrap_ThreeAxisForceTorqueContactSensor_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1364: flag=_wrap_ThreeAxisForceTorqueContactSensor_getSensorType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1365: flag=_wrap_ThreeAxisForceTorqueContactSensor_getParentLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1366: flag=_wrap_ThreeAxisForceTorqueContactSensor_getParentLinkIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1367: flag=_wrap_ThreeAxisForceTorqueContactSensor_getLinkSensorTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1368: flag=_wrap_ThreeAxisForceTorqueContactSensor_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1369: flag=_wrap_ThreeAxisForceTorqueContactSensor_clone(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1370: flag=_wrap_ThreeAxisForceTorqueContactSensor_updateIndices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1371: flag=_wrap_ThreeAxisForceTorqueContactSensor_setLoadCellLocations(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1372: flag=_wrap_ThreeAxisForceTorqueContactSensor_getLoadCellLocations(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1373: flag=_wrap_ThreeAxisForceTorqueContactSensor_computeThreeAxisForceTorqueFromLoadCellMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1374: flag=_wrap_ThreeAxisForceTorqueContactSensor_computeCenterOfPressureFromLoadCellMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1375: flag=_wrap_predictSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1376: flag=_wrap_predictSensorsMeasurementsFromRawBuffers(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1377: flag=_wrap_dofsListFromURDF(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1378: flag=_wrap_dofsListFromURDFString(resc,resv,argc,(mxArray**)(argv)); break;
   case 1379: flag=_wrap_ModelParserOptions_addSensorFramesAsAdditionalFrames_get(resc,resv,argc,(mxArray**)(argv)); break;
   case 1380: flag=_wrap_ModelParserOptions_addSensorFramesAsAdditionalFrames_set(resc,resv,argc,(mxArray**)(argv)); break;
   case 1381: flag=_wrap_ModelParserOptions_originalFilename_get(resc,resv,argc,(mxArray**)(argv)); break;
@@ -100870,93 +104309,93 @@ void mexFunction(int resc, mxArray *resv[], int argc, const mxArray *argv[]) {
   case 1398: flag=_wrap_ModelExporterOptions_baseLink_set(resc,resv,argc,(mxArray**)(argv)); break;
   case 1399: flag=_wrap_ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_get(resc,resv,argc,(mxArray**)(argv)); break;
   case 1400: flag=_wrap_ModelExporterOptions_exportFirstBaseLinkAdditionalFrameAsFakeURDFBase_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1401: flag=_wrap_new_ModelExporterOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1402: flag=_wrap_delete_ModelExporterOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1403: flag=_wrap_new_ModelExporter(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1404: flag=_wrap_delete_ModelExporter(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1405: flag=_wrap_ModelExporter_exportingOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1406: flag=_wrap_ModelExporter_setExportingOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1407: flag=_wrap_ModelExporter_init(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1408: flag=_wrap_ModelExporter_model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1409: flag=_wrap_ModelExporter_sensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1410: flag=_wrap_ModelExporter_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1411: flag=_wrap_ModelExporter_exportModelToString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1412: flag=_wrap_ModelExporter_exportModelToFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1413: flag=_wrap_new_ModelCalibrationHelper(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1414: flag=_wrap_delete_ModelCalibrationHelper(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1415: flag=_wrap_ModelCalibrationHelper_loadModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1416: flag=_wrap_ModelCalibrationHelper_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1417: flag=_wrap_ModelCalibrationHelper_updateModelInertialParametersToString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1418: flag=_wrap_ModelCalibrationHelper_updateModelInertialParametersToFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1419: flag=_wrap_ModelCalibrationHelper_model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1420: flag=_wrap_ModelCalibrationHelper_sensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1421: flag=_wrap_ModelCalibrationHelper_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1422: flag=_wrap_new_UnknownWrenchContact(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1423: flag=_wrap_UnknownWrenchContact_unknownType_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1424: flag=_wrap_UnknownWrenchContact_unknownType_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1425: flag=_wrap_UnknownWrenchContact_contactPoint_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1426: flag=_wrap_UnknownWrenchContact_contactPoint_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1427: flag=_wrap_UnknownWrenchContact_forceDirection_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1428: flag=_wrap_UnknownWrenchContact_forceDirection_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1429: flag=_wrap_UnknownWrenchContact_knownWrench_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1430: flag=_wrap_UnknownWrenchContact_knownWrench_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1431: flag=_wrap_UnknownWrenchContact_contactId_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1432: flag=_wrap_UnknownWrenchContact_contactId_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1433: flag=_wrap_delete_UnknownWrenchContact(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1434: flag=_wrap_new_LinkUnknownWrenchContacts(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1435: flag=_wrap_LinkUnknownWrenchContacts_clear(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1436: flag=_wrap_LinkUnknownWrenchContacts_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1437: flag=_wrap_LinkUnknownWrenchContacts_getNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1438: flag=_wrap_LinkUnknownWrenchContacts_setNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1439: flag=_wrap_LinkUnknownWrenchContacts_addNewContactForLink(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1440: flag=_wrap_LinkUnknownWrenchContacts_addNewContactInFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1441: flag=_wrap_LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1442: flag=_wrap_LinkUnknownWrenchContacts_contactWrench(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1443: flag=_wrap_LinkUnknownWrenchContacts_toString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1444: flag=_wrap_delete_LinkUnknownWrenchContacts(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1445: flag=_wrap_new_estimateExternalWrenchesBuffers(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1446: flag=_wrap_estimateExternalWrenchesBuffers_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1447: flag=_wrap_estimateExternalWrenchesBuffers_getNrOfSubModels(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1448: flag=_wrap_estimateExternalWrenchesBuffers_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1449: flag=_wrap_estimateExternalWrenchesBuffers_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1450: flag=_wrap_estimateExternalWrenchesBuffers_A_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1451: flag=_wrap_estimateExternalWrenchesBuffers_A_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1452: flag=_wrap_estimateExternalWrenchesBuffers_x_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1453: flag=_wrap_estimateExternalWrenchesBuffers_x_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1454: flag=_wrap_estimateExternalWrenchesBuffers_b_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1455: flag=_wrap_estimateExternalWrenchesBuffers_b_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1456: flag=_wrap_estimateExternalWrenchesBuffers_pinvA_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1457: flag=_wrap_estimateExternalWrenchesBuffers_pinvA_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1458: flag=_wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1459: flag=_wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1460: flag=_wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1461: flag=_wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1462: flag=_wrap_delete_estimateExternalWrenchesBuffers(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1463: flag=_wrap_estimateExternalWrenchesWithoutInternalFT(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1464: flag=_wrap_estimateExternalWrenches(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1465: flag=_wrap_dynamicsEstimationForwardVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1466: flag=_wrap_dynamicsEstimationForwardVelKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1467: flag=_wrap_computeLinkNetWrenchesWithoutGravity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1468: flag=_wrap_estimateLinkContactWrenchesFromLinkNetExternalWrenches(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1469: flag=_wrap_new_ExtWrenchesAndJointTorquesEstimator(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1470: flag=_wrap_delete_ExtWrenchesAndJointTorquesEstimator(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1471: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_setModelAndSensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1472: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1473: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1474: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1475: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_sensors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1476: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_submodels(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1477: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1478: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1479: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1480: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1481: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1482: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1483: flag=_wrap_new_SimpleLeggedOdometry(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1484: flag=_wrap_delete_SimpleLeggedOdometry(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1485: flag=_wrap_SimpleLeggedOdometry_setModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1486: flag=_wrap_SimpleLeggedOdometry_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1487: flag=_wrap_SimpleLeggedOdometry_loadModelFromFileWithSpecifiedDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1401: flag=_wrap_ModelExporterOptions_robotExportedName_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1402: flag=_wrap_ModelExporterOptions_robotExportedName_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1403: flag=_wrap_new_ModelExporterOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1404: flag=_wrap_delete_ModelExporterOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1405: flag=_wrap_new_ModelExporter(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1406: flag=_wrap_delete_ModelExporter(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1407: flag=_wrap_ModelExporter_exportingOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1408: flag=_wrap_ModelExporter_setExportingOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1409: flag=_wrap_ModelExporter_init(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1410: flag=_wrap_ModelExporter_model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1411: flag=_wrap_ModelExporter_sensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1412: flag=_wrap_ModelExporter_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1413: flag=_wrap_ModelExporter_exportModelToString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1414: flag=_wrap_ModelExporter_exportModelToFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1415: flag=_wrap_new_ModelCalibrationHelper(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1416: flag=_wrap_delete_ModelCalibrationHelper(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1417: flag=_wrap_ModelCalibrationHelper_loadModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1418: flag=_wrap_ModelCalibrationHelper_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1419: flag=_wrap_ModelCalibrationHelper_updateModelInertialParametersToString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1420: flag=_wrap_ModelCalibrationHelper_updateModelInertialParametersToFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1421: flag=_wrap_ModelCalibrationHelper_model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1422: flag=_wrap_ModelCalibrationHelper_sensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1423: flag=_wrap_ModelCalibrationHelper_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1424: flag=_wrap_new_UnknownWrenchContact(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1425: flag=_wrap_UnknownWrenchContact_unknownType_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1426: flag=_wrap_UnknownWrenchContact_unknownType_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1427: flag=_wrap_UnknownWrenchContact_contactPoint_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1428: flag=_wrap_UnknownWrenchContact_contactPoint_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1429: flag=_wrap_UnknownWrenchContact_forceDirection_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1430: flag=_wrap_UnknownWrenchContact_forceDirection_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1431: flag=_wrap_UnknownWrenchContact_knownWrench_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1432: flag=_wrap_UnknownWrenchContact_knownWrench_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1433: flag=_wrap_UnknownWrenchContact_contactId_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1434: flag=_wrap_UnknownWrenchContact_contactId_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1435: flag=_wrap_delete_UnknownWrenchContact(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1436: flag=_wrap_new_LinkUnknownWrenchContacts(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1437: flag=_wrap_LinkUnknownWrenchContacts_clear(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1438: flag=_wrap_LinkUnknownWrenchContacts_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1439: flag=_wrap_LinkUnknownWrenchContacts_getNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1440: flag=_wrap_LinkUnknownWrenchContacts_setNrOfContactsForLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1441: flag=_wrap_LinkUnknownWrenchContacts_addNewContactForLink(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1442: flag=_wrap_LinkUnknownWrenchContacts_addNewContactInFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1443: flag=_wrap_LinkUnknownWrenchContacts_addNewUnknownFullWrenchInFrameOrigin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1444: flag=_wrap_LinkUnknownWrenchContacts_contactWrench(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1445: flag=_wrap_LinkUnknownWrenchContacts_toString(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1446: flag=_wrap_delete_LinkUnknownWrenchContacts(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1447: flag=_wrap_new_estimateExternalWrenchesBuffers(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1448: flag=_wrap_estimateExternalWrenchesBuffers_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1449: flag=_wrap_estimateExternalWrenchesBuffers_getNrOfSubModels(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1450: flag=_wrap_estimateExternalWrenchesBuffers_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1451: flag=_wrap_estimateExternalWrenchesBuffers_isConsistent(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1452: flag=_wrap_estimateExternalWrenchesBuffers_A_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1453: flag=_wrap_estimateExternalWrenchesBuffers_A_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1454: flag=_wrap_estimateExternalWrenchesBuffers_x_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1455: flag=_wrap_estimateExternalWrenchesBuffers_x_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1456: flag=_wrap_estimateExternalWrenchesBuffers_b_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1457: flag=_wrap_estimateExternalWrenchesBuffers_b_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1458: flag=_wrap_estimateExternalWrenchesBuffers_pinvA_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1459: flag=_wrap_estimateExternalWrenchesBuffers_pinvA_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1460: flag=_wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1461: flag=_wrap_estimateExternalWrenchesBuffers_b_contacts_subtree_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1462: flag=_wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1463: flag=_wrap_estimateExternalWrenchesBuffers_subModelBase_H_link_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1464: flag=_wrap_delete_estimateExternalWrenchesBuffers(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1465: flag=_wrap_estimateExternalWrenchesWithoutInternalFT(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1466: flag=_wrap_estimateExternalWrenches(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1467: flag=_wrap_dynamicsEstimationForwardVelAccKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1468: flag=_wrap_dynamicsEstimationForwardVelKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1469: flag=_wrap_computeLinkNetWrenchesWithoutGravity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1470: flag=_wrap_estimateLinkContactWrenchesFromLinkNetExternalWrenches(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1471: flag=_wrap_new_ExtWrenchesAndJointTorquesEstimator(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1472: flag=_wrap_delete_ExtWrenchesAndJointTorquesEstimator(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1473: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_setModelAndSensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1474: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1475: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_loadModelAndSensorsFromFileWithSpecifiedDOFs(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1476: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1477: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_sensors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1478: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_submodels(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1479: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1480: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_updateKinematicsFromFixedBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1481: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_computeExpectedFTSensorsMeasurements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1482: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_estimateExtWrenchesAndJointTorques(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1483: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_checkThatTheModelIsStill(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1484: flag=_wrap_ExtWrenchesAndJointTorquesEstimator_estimateLinkNetWrenchesWithoutGravity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1485: flag=_wrap_new_SimpleLeggedOdometry(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1486: flag=_wrap_delete_SimpleLeggedOdometry(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1487: flag=_wrap_SimpleLeggedOdometry_setModel(resc,resv,argc,(mxArray**)(argv)); break;
   case 1488: flag=_wrap_SimpleLeggedOdometry_model(resc,resv,argc,(mxArray**)(argv)); break;
   case 1489: flag=_wrap_SimpleLeggedOdometry_updateKinematics(resc,resv,argc,(mxArray**)(argv)); break;
   case 1490: flag=_wrap_SimpleLeggedOdometry_init(resc,resv,argc,(mxArray**)(argv)); break;
@@ -101176,290 +104615,284 @@ void mexFunction(int resc, mxArray *resv[], int argc, const mxArray *argv[]) {
   case 1704: flag=_wrap_new_KinDynComputations(resc,resv,argc,(mxArray**)(argv)); break;
   case 1705: flag=_wrap_delete_KinDynComputations(resc,resv,argc,(mxArray**)(argv)); break;
   case 1706: flag=_wrap_KinDynComputations_loadRobotModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1707: flag=_wrap_KinDynComputations_loadRobotModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1708: flag=_wrap_KinDynComputations_loadRobotModelFromString(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1709: flag=_wrap_KinDynComputations_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1710: flag=_wrap_KinDynComputations_setFrameVelocityRepresentation(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1711: flag=_wrap_KinDynComputations_getFrameVelocityRepresentation(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1712: flag=_wrap_KinDynComputations_getNrOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1713: flag=_wrap_KinDynComputations_getDescriptionOfDegreeOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1714: flag=_wrap_KinDynComputations_getDescriptionOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1715: flag=_wrap_KinDynComputations_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1716: flag=_wrap_KinDynComputations_getNrOfFrames(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1717: flag=_wrap_KinDynComputations_getFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1718: flag=_wrap_KinDynComputations_setFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1719: flag=_wrap_KinDynComputations_model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1720: flag=_wrap_KinDynComputations_getRobotModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1721: flag=_wrap_KinDynComputations_getRelativeJacobianSparsityPattern(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1722: flag=_wrap_KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1723: flag=_wrap_KinDynComputations_setJointPos(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1724: flag=_wrap_KinDynComputations_setRobotState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1725: flag=_wrap_KinDynComputations_getRobotState(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1726: flag=_wrap_KinDynComputations_getWorldBaseTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1727: flag=_wrap_KinDynComputations_getBaseTwist(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1728: flag=_wrap_KinDynComputations_getJointPos(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1729: flag=_wrap_KinDynComputations_getJointVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1730: flag=_wrap_KinDynComputations_getModelVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1731: flag=_wrap_KinDynComputations_getFrameIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1732: flag=_wrap_KinDynComputations_getFrameName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1733: flag=_wrap_KinDynComputations_getWorldTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1734: flag=_wrap_KinDynComputations_getWorldTransformsAsHomogeneous(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1735: flag=_wrap_KinDynComputations_getRelativeTransformExplicit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1736: flag=_wrap_KinDynComputations_getRelativeTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1737: flag=_wrap_KinDynComputations_getFrameVel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1738: flag=_wrap_KinDynComputations_getFrameAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1739: flag=_wrap_KinDynComputations_getFrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1740: flag=_wrap_KinDynComputations_getRelativeJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1741: flag=_wrap_KinDynComputations_getRelativeJacobianExplicit(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1742: flag=_wrap_KinDynComputations_getFrameBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1743: flag=_wrap_KinDynComputations_getCenterOfMassPosition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1744: flag=_wrap_KinDynComputations_getCenterOfMassVelocity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1745: flag=_wrap_KinDynComputations_getCenterOfMassJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1746: flag=_wrap_KinDynComputations_getCenterOfMassBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1747: flag=_wrap_KinDynComputations_getAverageVelocity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1748: flag=_wrap_KinDynComputations_getAverageVelocityJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1749: flag=_wrap_KinDynComputations_getCentroidalAverageVelocity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1750: flag=_wrap_KinDynComputations_getCentroidalAverageVelocityJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1751: flag=_wrap_KinDynComputations_getLinearAngularMomentum(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1752: flag=_wrap_KinDynComputations_getLinearAngularMomentumJacobian(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1753: flag=_wrap_KinDynComputations_getCentroidalTotalMomentum(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1754: flag=_wrap_KinDynComputations_getFreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1755: flag=_wrap_KinDynComputations_inverseDynamics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1756: flag=_wrap_KinDynComputations_generalizedBiasForces(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1757: flag=_wrap_KinDynComputations_generalizedGravityForces(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1758: flag=_wrap_KinDynComputations_generalizedExternalForces(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1759: flag=_wrap_KinDynComputations_inverseDynamicsInertialParametersRegressor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1760: flag=_wrap_Matrix4x4Vector_pop(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1761: flag=_wrap_Matrix4x4Vector_brace(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1762: flag=_wrap_Matrix4x4Vector_setbrace(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1763: flag=_wrap_Matrix4x4Vector_append(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1764: flag=_wrap_Matrix4x4Vector_empty(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1765: flag=_wrap_Matrix4x4Vector_size(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1766: flag=_wrap_Matrix4x4Vector_swap(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1767: flag=_wrap_Matrix4x4Vector_begin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1768: flag=_wrap_Matrix4x4Vector_end(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1769: flag=_wrap_Matrix4x4Vector_rbegin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1770: flag=_wrap_Matrix4x4Vector_rend(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1771: flag=_wrap_Matrix4x4Vector_clear(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1772: flag=_wrap_Matrix4x4Vector_get_allocator(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1773: flag=_wrap_Matrix4x4Vector_pop_back(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1774: flag=_wrap_Matrix4x4Vector_erase(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1775: flag=_wrap_new_Matrix4x4Vector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1776: flag=_wrap_Matrix4x4Vector_push_back(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1777: flag=_wrap_Matrix4x4Vector_front(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1778: flag=_wrap_Matrix4x4Vector_back(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1779: flag=_wrap_Matrix4x4Vector_assign(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1780: flag=_wrap_Matrix4x4Vector_resize(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1781: flag=_wrap_Matrix4x4Vector_insert(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1782: flag=_wrap_Matrix4x4Vector_reserve(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1783: flag=_wrap_Matrix4x4Vector_capacity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1784: flag=_wrap_Matrix4x4Vector_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1785: flag=_wrap_delete_Matrix4x4Vector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1786: flag=_wrap_delete_ICamera(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1787: flag=_wrap_ICamera_setPosition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1788: flag=_wrap_ICamera_setTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1789: flag=_wrap_ICamera_setUpVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1790: flag=_wrap_ColorViz_r_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1791: flag=_wrap_ColorViz_r_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1792: flag=_wrap_ColorViz_g_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1793: flag=_wrap_ColorViz_g_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1794: flag=_wrap_ColorViz_b_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1795: flag=_wrap_ColorViz_b_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1796: flag=_wrap_ColorViz_a_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1797: flag=_wrap_ColorViz_a_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1798: flag=_wrap_new_ColorViz(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1799: flag=_wrap_delete_ColorViz(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1800: flag=_wrap_delete_ILight(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1801: flag=_wrap_ILight_getName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1802: flag=_wrap_ILight_setType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1803: flag=_wrap_ILight_getType(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1804: flag=_wrap_ILight_setPosition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1805: flag=_wrap_ILight_getPosition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1806: flag=_wrap_ILight_setDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1807: flag=_wrap_ILight_getDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1808: flag=_wrap_ILight_setAmbientColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1809: flag=_wrap_ILight_getAmbientColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1810: flag=_wrap_ILight_setSpecularColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1811: flag=_wrap_ILight_getSpecularColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1812: flag=_wrap_ILight_setDiffuseColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1813: flag=_wrap_ILight_getDiffuseColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1814: flag=_wrap_delete_IEnvironment(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1815: flag=_wrap_IEnvironment_getElements(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1816: flag=_wrap_IEnvironment_setElementVisibility(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1817: flag=_wrap_IEnvironment_setBackgroundColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1818: flag=_wrap_IEnvironment_setAmbientLight(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1819: flag=_wrap_IEnvironment_getLights(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1820: flag=_wrap_IEnvironment_addLight(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1821: flag=_wrap_IEnvironment_lightViz(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1822: flag=_wrap_IEnvironment_removeLight(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1823: flag=_wrap_delete_IJetsVisualization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1824: flag=_wrap_IJetsVisualization_setJetsFrames(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1825: flag=_wrap_IJetsVisualization_getNrOfJets(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1826: flag=_wrap_IJetsVisualization_getJetDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1827: flag=_wrap_IJetsVisualization_setJetDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1828: flag=_wrap_IJetsVisualization_setJetColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1829: flag=_wrap_IJetsVisualization_setJetsDimensions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1830: flag=_wrap_IJetsVisualization_setJetsIntensity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1831: flag=_wrap_delete_IVectorsVisualization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1832: flag=_wrap_IVectorsVisualization_addVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1833: flag=_wrap_IVectorsVisualization_getNrOfVectors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1834: flag=_wrap_IVectorsVisualization_getVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1835: flag=_wrap_IVectorsVisualization_updateVector(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1836: flag=_wrap_IVectorsVisualization_setVectorColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1837: flag=_wrap_IVectorsVisualization_setVectorsAspect(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1838: flag=_wrap_delete_IModelVisualization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1839: flag=_wrap_IModelVisualization_setPositions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1840: flag=_wrap_IModelVisualization_setLinkPositions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1841: flag=_wrap_IModelVisualization_model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1842: flag=_wrap_IModelVisualization_getInstanceName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1843: flag=_wrap_IModelVisualization_setModelVisibility(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1844: flag=_wrap_IModelVisualization_setModelColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1845: flag=_wrap_IModelVisualization_resetModelColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1846: flag=_wrap_IModelVisualization_setLinkColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1847: flag=_wrap_IModelVisualization_resetLinkColor(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1848: flag=_wrap_IModelVisualization_getLinkNames(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1849: flag=_wrap_IModelVisualization_setLinkVisibility(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1850: flag=_wrap_IModelVisualization_getFeatures(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1851: flag=_wrap_IModelVisualization_setFeatureVisibility(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1852: flag=_wrap_IModelVisualization_jets(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1853: flag=_wrap_IModelVisualization_getWorldModelTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1854: flag=_wrap_IModelVisualization_getWorldLinkTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1855: flag=_wrap_VisualizerOptions_verbose_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1856: flag=_wrap_VisualizerOptions_verbose_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1857: flag=_wrap_VisualizerOptions_winWidth_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1858: flag=_wrap_VisualizerOptions_winWidth_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1859: flag=_wrap_VisualizerOptions_winHeight_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1860: flag=_wrap_VisualizerOptions_winHeight_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1861: flag=_wrap_VisualizerOptions_rootFrameArrowsDimension_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1862: flag=_wrap_VisualizerOptions_rootFrameArrowsDimension_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1863: flag=_wrap_new_VisualizerOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1864: flag=_wrap_delete_VisualizerOptions(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1865: flag=_wrap_new_Visualizer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1866: flag=_wrap_delete_Visualizer(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1867: flag=_wrap_Visualizer_init(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1868: flag=_wrap_Visualizer_getNrOfVisualizedModels(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1869: flag=_wrap_Visualizer_getModelInstanceName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1870: flag=_wrap_Visualizer_getModelInstanceIndex(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1871: flag=_wrap_Visualizer_addModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1872: flag=_wrap_Visualizer_modelViz(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1873: flag=_wrap_Visualizer_camera(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1874: flag=_wrap_Visualizer_enviroment(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1875: flag=_wrap_Visualizer_vectors(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1876: flag=_wrap_Visualizer_run(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1877: flag=_wrap_Visualizer_draw(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1878: flag=_wrap_Visualizer_drawToFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1879: flag=_wrap_Visualizer_close(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1880: flag=_wrap_Polygon_m_vertices_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1881: flag=_wrap_Polygon_m_vertices_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1882: flag=_wrap_new_Polygon(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1883: flag=_wrap_Polygon_setNrOfVertices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1884: flag=_wrap_Polygon_getNrOfVertices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1885: flag=_wrap_Polygon_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1886: flag=_wrap_Polygon_applyTransform(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1887: flag=_wrap_Polygon_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1888: flag=_wrap_Polygon_XYRectangleFromOffsets(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1889: flag=_wrap_delete_Polygon(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1890: flag=_wrap_Polygon2D_m_vertices_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1891: flag=_wrap_Polygon2D_m_vertices_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1892: flag=_wrap_new_Polygon2D(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1893: flag=_wrap_Polygon2D_setNrOfVertices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1894: flag=_wrap_Polygon2D_getNrOfVertices(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1895: flag=_wrap_Polygon2D_isValid(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1896: flag=_wrap_Polygon2D_paren(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1897: flag=_wrap_delete_Polygon2D(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1898: flag=_wrap_ConvexHullProjectionConstraint_setActive(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1899: flag=_wrap_ConvexHullProjectionConstraint_isActive(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1900: flag=_wrap_ConvexHullProjectionConstraint_getNrOfConstraints(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1901: flag=_wrap_ConvexHullProjectionConstraint_projectedConvexHull_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1902: flag=_wrap_ConvexHullProjectionConstraint_projectedConvexHull_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1903: flag=_wrap_ConvexHullProjectionConstraint_A_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1904: flag=_wrap_ConvexHullProjectionConstraint_A_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1905: flag=_wrap_ConvexHullProjectionConstraint_b_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1906: flag=_wrap_ConvexHullProjectionConstraint_b_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1907: flag=_wrap_ConvexHullProjectionConstraint_P_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1908: flag=_wrap_ConvexHullProjectionConstraint_P_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1909: flag=_wrap_ConvexHullProjectionConstraint_Pdirection_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1910: flag=_wrap_ConvexHullProjectionConstraint_Pdirection_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1911: flag=_wrap_ConvexHullProjectionConstraint_AtimesP_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1912: flag=_wrap_ConvexHullProjectionConstraint_AtimesP_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1913: flag=_wrap_ConvexHullProjectionConstraint_o_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1914: flag=_wrap_ConvexHullProjectionConstraint_o_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1915: flag=_wrap_ConvexHullProjectionConstraint_buildConvexHull(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1916: flag=_wrap_ConvexHullProjectionConstraint_supportFrameIndices_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1917: flag=_wrap_ConvexHullProjectionConstraint_supportFrameIndices_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1918: flag=_wrap_ConvexHullProjectionConstraint_absoluteFrame_X_supportFrame_get(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1919: flag=_wrap_ConvexHullProjectionConstraint_absoluteFrame_X_supportFrame_set(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1920: flag=_wrap_ConvexHullProjectionConstraint_project(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1921: flag=_wrap_ConvexHullProjectionConstraint_computeMargin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1922: flag=_wrap_ConvexHullProjectionConstraint_setProjectionAlongDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1923: flag=_wrap_ConvexHullProjectionConstraint_projectAlongDirection(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1924: flag=_wrap_new_ConvexHullProjectionConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1925: flag=_wrap_delete_ConvexHullProjectionConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1926: flag=_wrap_sizeOfRotationParametrization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1927: flag=_wrap_new_InverseKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1928: flag=_wrap_delete_InverseKinematics(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1929: flag=_wrap_InverseKinematics_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1930: flag=_wrap_InverseKinematics_setModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1931: flag=_wrap_InverseKinematics_setJointLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1932: flag=_wrap_InverseKinematics_getJointLimits(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1933: flag=_wrap_InverseKinematics_clearProblem(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1934: flag=_wrap_InverseKinematics_setFloatingBaseOnFrameNamed(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1935: flag=_wrap_InverseKinematics_setRobotConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1936: flag=_wrap_InverseKinematics_setCurrentRobotConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1937: flag=_wrap_InverseKinematics_setJointConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1938: flag=_wrap_InverseKinematics_setRotationParametrization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1939: flag=_wrap_InverseKinematics_rotationParametrization(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1940: flag=_wrap_InverseKinematics_setMaxIterations(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1941: flag=_wrap_InverseKinematics_maxIterations(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1942: flag=_wrap_InverseKinematics_setMaxCPUTime(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1943: flag=_wrap_InverseKinematics_maxCPUTime(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1944: flag=_wrap_InverseKinematics_setCostTolerance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1945: flag=_wrap_InverseKinematics_costTolerance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1946: flag=_wrap_InverseKinematics_setConstraintsTolerance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1947: flag=_wrap_InverseKinematics_constraintsTolerance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1948: flag=_wrap_InverseKinematics_setVerbosity(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1949: flag=_wrap_InverseKinematics_linearSolverName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1950: flag=_wrap_InverseKinematics_setLinearSolverName(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1951: flag=_wrap_InverseKinematics_addFrameConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1952: flag=_wrap_InverseKinematics_addFramePositionConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1953: flag=_wrap_InverseKinematics_addFrameRotationConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1954: flag=_wrap_InverseKinematics_activateFrameConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1955: flag=_wrap_InverseKinematics_deactivateFrameConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1956: flag=_wrap_InverseKinematics_isFrameConstraintActive(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1957: flag=_wrap_InverseKinematics_addCenterOfMassProjectionConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1958: flag=_wrap_InverseKinematics_getCenterOfMassProjectionMargin(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1959: flag=_wrap_InverseKinematics_getCenterOfMassProjectConstraintConvexHull(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1960: flag=_wrap_InverseKinematics_addTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1961: flag=_wrap_InverseKinematics_addPositionTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1962: flag=_wrap_InverseKinematics_addRotationTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1963: flag=_wrap_InverseKinematics_updateTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1964: flag=_wrap_InverseKinematics_updatePositionTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1965: flag=_wrap_InverseKinematics_updateRotationTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1966: flag=_wrap_InverseKinematics_setDefaultTargetResolutionMode(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1967: flag=_wrap_InverseKinematics_defaultTargetResolutionMode(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1968: flag=_wrap_InverseKinematics_setTargetResolutionMode(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1969: flag=_wrap_InverseKinematics_targetResolutionMode(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1970: flag=_wrap_InverseKinematics_setDesiredJointConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1971: flag=_wrap_InverseKinematics_setDesiredFullJointsConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1972: flag=_wrap_InverseKinematics_setDesiredReducedJointConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1973: flag=_wrap_InverseKinematics_setInitialCondition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1974: flag=_wrap_InverseKinematics_setFullJointsInitialCondition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1975: flag=_wrap_InverseKinematics_setReducedInitialCondition(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1976: flag=_wrap_InverseKinematics_solve(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1977: flag=_wrap_InverseKinematics_getSolution(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1978: flag=_wrap_InverseKinematics_getFullJointsSolution(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1979: flag=_wrap_InverseKinematics_getReducedSolution(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1980: flag=_wrap_InverseKinematics_getPoseForFrame(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1981: flag=_wrap_InverseKinematics_model(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1982: flag=_wrap_InverseKinematics_fullModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1983: flag=_wrap_InverseKinematics_reducedModel(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1984: flag=_wrap_InverseKinematics_setCOMTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1985: flag=_wrap_InverseKinematics_setCOMAsConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1986: flag=_wrap_InverseKinematics_setCOMAsConstraintTolerance(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1987: flag=_wrap_InverseKinematics_isCOMAConstraint(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1988: flag=_wrap_InverseKinematics_isCOMTargetActive(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1989: flag=_wrap_InverseKinematics_deactivateCOMTarget(resc,resv,argc,(mxArray**)(argv)); break;
-  case 1990: flag=_wrap_InverseKinematics_setCOMConstraintProjectionDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1707: flag=_wrap_KinDynComputations_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1708: flag=_wrap_KinDynComputations_setFrameVelocityRepresentation(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1709: flag=_wrap_KinDynComputations_getFrameVelocityRepresentation(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1710: flag=_wrap_KinDynComputations_getNrOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1711: flag=_wrap_KinDynComputations_getDescriptionOfDegreeOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1712: flag=_wrap_KinDynComputations_getDescriptionOfDegreesOfFreedom(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1713: flag=_wrap_KinDynComputations_getNrOfLinks(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1714: flag=_wrap_KinDynComputations_getNrOfFrames(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1715: flag=_wrap_KinDynComputations_getFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1716: flag=_wrap_KinDynComputations_setFloatingBase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1717: flag=_wrap_KinDynComputations_model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1718: flag=_wrap_KinDynComputations_getRobotModel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1719: flag=_wrap_KinDynComputations_getRelativeJacobianSparsityPattern(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1720: flag=_wrap_KinDynComputations_getFrameFreeFloatingJacobianSparsityPattern(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1721: flag=_wrap_KinDynComputations_setJointPos(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1722: flag=_wrap_KinDynComputations_setRobotState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1723: flag=_wrap_KinDynComputations_getRobotState(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1724: flag=_wrap_KinDynComputations_getWorldBaseTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1725: flag=_wrap_KinDynComputations_getBaseTwist(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1726: flag=_wrap_KinDynComputations_getJointPos(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1727: flag=_wrap_KinDynComputations_getJointVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1728: flag=_wrap_KinDynComputations_getModelVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1729: flag=_wrap_KinDynComputations_getFrameIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1730: flag=_wrap_KinDynComputations_getFrameName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1731: flag=_wrap_KinDynComputations_getWorldTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1732: flag=_wrap_KinDynComputations_getWorldTransformsAsHomogeneous(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1733: flag=_wrap_KinDynComputations_getRelativeTransformExplicit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1734: flag=_wrap_KinDynComputations_getRelativeTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1735: flag=_wrap_KinDynComputations_getFrameVel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1736: flag=_wrap_KinDynComputations_getFrameAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1737: flag=_wrap_KinDynComputations_getFrameFreeFloatingJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1738: flag=_wrap_KinDynComputations_getRelativeJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1739: flag=_wrap_KinDynComputations_getRelativeJacobianExplicit(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1740: flag=_wrap_KinDynComputations_getFrameBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1741: flag=_wrap_KinDynComputations_getCenterOfMassPosition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1742: flag=_wrap_KinDynComputations_getCenterOfMassVelocity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1743: flag=_wrap_KinDynComputations_getCenterOfMassJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1744: flag=_wrap_KinDynComputations_getCenterOfMassBiasAcc(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1745: flag=_wrap_KinDynComputations_getAverageVelocity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1746: flag=_wrap_KinDynComputations_getAverageVelocityJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1747: flag=_wrap_KinDynComputations_getCentroidalAverageVelocity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1748: flag=_wrap_KinDynComputations_getCentroidalAverageVelocityJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1749: flag=_wrap_KinDynComputations_getLinearAngularMomentum(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1750: flag=_wrap_KinDynComputations_getLinearAngularMomentumJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1751: flag=_wrap_KinDynComputations_getCentroidalTotalMomentum(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1752: flag=_wrap_KinDynComputations_getCentroidalTotalMomentumJacobian(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1753: flag=_wrap_KinDynComputations_getFreeFloatingMassMatrix(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1754: flag=_wrap_KinDynComputations_inverseDynamics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1755: flag=_wrap_KinDynComputations_generalizedBiasForces(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1756: flag=_wrap_KinDynComputations_generalizedGravityForces(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1757: flag=_wrap_KinDynComputations_generalizedExternalForces(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1758: flag=_wrap_KinDynComputations_inverseDynamicsInertialParametersRegressor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1759: flag=_wrap_Matrix4x4Vector_pop(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1760: flag=_wrap_Matrix4x4Vector_brace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1761: flag=_wrap_Matrix4x4Vector_setbrace(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1762: flag=_wrap_Matrix4x4Vector_append(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1763: flag=_wrap_Matrix4x4Vector_empty(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1764: flag=_wrap_Matrix4x4Vector_size(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1765: flag=_wrap_Matrix4x4Vector_swap(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1766: flag=_wrap_Matrix4x4Vector_begin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1767: flag=_wrap_Matrix4x4Vector_end(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1768: flag=_wrap_Matrix4x4Vector_rbegin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1769: flag=_wrap_Matrix4x4Vector_rend(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1770: flag=_wrap_Matrix4x4Vector_clear(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1771: flag=_wrap_Matrix4x4Vector_get_allocator(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1772: flag=_wrap_Matrix4x4Vector_pop_back(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1773: flag=_wrap_Matrix4x4Vector_erase(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1774: flag=_wrap_new_Matrix4x4Vector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1775: flag=_wrap_Matrix4x4Vector_push_back(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1776: flag=_wrap_Matrix4x4Vector_front(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1777: flag=_wrap_Matrix4x4Vector_back(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1778: flag=_wrap_Matrix4x4Vector_assign(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1779: flag=_wrap_Matrix4x4Vector_resize(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1780: flag=_wrap_Matrix4x4Vector_insert(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1781: flag=_wrap_Matrix4x4Vector_reserve(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1782: flag=_wrap_Matrix4x4Vector_capacity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1783: flag=_wrap_Matrix4x4Vector_toMatlab(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1784: flag=_wrap_delete_Matrix4x4Vector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1785: flag=_wrap_delete_ICamera(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1786: flag=_wrap_ICamera_setPosition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1787: flag=_wrap_ICamera_setTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1788: flag=_wrap_ICamera_setUpVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1789: flag=_wrap_ColorViz_r_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1790: flag=_wrap_ColorViz_r_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1791: flag=_wrap_ColorViz_g_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1792: flag=_wrap_ColorViz_g_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1793: flag=_wrap_ColorViz_b_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1794: flag=_wrap_ColorViz_b_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1795: flag=_wrap_ColorViz_a_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1796: flag=_wrap_ColorViz_a_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1797: flag=_wrap_new_ColorViz(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1798: flag=_wrap_delete_ColorViz(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1799: flag=_wrap_delete_ILight(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1800: flag=_wrap_ILight_getName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1801: flag=_wrap_ILight_setType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1802: flag=_wrap_ILight_getType(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1803: flag=_wrap_ILight_setPosition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1804: flag=_wrap_ILight_getPosition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1805: flag=_wrap_ILight_setDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1806: flag=_wrap_ILight_getDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1807: flag=_wrap_ILight_setAmbientColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1808: flag=_wrap_ILight_getAmbientColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1809: flag=_wrap_ILight_setSpecularColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1810: flag=_wrap_ILight_getSpecularColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1811: flag=_wrap_ILight_setDiffuseColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1812: flag=_wrap_ILight_getDiffuseColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1813: flag=_wrap_delete_IEnvironment(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1814: flag=_wrap_IEnvironment_getElements(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1815: flag=_wrap_IEnvironment_setElementVisibility(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1816: flag=_wrap_IEnvironment_setBackgroundColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1817: flag=_wrap_IEnvironment_setAmbientLight(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1818: flag=_wrap_IEnvironment_getLights(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1819: flag=_wrap_IEnvironment_addLight(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1820: flag=_wrap_IEnvironment_lightViz(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1821: flag=_wrap_IEnvironment_removeLight(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1822: flag=_wrap_delete_IJetsVisualization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1823: flag=_wrap_IJetsVisualization_setJetsFrames(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1824: flag=_wrap_IJetsVisualization_getNrOfJets(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1825: flag=_wrap_IJetsVisualization_getJetDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1826: flag=_wrap_IJetsVisualization_setJetDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1827: flag=_wrap_IJetsVisualization_setJetColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1828: flag=_wrap_IJetsVisualization_setJetsDimensions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1829: flag=_wrap_IJetsVisualization_setJetsIntensity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1830: flag=_wrap_delete_IVectorsVisualization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1831: flag=_wrap_IVectorsVisualization_addVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1832: flag=_wrap_IVectorsVisualization_getNrOfVectors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1833: flag=_wrap_IVectorsVisualization_getVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1834: flag=_wrap_IVectorsVisualization_updateVector(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1835: flag=_wrap_IVectorsVisualization_setVectorColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1836: flag=_wrap_IVectorsVisualization_setVectorsAspect(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1837: flag=_wrap_delete_IModelVisualization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1838: flag=_wrap_IModelVisualization_setPositions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1839: flag=_wrap_IModelVisualization_setLinkPositions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1840: flag=_wrap_IModelVisualization_model(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1841: flag=_wrap_IModelVisualization_getInstanceName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1842: flag=_wrap_IModelVisualization_setModelVisibility(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1843: flag=_wrap_IModelVisualization_setModelColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1844: flag=_wrap_IModelVisualization_resetModelColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1845: flag=_wrap_IModelVisualization_setLinkColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1846: flag=_wrap_IModelVisualization_resetLinkColor(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1847: flag=_wrap_IModelVisualization_getLinkNames(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1848: flag=_wrap_IModelVisualization_setLinkVisibility(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1849: flag=_wrap_IModelVisualization_getFeatures(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1850: flag=_wrap_IModelVisualization_setFeatureVisibility(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1851: flag=_wrap_IModelVisualization_jets(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1852: flag=_wrap_IModelVisualization_getWorldModelTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1853: flag=_wrap_IModelVisualization_getWorldLinkTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1854: flag=_wrap_VisualizerOptions_verbose_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1855: flag=_wrap_VisualizerOptions_verbose_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1856: flag=_wrap_VisualizerOptions_winWidth_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1857: flag=_wrap_VisualizerOptions_winWidth_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1858: flag=_wrap_VisualizerOptions_winHeight_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1859: flag=_wrap_VisualizerOptions_winHeight_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1860: flag=_wrap_VisualizerOptions_rootFrameArrowsDimension_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1861: flag=_wrap_VisualizerOptions_rootFrameArrowsDimension_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1862: flag=_wrap_new_VisualizerOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1863: flag=_wrap_delete_VisualizerOptions(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1864: flag=_wrap_new_Visualizer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1865: flag=_wrap_delete_Visualizer(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1866: flag=_wrap_Visualizer_init(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1867: flag=_wrap_Visualizer_getNrOfVisualizedModels(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1868: flag=_wrap_Visualizer_getModelInstanceName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1869: flag=_wrap_Visualizer_getModelInstanceIndex(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1870: flag=_wrap_Visualizer_addModel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1871: flag=_wrap_Visualizer_modelViz(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1872: flag=_wrap_Visualizer_camera(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1873: flag=_wrap_Visualizer_enviroment(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1874: flag=_wrap_Visualizer_vectors(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1875: flag=_wrap_Visualizer_run(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1876: flag=_wrap_Visualizer_draw(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1877: flag=_wrap_Visualizer_drawToFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1878: flag=_wrap_Visualizer_close(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1879: flag=_wrap_Polygon_m_vertices_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1880: flag=_wrap_Polygon_m_vertices_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1881: flag=_wrap_new_Polygon(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1882: flag=_wrap_Polygon_setNrOfVertices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1883: flag=_wrap_Polygon_getNrOfVertices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1884: flag=_wrap_Polygon_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1885: flag=_wrap_Polygon_applyTransform(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1886: flag=_wrap_Polygon_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1887: flag=_wrap_Polygon_XYRectangleFromOffsets(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1888: flag=_wrap_delete_Polygon(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1889: flag=_wrap_Polygon2D_m_vertices_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1890: flag=_wrap_Polygon2D_m_vertices_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1891: flag=_wrap_new_Polygon2D(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1892: flag=_wrap_Polygon2D_setNrOfVertices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1893: flag=_wrap_Polygon2D_getNrOfVertices(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1894: flag=_wrap_Polygon2D_isValid(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1895: flag=_wrap_Polygon2D_paren(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1896: flag=_wrap_delete_Polygon2D(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1897: flag=_wrap_ConvexHullProjectionConstraint_setActive(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1898: flag=_wrap_ConvexHullProjectionConstraint_isActive(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1899: flag=_wrap_ConvexHullProjectionConstraint_getNrOfConstraints(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1900: flag=_wrap_ConvexHullProjectionConstraint_projectedConvexHull_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1901: flag=_wrap_ConvexHullProjectionConstraint_projectedConvexHull_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1902: flag=_wrap_ConvexHullProjectionConstraint_A_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1903: flag=_wrap_ConvexHullProjectionConstraint_A_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1904: flag=_wrap_ConvexHullProjectionConstraint_b_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1905: flag=_wrap_ConvexHullProjectionConstraint_b_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1906: flag=_wrap_ConvexHullProjectionConstraint_P_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1907: flag=_wrap_ConvexHullProjectionConstraint_P_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1908: flag=_wrap_ConvexHullProjectionConstraint_Pdirection_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1909: flag=_wrap_ConvexHullProjectionConstraint_Pdirection_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1910: flag=_wrap_ConvexHullProjectionConstraint_AtimesP_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1911: flag=_wrap_ConvexHullProjectionConstraint_AtimesP_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1912: flag=_wrap_ConvexHullProjectionConstraint_o_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1913: flag=_wrap_ConvexHullProjectionConstraint_o_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1914: flag=_wrap_ConvexHullProjectionConstraint_buildConvexHull(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1915: flag=_wrap_ConvexHullProjectionConstraint_supportFrameIndices_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1916: flag=_wrap_ConvexHullProjectionConstraint_supportFrameIndices_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1917: flag=_wrap_ConvexHullProjectionConstraint_absoluteFrame_X_supportFrame_get(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1918: flag=_wrap_ConvexHullProjectionConstraint_absoluteFrame_X_supportFrame_set(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1919: flag=_wrap_ConvexHullProjectionConstraint_project(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1920: flag=_wrap_ConvexHullProjectionConstraint_computeMargin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1921: flag=_wrap_ConvexHullProjectionConstraint_setProjectionAlongDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1922: flag=_wrap_ConvexHullProjectionConstraint_projectAlongDirection(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1923: flag=_wrap_new_ConvexHullProjectionConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1924: flag=_wrap_delete_ConvexHullProjectionConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1925: flag=_wrap_sizeOfRotationParametrization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1926: flag=_wrap_new_InverseKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1927: flag=_wrap_delete_InverseKinematics(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1928: flag=_wrap_InverseKinematics_loadModelFromFile(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1929: flag=_wrap_InverseKinematics_setModel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1930: flag=_wrap_InverseKinematics_setJointLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1931: flag=_wrap_InverseKinematics_getJointLimits(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1932: flag=_wrap_InverseKinematics_clearProblem(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1933: flag=_wrap_InverseKinematics_setFloatingBaseOnFrameNamed(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1934: flag=_wrap_InverseKinematics_setCurrentRobotConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1935: flag=_wrap_InverseKinematics_setJointConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1936: flag=_wrap_InverseKinematics_setRotationParametrization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1937: flag=_wrap_InverseKinematics_rotationParametrization(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1938: flag=_wrap_InverseKinematics_setMaxIterations(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1939: flag=_wrap_InverseKinematics_maxIterations(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1940: flag=_wrap_InverseKinematics_setMaxCPUTime(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1941: flag=_wrap_InverseKinematics_maxCPUTime(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1942: flag=_wrap_InverseKinematics_setCostTolerance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1943: flag=_wrap_InverseKinematics_costTolerance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1944: flag=_wrap_InverseKinematics_setConstraintsTolerance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1945: flag=_wrap_InverseKinematics_constraintsTolerance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1946: flag=_wrap_InverseKinematics_setVerbosity(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1947: flag=_wrap_InverseKinematics_linearSolverName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1948: flag=_wrap_InverseKinematics_setLinearSolverName(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1949: flag=_wrap_InverseKinematics_addFrameConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1950: flag=_wrap_InverseKinematics_addFramePositionConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1951: flag=_wrap_InverseKinematics_addFrameRotationConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1952: flag=_wrap_InverseKinematics_activateFrameConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1953: flag=_wrap_InverseKinematics_deactivateFrameConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1954: flag=_wrap_InverseKinematics_isFrameConstraintActive(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1955: flag=_wrap_InverseKinematics_addCenterOfMassProjectionConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1956: flag=_wrap_InverseKinematics_getCenterOfMassProjectionMargin(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1957: flag=_wrap_InverseKinematics_getCenterOfMassProjectConstraintConvexHull(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1958: flag=_wrap_InverseKinematics_addTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1959: flag=_wrap_InverseKinematics_addPositionTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1960: flag=_wrap_InverseKinematics_addRotationTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1961: flag=_wrap_InverseKinematics_updateTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1962: flag=_wrap_InverseKinematics_updatePositionTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1963: flag=_wrap_InverseKinematics_updateRotationTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1964: flag=_wrap_InverseKinematics_setDefaultTargetResolutionMode(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1965: flag=_wrap_InverseKinematics_defaultTargetResolutionMode(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1966: flag=_wrap_InverseKinematics_setTargetResolutionMode(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1967: flag=_wrap_InverseKinematics_targetResolutionMode(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1968: flag=_wrap_InverseKinematics_setDesiredFullJointsConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1969: flag=_wrap_InverseKinematics_setDesiredReducedJointConfiguration(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1970: flag=_wrap_InverseKinematics_setFullJointsInitialCondition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1971: flag=_wrap_InverseKinematics_setReducedInitialCondition(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1972: flag=_wrap_InverseKinematics_solve(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1973: flag=_wrap_InverseKinematics_getFullJointsSolution(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1974: flag=_wrap_InverseKinematics_getReducedSolution(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1975: flag=_wrap_InverseKinematics_getPoseForFrame(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1976: flag=_wrap_InverseKinematics_fullModel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1977: flag=_wrap_InverseKinematics_reducedModel(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1978: flag=_wrap_InverseKinematics_setCOMTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1979: flag=_wrap_InverseKinematics_setCOMAsConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1980: flag=_wrap_InverseKinematics_setCOMAsConstraintTolerance(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1981: flag=_wrap_InverseKinematics_isCOMAConstraint(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1982: flag=_wrap_InverseKinematics_isCOMTargetActive(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1983: flag=_wrap_InverseKinematics_deactivateCOMTarget(resc,resv,argc,(mxArray**)(argv)); break;
+  case 1984: flag=_wrap_InverseKinematics_setCOMConstraintProjectionDirection(resc,resv,argc,(mxArray**)(argv)); break;
   default: flag=1, SWIG_Error(SWIG_RuntimeError, "No function id %d.", fcn_id);
   }
   if (flag) {
diff --git a/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h b/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h
index 61c1413f2be..4a741d47357 100644
--- a/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h
+++ b/src/estimation/include/iDynTree/Estimation/ExtWrenchesAndJointTorquesEstimator.h
@@ -115,7 +115,6 @@ class ExtWrenchesAndJointTorquesEstimator
      *                     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="");
 
     /**
diff --git a/src/estimation/include/iDynTree/Estimation/SimpleLeggedOdometry.h b/src/estimation/include/iDynTree/Estimation/SimpleLeggedOdometry.h
index 57d1fcdc960..e7a9c70383b 100644
--- a/src/estimation/include/iDynTree/Estimation/SimpleLeggedOdometry.h
+++ b/src/estimation/include/iDynTree/Estimation/SimpleLeggedOdometry.h
@@ -118,38 +118,6 @@ class SimpleLeggedOdometry
      */
     bool setModel(const Model & _model);
 
-    /**
-     * 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.
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use iDynTree::ModelLoader::loadReducedModelFromFile and call setModel on the parsed Model")
-    bool loadModelFromFileWithSpecifiedDOFs(const std::string filename,
-                                            const std::vector<std::string> & consideredDOFs,
-                                            const std::string filetype="");
-
     /**
      * Get used model.
      *
diff --git a/src/estimation/src/SimpleLeggedOdometry.cpp b/src/estimation/src/SimpleLeggedOdometry.cpp
index c7d92062de6..3cb6884bb73 100644
--- a/src/estimation/src/SimpleLeggedOdometry.cpp
+++ b/src/estimation/src/SimpleLeggedOdometry.cpp
@@ -182,36 +182,6 @@ bool SimpleLeggedOdometry::setModel(const Model& _model)
     return true;
 }
 
-
-bool SimpleLeggedOdometry::loadModelFromFile(const std::string filename,
-                                             const std::string filetype)
-{
-    ModelLoader loader;
-    if (!loader.loadModelFromFile(filename, filetype)) {
-        reportError("SimpleLeggedOdometry",
-                    "loadModelFromFile",
-                    "Error in parsing model from URDF.");
-        return false;
-    }
-    return setModel(loader.model());
-}
-
-bool SimpleLeggedOdometry::loadModelFromFileWithSpecifiedDOFs(const std::string filename,
-                                                              const std::vector<std::string>& consideredDOFs,
-                                                              const std::string filetype)
-{
-    ModelLoader loader;
-    if (!loader.loadReducedModelFromFile(filename, consideredDOFs, filetype)) {
-        reportError("SimpleLeggedOdometry",
-                    "loadModelFromFileWithSpecifiedDOFs",
-                    "Error in parsing model from URDF.");
-        return false;
-    }
-    return setModel(loader.model());
-}
-
-
-
 std::string SimpleLeggedOdometry::getCurrentFixedLink()
 {
     if( this->m_isModelValid && this->m_isOdometryInitialized )
diff --git a/src/estimation/tests/SimpleLeggedOdometryUnitTest.cpp b/src/estimation/tests/SimpleLeggedOdometryUnitTest.cpp
index 187f2ad6d43..2b93c2814c5 100644
--- a/src/estimation/tests/SimpleLeggedOdometryUnitTest.cpp
+++ b/src/estimation/tests/SimpleLeggedOdometryUnitTest.cpp
@@ -13,6 +13,7 @@
 #include "testModels.h"
 
 #include <iDynTree/Core/TestUtils.h>
+#include <iDynTree/ModelIO/ModelLoader.h>
 
 
 using namespace iDynTree;
@@ -71,7 +72,9 @@ int main()
 
     std::vector<std::string> consideredJoints = getCanonical_iCubJoints();
 
-    bool ok = simpleOdometry.loadModelFromFileWithSpecifiedDOFs(getAbsModelPath("iCubDarmstadt01.urdf"),consideredJoints);
+    iDynTree::ModelLoader mdlLoader;
+    bool ok = mdlLoader.loadReducedModelFromFile(getAbsModelPath("iCubDarmstadt01.urdf"),consideredJoints);
+    ok =  ok && simpleOdometry.setModel(mdlLoader.model());
 
     ASSERT_IS_TRUE(ok);
 
diff --git a/src/high-level/include/iDynTree/KinDynComputations.h b/src/high-level/include/iDynTree/KinDynComputations.h
index fb44f4896c3..95e0a5a3963 100644
--- a/src/high-level/include/iDynTree/KinDynComputations.h
+++ b/src/high-level/include/iDynTree/KinDynComputations.h
@@ -121,27 +121,7 @@ class KinDynComputations {
      * @param model the model to use in this class.
      * @return true if all went ok, false otherwise.
      */
-    bool loadRobotModel(const iDynTree::Model & model );
-
-    /**
-     * Load the model of the robot from an external file.
-     *
-     * @param filename path to the file to load
-     * @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");
-
-    /**
-     * Load the model of the robot  from a string.
-     *
-     * @param modelString string containg the model of the robot.
-     * @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");
+    bool loadRobotModel(const iDynTree::Model & model);
 
     /**
      * Return true if the models for the robot have been correctly.
diff --git a/src/high-level/src/KinDynComputations.cpp b/src/high-level/src/KinDynComputations.cpp
index a7df727a290..70234121243 100644
--- a/src/high-level/src/KinDynComputations.cpp
+++ b/src/high-level/src/KinDynComputations.cpp
@@ -460,28 +460,6 @@ void KinDynComputations::computeBiasAccFwdKinematics()
     this->pimpl->m_areBiasAccelerationsUpdated = ok;
 }
 
-bool KinDynComputations::loadRobotModelFromFile(const std::string& filename,
-                                                  const std::string& filetype)
-{
-    ModelLoader loader;
-    if (!loader.loadModelFromFile(filename, filetype)) {
-        reportError("KinDynComputations", "loadRobotModelFromFile", "Error in loading robot model");
-        return false;
-    }
-    return this->loadRobotModel(loader.model());
-}
-
-bool KinDynComputations::loadRobotModelFromString(const std::string& modelString,
-                                                  const std::string& filetype)
-{
-    ModelLoader loader;
-    if (!loader.loadModelFromString(modelString, filetype)) {
-        reportError("KinDynComputations", "loadRobotModelFromString", "Error in loading robot model");
-        return false;
-    }
-    return this->loadRobotModel(loader.model());
-}
-
 bool KinDynComputations::loadRobotModel(const Model& model)
 {
     this->pimpl->m_robot_model = model;
diff --git a/src/high-level/tests/KinDynComputationsMatrixViewAndSpanUnitTest.cpp b/src/high-level/tests/KinDynComputationsMatrixViewAndSpanUnitTest.cpp
index 043bec9e99d..1b7314fcdca 100644
--- a/src/high-level/tests/KinDynComputationsMatrixViewAndSpanUnitTest.cpp
+++ b/src/high-level/tests/KinDynComputationsMatrixViewAndSpanUnitTest.cpp
@@ -25,6 +25,9 @@
 #include <iDynTree/Model/JointState.h>
 #include <iDynTree/Model/FreeFloatingState.h>
 
+#include <iDynTree/ModelIO/ModelLoader.h>
+
+
 namespace Eigen
 {
     using Vector6d = Eigen::Matrix<double, 6, 1>;
@@ -384,8 +387,9 @@ void testAbsoluteJacobiansAndFrameBiasAcc(KinDynComputations & dynComp)
 void testModelConsistency(std::string modelFilePath, const FrameVelocityRepresentation frameVelRepr)
 {
     iDynTree::KinDynComputations dynComp;
-
-    bool ok = dynComp.loadRobotModelFromFile(modelFilePath);
+    iDynTree::ModelLoader mdlLoader;
+    bool ok = mdlLoader.loadModelFromFile(modelFilePath);
+    ok = ok && dynComp.loadRobotModel(mdlLoader.model());
     ASSERT_IS_TRUE(ok);
 
     ok = dynComp.setFrameVelocityRepresentation(frameVelRepr);
@@ -492,9 +496,10 @@ void testAbsoluteJacobianSparsity(KinDynComputations & dynComp)
 
 void testSparsityPattern(std::string modelFilePath, const FrameVelocityRepresentation frameVelRepr)
 {
-    iDynTree::KinDynComputations dynComp;
-
-    bool ok = dynComp.loadRobotModelFromFile(modelFilePath);
+	iDynTree::KinDynComputations dynComp;
+    iDynTree::ModelLoader mdlLoader;
+    bool ok = mdlLoader.loadModelFromFile(modelFilePath);
+    ok = ok && dynComp.loadRobotModel(mdlLoader.model());
     ASSERT_IS_TRUE(ok);
 
     ok = dynComp.setFrameVelocityRepresentation(frameVelRepr);
diff --git a/src/high-level/tests/KinDynComputationsUnitTest.cpp b/src/high-level/tests/KinDynComputationsUnitTest.cpp
index 710a15fce93..5215beaf4ce 100644
--- a/src/high-level/tests/KinDynComputationsUnitTest.cpp
+++ b/src/high-level/tests/KinDynComputationsUnitTest.cpp
@@ -25,6 +25,9 @@
 #include <iDynTree/Model/JointState.h>
 #include <iDynTree/Model/FreeFloatingState.h>
 
+#include <iDynTree/ModelIO/ModelLoader.h>
+
+
 using namespace iDynTree;
 
 double random_double()
@@ -392,9 +395,10 @@ void testAbsoluteJacobiansAndFrameBiasAcc(KinDynComputations & dynComp)
 
 void testModelConsistency(std::string modelFilePath, const FrameVelocityRepresentation frameVelRepr)
 {
-    iDynTree::KinDynComputations dynComp;
-
-    bool ok = dynComp.loadRobotModelFromFile(modelFilePath);
+	iDynTree::KinDynComputations dynComp;
+    iDynTree::ModelLoader mdlLoader;
+    bool ok = mdlLoader.loadModelFromFile(modelFilePath);
+    ok = ok && dynComp.loadRobotModel(mdlLoader.model());
     ASSERT_IS_TRUE(ok);
 
     ok = dynComp.setFrameVelocityRepresentation(frameVelRepr);
@@ -502,9 +506,10 @@ void testAbsoluteJacobianSparsity(KinDynComputations & dynComp)
 
 void testSparsityPattern(std::string modelFilePath, const FrameVelocityRepresentation frameVelRepr)
 {
-    iDynTree::KinDynComputations dynComp;
-
-    bool ok = dynComp.loadRobotModelFromFile(modelFilePath);
+	iDynTree::KinDynComputations dynComp;
+    iDynTree::ModelLoader mdlLoader;
+    bool ok = mdlLoader.loadModelFromFile(modelFilePath);
+    ok = ok && dynComp.loadRobotModel(mdlLoader.model());
     ASSERT_IS_TRUE(ok);
 
     ok = dynComp.setFrameVelocityRepresentation(frameVelRepr);
diff --git a/src/icub/CMakeLists.txt b/src/icub/CMakeLists.txt
index 8da071b4b04..4882cb0f179 100644
--- a/src/icub/CMakeLists.txt
+++ b/src/icub/CMakeLists.txt
@@ -48,7 +48,3 @@ install(TARGETS ${libraryname}
 
 set_property(GLOBAL APPEND PROPERTY ${VARS_PREFIX}_TARGETS idyntree-icub)
 
-# Install headers in deprecated location
-install(DIRECTORY include/iDynTree/iCub
-        DESTINATION "${CMAKE_INSTALL_INCLUDEDIR}/iDynTree")
-
diff --git a/src/icub/include/iDynTree/iCub/skinDynLibConversions.h b/src/icub/include/iDynTree/iCub/skinDynLibConversions.h
deleted file mode 100644
index 3eaaa63da19..00000000000
--- a/src/icub/include/iDynTree/iCub/skinDynLibConversions.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * Copyright (C) 2017 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_SKINDYNLIB_CONVERSIONS_H_LEGACY_LOCATION
-#define IDYNTREE_SKINDYNLIB_CONVERSIONS_H_LEGACY_LOCATION
-
-#ifdef __DEPRECATED
-#warning <iDynTree/iCub/skinDynLibConversions.h> is deprecated. Please use <iDynTree/skinDynLibConversions.h>. To disable this warning use -Wno-deprecated.
-#endif
-
-#include <iDynTree/skinDynLibConversions.h>
-
-#endif /* IDYNTREE_SKINDYNLIB_CONVERSIONS_H_LEGACY_LOCATION */
diff --git a/src/inverse-kinematics/include/iDynTree/InverseKinematics.h b/src/inverse-kinematics/include/iDynTree/InverseKinematics.h
index 059eb0d19e0..f02fa3b904f 100644
--- a/src/inverse-kinematics/include/iDynTree/InverseKinematics.h
+++ b/src/inverse-kinematics/include/iDynTree/InverseKinematics.h
@@ -165,22 +165,6 @@ class iDynTree::InverseKinematics
 
     bool setFloatingBaseOnFrameNamed(const std::string &floatingBaseFrameName);
 
-    /*!
-     * Sets the robot current configuration
-     *
-     *
-     * @param baseConfiguration  transformation identifying the base pose with respect to the world frame
-     * @param robotConfiguration the robot configuration
-     *
-     * @note the size (and order) of jointConfiguration must match the joints in the model, not
-     * in the consideredJoints variable
-     *
-     * @return true if successful, false otherwise.
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use setCurrentRobotConfiguration instead")
-    bool setRobotConfiguration(const iDynTree::Transform& baseConfiguration,
-                               const iDynTree::VectorDynSize& jointConfiguration);
-
     /*!
      * Sets the robot current configuration
      *
@@ -660,23 +644,6 @@ class iDynTree::InverseKinematics
     enum InverseKinematicsTreatTargetAsConstraint targetResolutionMode(const std::string& frameName);
     ///@}
 
-    /*!
-     * Sets a desired final configuration for the joints.
-     *
-     * The solver will try to obtain solutions as similar to the specified configuration as possible
-     *
-     * @note the desiredJointConfiguration have the same serialisation of the joints in the specified model
-     *
-     * @param[in] desiredJointConfiguration configuration for the joints
-     * @param[in] weight weight for the joint configuration cost.
-     *                   If it is not passed, the previous passed value will be mantained.
-     *                   If the value was never passed, its value is 1e-6 .
-     *
-     * @return true if successful, false otherwise.
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use the explicit setDesiredFullJointsConfiguration or setDesiredReducedJointConfiguration instead")
-    bool setDesiredJointConfiguration(const iDynTree::VectorDynSize& desiredJointConfiguration, double weight=-1.0);
-
     /*!
      * Sets a desired final configuration for all the robot joints.
      *
@@ -743,20 +710,6 @@ class iDynTree::InverseKinematics
      */
     bool setDesiredReducedJointConfiguration(const iDynTree::VectorDynSize& desiredJointConfiguration, const iDynTree::VectorDynSize& weights);
 
-
-
-    /*!
-     * Initial guess for the solution
-     *
-     * @note the initialCondition variable have the same serialisation of the joints in the specified model
-     * @param baseTransform     initial base pose
-     * @param initialCondition  initial joints configuration
-     * @return
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use the explicit setFullJointsInitialCondition or setReducedInitialCondition instead")
-    bool setInitialCondition(const iDynTree::Transform* baseTransform,
-                        const iDynTree::VectorDynSize* initialCondition);
-
     bool setFullJointsInitialCondition(const iDynTree::Transform* baseTransform,
                                        const iDynTree::VectorDynSize* initialCondition);
     bool setReducedInitialCondition(const iDynTree::Transform* baseTransform,
@@ -768,16 +721,6 @@ class iDynTree::InverseKinematics
     /*! @name Solution-related methods
       */
     ///@{
-    /*!
-     * Return the last solution of the inverse kinematics problem
-     *
-     * @param[out] baseTransformSolution  solution for the base position
-     * @param[out] shapeSolution       solution for the shape (the internal configurations)
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use the explicit getFullJointsSolution or getReducedSolution instead")
-    void getSolution(iDynTree::Transform& baseTransformSolution,
-                     iDynTree::VectorDynSize& shapeSolution);
-
 
     void getFullJointsSolution(iDynTree::Transform& baseTransformSolution,
                                iDynTree::VectorDynSize& shapeSolution);
@@ -808,28 +751,20 @@ class iDynTree::InverseKinematics
      - add check on modelLoaded, and other stuff if needed
      */
 
-    /*!
-     *  Access the model used by the InverseKinematics .
-     *
-     * @return A constant reference to iDynTree::Model used by the inverse kinematics.
-     */
-    IDYNTREE_DEPRECATED_WITH_MSG("Use the explicit fullModel or reducedModel instead")
-    const Model & model() const;
-
     const Model & fullModel() const;
-    
+
     const Model & reducedModel() const;
 
     void setCOMTarget(iDynTree::Position& desiredPosition, double weight = 1.0);
-    
+
     void setCOMAsConstraint(bool asConstraint = true);
-    
+
     void setCOMAsConstraintTolerance(double tolerance = 1e-8);
-    
+
     bool isCOMAConstraint();
-    
+
     bool isCOMTargetActive();
-    
+
     void deactivateCOMTarget();
 
     /*!
diff --git a/src/inverse-kinematics/src/InverseKinematics.cpp b/src/inverse-kinematics/src/InverseKinematics.cpp
index 9303a17e787..458ec1ea1c6 100644
--- a/src/inverse-kinematics/src/InverseKinematics.cpp
+++ b/src/inverse-kinematics/src/InverseKinematics.cpp
@@ -134,16 +134,6 @@ namespace iDynTree {
 #endif
     }
 
-    bool InverseKinematics::setRobotConfiguration(const iDynTree::Transform& baseConfiguration, const iDynTree::VectorDynSize& jointConfiguration)
-    {
-#ifdef IDYNTREE_USES_IPOPT
-        assert(m_pimpl);
-        return IK_PIMPL(m_pimpl)->setRobotConfiguration(baseConfiguration, jointConfiguration);
-#else
-        return missingIpoptErrorReport();
-#endif
-    }
-
     bool InverseKinematics::setCurrentRobotConfiguration(const iDynTree::Transform& baseConfiguration, const iDynTree::VectorDynSize& jointConfiguration)
     {
 #ifdef IDYNTREE_USES_IPOPT
@@ -700,15 +690,6 @@ namespace iDynTree {
 #endif
     }
 
-    bool InverseKinematics::setDesiredJointConfiguration(const iDynTree::VectorDynSize& desiredJointConfiguration, double weight)
-    {
-#ifdef IDYNTREE_USES_IPOPT
-        return this->setDesiredReducedJointConfiguration(desiredJointConfiguration, weight);
-#else
-        return missingIpoptErrorReport();
-#endif
-    }
-
     bool InverseKinematics::setDesiredFullJointsConfiguration(const iDynTree::VectorDynSize& desiredJointConfiguration, double weight)
     {
 #ifdef IDYNTREE_USES_IPOPT
@@ -791,15 +772,6 @@ namespace iDynTree {
 #endif
     }
 
-    bool InverseKinematics::setInitialCondition(const iDynTree::Transform* baseTransform, const iDynTree::VectorDynSize* initialCondition)
-    {
-#ifdef IDYNTREE_USES_IPOPT
-        return this->setReducedInitialCondition(baseTransform, initialCondition);
-#else
-        return missingIpoptErrorReport();
-#endif
-    }
-
     bool InverseKinematics::setFullJointsInitialCondition(const iDynTree::Transform* baseTransform,
                                                           const iDynTree::VectorDynSize* initialCondition)
     {
@@ -863,13 +835,13 @@ namespace iDynTree {
         return InverseKinematicsTreatTargetAsConstraintNone;
 #endif
     }
-    
+
     bool InverseKinematics::setTargetResolutionMode(const std::string& frameName, InverseKinematicsTreatTargetAsConstraint mode)
     {
 #ifdef IDYNTREE_USES_IPOPT
         assert(m_pimpl);
         internal::kinematics::TransformMap::iterator transConstr = IK_PIMPL(m_pimpl)->getTargetRefIfItExists(frameName);
-        
+
         if( transConstr == IK_PIMPL(m_pimpl)->m_targets.end() )
         {
             std::stringstream ss;
@@ -877,7 +849,7 @@ namespace iDynTree {
             reportError("InverseKinematics","setTargetResolutionMode",ss.str().c_str());
             return false;
         }
-        
+
         IK_PIMPL(m_pimpl)->setTargetResolutionMode(transConstr, mode);
         return true;
 #else
@@ -891,7 +863,7 @@ namespace iDynTree {
 #ifdef IDYNTREE_USES_IPOPT
         assert(m_pimpl);
         internal::kinematics::TransformMap::iterator transConstr = IK_PIMPL(m_pimpl)->getTargetRefIfItExists(frameName);
-        
+
         if( transConstr == IK_PIMPL(m_pimpl)->m_targets.end() )
         {
             std::stringstream ss;
@@ -899,7 +871,7 @@ namespace iDynTree {
             reportError("InverseKinematics","targetResolutionMode",ss.str().c_str());
             return InverseKinematicsTreatTargetAsConstraintNone;
         }
-        
+
         return IK_PIMPL(m_pimpl)->targetResolutionMode(transConstr);
 #else
         missingIpoptErrorReport();
@@ -917,17 +889,6 @@ namespace iDynTree {
 #endif
     }
 
-    void InverseKinematics::getSolution(iDynTree::Transform & baseTransformSolution,
-                                        iDynTree::VectorDynSize & shapeSolution)
-    {
-#ifdef IDYNTREE_USES_IPOPT
-        this->getReducedSolution(baseTransformSolution, shapeSolution);
-        return;
-#else
-        missingIpoptErrorReport();
-#endif
-    }
-
     void InverseKinematics::getFullJointsSolution(iDynTree::Transform & baseTransformSolution,
                                                   iDynTree::VectorDynSize & shapeSolution)
     {
@@ -969,17 +930,6 @@ namespace iDynTree {
 #endif
     }
 
-    const Model& InverseKinematics::model() const
-    {
-#ifdef IDYNTREE_USES_IPOPT
-        assert(m_pimpl);
-        return this->reducedModel();
-#else
-        missingIpoptErrorReport();
-        return this->reducedModel();
-#endif
-    }
-
     const Model& InverseKinematics::fullModel() const
     {
 #ifdef IDYNTREE_USES_IPOPT
@@ -990,7 +940,7 @@ namespace iDynTree {
         return this->reducedModel();
 #endif
     }
-    
+
     const Model& InverseKinematics::reducedModel() const
     {
 #ifdef IDYNTREE_USES_IPOPT
@@ -1001,7 +951,7 @@ namespace iDynTree {
         return this->reducedModel();
 #endif
     }
-    
+
     bool InverseKinematics::isCOMTargetActive()
     {
 #ifdef IDYNTREE_USES_IPOPT
diff --git a/src/model/CMakeLists.txt b/src/model/CMakeLists.txt
index eceb09a8c43..1ae19e42fe2 100644
--- a/src/model/CMakeLists.txt
+++ b/src/model/CMakeLists.txt
@@ -16,7 +16,6 @@ set(IDYNTREE_MODEL_HEADERS include/iDynTree/Model/ContactWrench.h
                            include/iDynTree/Model/Dynamics.h
                            include/iDynTree/Model/DynamicsLinearization.h
                            include/iDynTree/Model/DynamicsLinearizationHelpers.h
-                           include/iDynTree/Model/Indeces.h
                            include/iDynTree/Model/Indices.h
                            include/iDynTree/Model/Jacobians.h
                            include/iDynTree/Model/JointState.h
diff --git a/src/model/include/iDynTree/Model/Indeces.h b/src/model/include/iDynTree/Model/Indeces.h
deleted file mode 100644
index 2e59a616fb6..00000000000
--- a/src/model/include/iDynTree/Model/Indeces.h
+++ /dev/null
@@ -1,20 +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.
- */
-
-#ifndef IDYNTREE_INDECES_H
-#define IDYNTREE_INDECES_H
-
-#ifdef __DEPRECATED
-  #warning <iDynTree/Model/Indeces.h> is deprecated. Please use <iDynTree/Model/Indices.h>. To disable this warning use -Wno-deprecated.
-#endif
-
-#include "iDynTree/Model/Indices.h"
-
-#endif /* IDYNTREE_INDECES_H */
diff --git a/src/model/include/iDynTree/Model/SolidShapes.h b/src/model/include/iDynTree/Model/SolidShapes.h
index d91e48b1d1e..765c13b386b 100644
--- a/src/model/include/iDynTree/Model/SolidShapes.h
+++ b/src/model/include/iDynTree/Model/SolidShapes.h
@@ -17,12 +17,6 @@
 #include <iDynTree/Core/Transform.h>
 #include <iDynTree/Model/Indices.h>
 
-// TODO: Deprecation of public attributes.
-// - Ensure everybody migrated to use getters and setters.
-// - Move public attributes into private section and rename them with member
-//   convention (i.e. m_xxx).
-// - Bonus: change all the getters from `getXXX()` to `xxx()` (this can't be
-//   done now as you can't have a function with the same name as the variable).
 namespace iDynTree
 {
     class Material {
@@ -116,25 +110,19 @@ namespace iDynTree
         const Box* asBox() const;
         const Cylinder* asCylinder() const;
         const ExternalMesh* asExternalMesh() const;
-
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
+    private:
         std::string name;
         /**
          * True if the name is valid, false otherwise.
          */
-        IDYNTREE_DEPRECATED_WITH_MSG("Use isNameValid().")
         bool nameIsValid;
 
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
         Transform link_H_geometry;
 
         /**
          * Material of the geometry, encoded as a rgba vector.
          */
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters and the Material class.")
         Vector4 material;
-
-    private:
         bool m_isMaterialSet;
         Material m_material;
     };
@@ -156,7 +144,7 @@ namespace iDynTree
          */
         void setRadius(double radius);
 
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
+    private:
         double radius;
     };
 
@@ -193,7 +181,7 @@ namespace iDynTree
          * Sets the y side length.
          */
         void setY(double y);
-    
+
         /**
          * Returns the current z side length.
          */
@@ -204,11 +192,9 @@ namespace iDynTree
          */
         void setZ(double z);
 
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
+    private:
         double x;
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
         double y;
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
         double z;
     };
 
@@ -238,10 +224,8 @@ namespace iDynTree
          */
         void setRadius(double radius);
 
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
+    private:
         double length;
-
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
         double radius;
     };
 
@@ -271,10 +255,8 @@ namespace iDynTree
          */
         void setScale(const iDynTree::Vector3& scale);
 
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
+    private:
         std::string filename;
-
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use the setter and getters.")
         iDynTree::Vector3 scale;
     };
 
@@ -282,6 +264,10 @@ namespace iDynTree
     {
     private:
         ModelSolidShapes& copy(const ModelSolidShapes& other);
+        /**
+         * Storage ot ModelSolidShapes.
+         */
+        std::vector< std::vector<SolidShape *> > linkSolidShapes;
 
     public:
         ModelSolidShapes();
@@ -298,12 +284,6 @@ namespace iDynTree
         std::vector<std::vector<SolidShape *> >& getLinkSolidShapes();
 
         const std::vector<std::vector<SolidShape *> >& getLinkSolidShapes() const;
-
-        IDYNTREE_DEPRECATED_WITH_MSG("Please use getLinkSolidShapes().")
-        /**
-         * Storage ot ModelSolidShapes.
-         */
-        std::vector< std::vector<SolidShape *> > linkSolidShapes;
     };
 
 }
diff --git a/src/model_io/urdf/CMakeLists.txt b/src/model_io/urdf/CMakeLists.txt
index eedc703dc1a..33a92c2370a 100644
--- a/src/model_io/urdf/CMakeLists.txt
+++ b/src/model_io/urdf/CMakeLists.txt
@@ -11,10 +11,7 @@ project(iDynTree_ModelIO_URDF CXX)
 set(IDYNTREE_MODELIO_URDF_HEADERS include/iDynTree/ModelIO/URDFDofsImport.h
                                   include/iDynTree/ModelIO/ModelLoader.h
                                   include/iDynTree/ModelIO/ModelExporter.h
-                                  include/iDynTree/ModelIO/ModelCalibrationHelper.h
-                                  include/deprecated/iDynTree/ModelIO/URDFModelImport.h
-                                  include/deprecated/iDynTree/ModelIO/URDFGenericSensorsImport.h
-                                  include/deprecated/iDynTree/ModelIO/URDFSolidShapesImport.h)
+                                  include/iDynTree/ModelIO/ModelCalibrationHelper.h)
 
 set(IDYNTREE_MODELIO_URDF_PRIVATE_HEADERS include/private/URDFDocument.h
                                           include/private/InertialElement.h
@@ -46,9 +43,6 @@ set(IDYNTREE_MODELIO_URDF_SOURCES src/URDFDofsImport.cpp
                                   src/ModelLoader.cpp
                                   src/ModelExporter.cpp
                                   src/ModelCalibrationHelper.cpp
-                                  src/deprecated/URDFModelImport.cpp
-                                  src/deprecated/URDFGenericSensorsImport.cpp
-                                  src/deprecated/URDFSolidShapesImport.cpp
                                   src/URDFModelExport.cpp)
 
 SOURCE_GROUP("Source Files" FILES ${IDYNTREE_MODELIO_URDF_SOURCES})
@@ -67,7 +61,6 @@ add_library(iDynTree::${libraryname} ALIAS ${libraryname})
 target_compile_features(${libraryname} PRIVATE cxx_auto_type cxx_delegating_constructors cxx_final cxx_lambdas cxx_lambda_init_captures)
 
 target_include_directories(${libraryname} PUBLIC "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>"
-                                                 "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/deprecated>"
                                                  "$<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include/private>"
                                                  "$<INSTALL_INTERFACE:${CMAKE_INSTALL_INCLUDEDIR}>")
 
diff --git a/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFGenericSensorsImport.h b/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFGenericSensorsImport.h
deleted file mode 100644
index 84b9d581551..00000000000
--- a/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFGenericSensorsImport.h
+++ /dev/null
@@ -1,89 +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.
- */
-
-#ifndef IDYNTREE_URDF_GENERIC_SENSORS_IMPORT_H
-#define IDYNTREE_URDF_GENERIC_SENSORS_IMPORT_H
-
-#include <string>
-
-#include <iDynTree/Core/Utils.h>
-
-#ifdef __DEPRECATED
-  #warning <iDynTree/ModelIO/URDFGenericSensorsImport.h> is deprecated. Please use <iDynTree/ModelIO/ModelLoader.h> and the classes contained in it. To disable this warning use -Wno-deprecated.
-#endif
-
-namespace iDynTree
-
-{
-
-class SensorsList;
-class Model;
-
-/**
- * Load a iDynTree::SensorsList object from a URDF file.
- *
- * The URDF syntax and the sensor supported are documented in
- * https://github.com/robotology/idyntree/blob/master/doc/model_loading.md .
- *
- *
- * @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);
-
-/**
- * Load a iDynTree::SensorsList object from a URDF file, using a previous loaded
- * iDynTree::Model from the same URDF.
- *
- * The URDF syntax and the sensor supported are documented in
- * https://github.com/robotology/idyntree/blob/master/doc/model_loading.md .
- *
- *
- * @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);
-
-/**
- * Load a iDynTree::SensorsList object from a URDF string.
- *
- * The URDF syntax and the sensor supported are documented in
- * 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);
-
-/**
- * Load a iDynTree::SensorsList object from a URDF string, using a previous loaded
- * iDynTree::Model from the same URDF.
- *
- * The URDF syntax and the sensor supported are documented in
- * 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);
-
-}
-
-#endif
diff --git a/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFModelImport.h b/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFModelImport.h
deleted file mode 100644
index 8dd5e9f2927..00000000000
--- a/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFModelImport.h
+++ /dev/null
@@ -1,106 +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.
- */
-
-#ifndef IDYNTREE_URDF_MODEL_IMPORT_H
-#define IDYNTREE_URDF_MODEL_IMPORT_H
-
-#ifdef __DEPRECATED
-  #warning <iDynTree/ModelIO/URDFModelImport.h> is deprecated. Please use <iDynTree/ModelIO/ModelLoader.h> and the classes contained in it. To disable this warning use -Wno-deprecated.
-#endif
-
-#include <string>
-
-#include <iDynTree/Core/Utils.h>
-
-namespace iDynTree
-
-{
-
-class Model;
-
-/**
- * \ingroup iDynTreeModelIO
- *
- * Options for the iDynTree URDF parser.
- */
-
-struct IDYNTREE_DEPRECATED URDFParserOptions
-{
-    /**
-     * 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 <geometry> 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;
-
-    /**
-     * Constructor, containing default values.
-     */
-    URDFParserOptions(): addSensorFramesAsAdditionalFrames(true),
-                         originalFilename("")
-    {
-    }
-};
-
-/**
- * \ingroup iDynTreeModelIO
- *
- * Load a iDynTree::Model object from a URDF file.
- *
- * Loading the URDF with this function, the  "fake links"
- * present in the URDF file are   removed from the models
- * and added back as frames. See the removeFakeLinks
- * function, that is called inside this function before
- * returning the model.
- *
- * @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());
-
-/**
- * \ingroup iDynTreeModelIO
- *
- * Loading the URDF with this function, the  "fake links"
- * present in the URDF file are   removed from the models
- * and added back as frames. See the removeFakeLinks
- * function, that is called inside this function before
- * returning the model. .
- *
- * @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());
-
-
-}
-
-#endif
diff --git a/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFSolidShapesImport.h b/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFSolidShapesImport.h
deleted file mode 100644
index 9ab40735b35..00000000000
--- a/src/model_io/urdf/include/deprecated/iDynTree/ModelIO/URDFSolidShapesImport.h
+++ /dev/null
@@ -1,61 +0,0 @@
-/*
- * Copyright (C) 2016 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_URDF_SOLID_SHAPES_IMPORT_H
-#define IDYNTREE_URDF_SOLID_SHAPES_IMPORT_H
-
-#include <string>
-
-#include <iDynTree/Core/Utils.h>
-
-namespace iDynTree
-
-{
-
-class Model;
-class ModelSolidShapes;
-
-/**
- * \ingroup ModelIO
- *
- * Parse solid shapes from an URDF file.
- *
- * @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,
-                               ModelSolidShapes & output);
-
-/**
- * \ingroup ModelIO
- *
- * Parse solid shapes from an URDF string.
- *
- * @param[in] urdf_string
- * @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);
-
-}
-
-#endif
diff --git a/src/model_io/urdf/src/deprecated/URDFGenericSensorsImport.cpp b/src/model_io/urdf/src/deprecated/URDFGenericSensorsImport.cpp
deleted file mode 100644
index 5ad0beb66d0..00000000000
--- a/src/model_io/urdf/src/deprecated/URDFGenericSensorsImport.cpp
+++ /dev/null
@@ -1,72 +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 "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
deleted file mode 100644
index 43e9e84ed32..00000000000
--- a/src/model_io/urdf/src/deprecated/URDFModelImport.cpp
+++ /dev/null
@@ -1,57 +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 "iDynTree/ModelIO/URDFModelImport.h"
-
-#include "iDynTree/ModelIO/ModelLoader.h"
-
-#include <iDynTree/Model/Model.h>
-
-#include <cstdlib>
-#include <cmath>
-#include <iostream>
-#include <fstream>
-#include <set>
-
-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
deleted file mode 100644
index 5656ecc14a1..00000000000
--- a/src/model_io/urdf/src/deprecated/URDFSolidShapesImport.cpp
+++ /dev/null
@@ -1,77 +0,0 @@
-/*
- * 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/optimalcontrol/include/iDynTree/OptimalControlProblem.h b/src/optimalcontrol/include/iDynTree/OptimalControlProblem.h
index 169c615fa1f..3094f55c9f6 100644
--- a/src/optimalcontrol/include/iDynTree/OptimalControlProblem.h
+++ b/src/optimalcontrol/include/iDynTree/OptimalControlProblem.h
@@ -76,11 +76,6 @@ namespace iDynTree {
 
             bool removeGroupOfConstraints(const std::string& name);
 
-            IDYNTREE_DEPRECATED_WITH_MSG("Use addConstraint() instead")
-            bool addContraint(std::shared_ptr<Constraint> newConstraint) {
-                return addConstraint(newConstraint);
-            }
-
             bool addConstraint(std::shared_ptr<Constraint> newConstraint); // this apply for the full horizon. It creates a group named with the same name and containing only newConstraint
 
             bool addConstraint(std::shared_ptr<LinearConstraint> newConstraint);
diff --git a/src/sensors/CMakeLists.txt b/src/sensors/CMakeLists.txt
index 6da6d183219..0e5937a3c2a 100644
--- a/src/sensors/CMakeLists.txt
+++ b/src/sensors/CMakeLists.txt
@@ -9,7 +9,6 @@
 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
                              include/iDynTree/Sensors/ThreeAxisAngularAccelerometerSensor.h
diff --git a/src/sensors/include/iDynTree/Sensors/AccelerometerSensor.h b/src/sensors/include/iDynTree/Sensors/AccelerometerSensor.h
index b4fc2989a2c..48cd5a67dfe 100644
--- a/src/sensors/include/iDynTree/Sensors/AccelerometerSensor.h
+++ b/src/sensors/include/iDynTree/Sensors/AccelerometerSensor.h
@@ -124,11 +124,6 @@ namespace iDynTree {
          */
         bool updateIndices(const Model & model);
 
-        // Deprecated
-        IDYNTREE_DEPRECATED_WITH_MSG("Use updateIndices() instead")
-        bool updateIndeces(const Model & model);
-
-
       /**
         * Following method is to be implemented after defining the interface
         * Get wrench applied on the specified link expressed in the specified link frame.
diff --git a/src/sensors/include/iDynTree/Sensors/GyroscopeSensor.h b/src/sensors/include/iDynTree/Sensors/GyroscopeSensor.h
index c5ccf07232b..6f6b79ef210 100644
--- a/src/sensors/include/iDynTree/Sensors/GyroscopeSensor.h
+++ b/src/sensors/include/iDynTree/Sensors/GyroscopeSensor.h
@@ -123,10 +123,6 @@ namespace iDynTree {
          */
         bool updateIndices(const Model & model);
 
-        // Deprecated
-        IDYNTREE_DEPRECATED_WITH_MSG("Use updateIndices() instead")
-        bool updateIndeces(const Model & model);
-
         /**
          * Predict sensor measurement when given the parent link spatial velocity, expressed
          * in the link orientation and wrt the link origin.
diff --git a/src/sensors/include/iDynTree/Sensors/Sensors.h b/src/sensors/include/iDynTree/Sensors/Sensors.h
index 16d06717081..57b56352774 100644
--- a/src/sensors/include/iDynTree/Sensors/Sensors.h
+++ b/src/sensors/include/iDynTree/Sensors/Sensors.h
@@ -141,13 +141,6 @@ namespace iDynTree {
          * Update all the indices (link/frames) contained in this sensor.
          */
         virtual bool updateIndices(const Model & model) = 0;
-
-        // Deprecated
-        IDYNTREE_DEPRECATED_WITH_MSG("Use updateIndices() instead")
-        virtual bool updateIndeces(const Model & model)
-        {
-            return updateIndices(model);
-        }
     };
 
     /**
diff --git a/src/sensors/include/iDynTree/Sensors/SixAxisFTSensor.h b/src/sensors/include/iDynTree/Sensors/SixAxisFTSensor.h
deleted file mode 100644
index df6a1d603d4..00000000000
--- a/src/sensors/include/iDynTree/Sensors/SixAxisFTSensor.h
+++ /dev/null
@@ -1,20 +0,0 @@
-/*
- * 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.
- */
-
-#ifndef IDYNTREE_SIX_AXIS_FT_SENSOR_H
-#define IDYNTREE_SIX_AXIS_FT_SENSOR_H
-
-#ifdef __DEPRECATED
-  #warning <iDynTree/Sensors/SixAxisFTSensor.h> is deprecated. Please use <iDynTree/Sensors/SixAxisForceTorqueSensor.h>. 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
index c14786592bf..796ebf78266 100644
--- a/src/sensors/include/iDynTree/Sensors/SixAxisForceTorqueSensor.h
+++ b/src/sensors/include/iDynTree/Sensors/SixAxisForceTorqueSensor.h
@@ -161,10 +161,6 @@ namespace iDynTree {
          */
         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
diff --git a/src/sensors/include/iDynTree/Sensors/ThreeAxisAngularAccelerometerSensor.h b/src/sensors/include/iDynTree/Sensors/ThreeAxisAngularAccelerometerSensor.h
index e57624e9b2f..a6c24fdf261 100644
--- a/src/sensors/include/iDynTree/Sensors/ThreeAxisAngularAccelerometerSensor.h
+++ b/src/sensors/include/iDynTree/Sensors/ThreeAxisAngularAccelerometerSensor.h
@@ -131,10 +131,6 @@ namespace iDynTree {
         * @return the predicted measurement as a AngAcceleration
         */
         Vector3 predictMeasurement(const iDynTree::SpatialAcc &linkAcc);
-
-        // Deprecated
-        IDYNTREE_DEPRECATED_WITH_MSG("Use predictMeasurement(const iDynTree::SpatialAcc &linkAcc) instead")
-        Vector3 predictMeasurement(const iDynTree::SpatialAcc &linkAcc, const iDynTree::Twist &linkTwist);
     };
 
 
diff --git a/src/sensors/src/AccelerometerSensor.cpp b/src/sensors/src/AccelerometerSensor.cpp
index 1f1acbf595f..bbf0b4cc012 100644
--- a/src/sensors/src/AccelerometerSensor.cpp
+++ b/src/sensors/src/AccelerometerSensor.cpp
@@ -136,13 +136,6 @@ bool AccelerometerSensor::updateIndices(const Model& model)
     return true;
 }
 
-// Deprecated
-bool AccelerometerSensor::updateIndeces(const Model& model)
-{
-    return updateIndices(model);
-}
-
-
 std::string AccelerometerSensor::getName() const
 {
     return this->pimpl->name;
diff --git a/src/sensors/src/GyroscopeSensor.cpp b/src/sensors/src/GyroscopeSensor.cpp
index 97c017dd862..e5df3a33d61 100644
--- a/src/sensors/src/GyroscopeSensor.cpp
+++ b/src/sensors/src/GyroscopeSensor.cpp
@@ -121,14 +121,6 @@ bool GyroscopeSensor::updateIndices(const Model& model)
     return true;
 }
 
-// Deprecated
-bool GyroscopeSensor::updateIndeces(const Model& model)
-{
-    return updateIndices(model);
-}
-
-
-
 std::string GyroscopeSensor::getName() const
 {
     return this->pimpl->name;
diff --git a/src/sensors/src/SixAxisForceTorqueSensor.cpp b/src/sensors/src/SixAxisForceTorqueSensor.cpp
index 309bad765ef..6b42d429fd4 100644
--- a/src/sensors/src/SixAxisForceTorqueSensor.cpp
+++ b/src/sensors/src/SixAxisForceTorqueSensor.cpp
@@ -177,12 +177,6 @@ bool SixAxisForceTorqueSensor::updateIndices(const Model& model)
     return true;
 }
 
-// Deprecated
-bool SixAxisForceTorqueSensor::updateIndeces(const Model& model)
-{
-    return updateIndices(model);
-}
-
 std::string SixAxisForceTorqueSensor::getName() const
 {
     return this->pimpl->name;
diff --git a/src/sensors/src/ThreeAxisAngularAccelerometerSensor.cpp b/src/sensors/src/ThreeAxisAngularAccelerometerSensor.cpp
index 40797d63c80..94696573980 100644
--- a/src/sensors/src/ThreeAxisAngularAccelerometerSensor.cpp
+++ b/src/sensors/src/ThreeAxisAngularAccelerometerSensor.cpp
@@ -165,10 +165,4 @@ Vector3 ThreeAxisAngularAccelerometerSensor::predictMeasurement(const SpatialAcc
     return returnAcc;
 }
 
-// Deprecated
-Vector3 ThreeAxisAngularAccelerometerSensor::predictMeasurement(const SpatialAcc& linkAcc, const iDynTree::Twist& )
-{
-    return this->predictMeasurement(linkAcc);
-}
-
 }
diff --git a/src/solid-shapes/src/InertialParametersSolidShapesHelpers.cpp b/src/solid-shapes/src/InertialParametersSolidShapesHelpers.cpp
index d5b7ecb4cc2..9d26df9c0d6 100644
--- a/src/solid-shapes/src/InertialParametersSolidShapesHelpers.cpp
+++ b/src/solid-shapes/src/InertialParametersSolidShapesHelpers.cpp
@@ -162,9 +162,9 @@ Box extractAABBFromVertices(const Transform& link_H_vertices,
     }
 
     // The side of the BB is the difference between the max and min
-    box.x = maxX-minX;
-    box.y = maxY-minY;
-    box.z = maxZ-minZ;
+    box.setX(maxX-minX);
+    box.setY(maxY-minY);
+    box.setZ(maxZ-minZ);
 
     // The offset between the geometry origin and the bounding box origin is the middle point
     Position offset_bb_wrt_geom;
@@ -174,8 +174,8 @@ Box extractAABBFromVertices(const Transform& link_H_vertices,
 
     Position offset_bb_wrt_link = link_H_vertices*offset_bb_wrt_geom;
 
-    box.link_H_geometry = Transform(link_H_vertices.getRotation(),
-                                    offset_bb_wrt_link);
+    box.setLink_H_geometry(Transform(link_H_vertices.getRotation(),
+                                     offset_bb_wrt_link));
 
     return box;
 }
@@ -185,7 +185,8 @@ bool BBFromExternalShape(ExternalMesh* extMesh, Box& box)
     // Load mesh with assimp
     Assimp::Importer Importer;
 
-    const aiScene* pScene = Importer.ReadFile(extMesh->filename.c_str(), 0);
+    std::string filename = extMesh->getFilename();
+    const aiScene* pScene = Importer.ReadFile(filename.c_str(), 0);
 
     if (pScene)
     {
@@ -200,9 +201,9 @@ bool BBFromExternalShape(ExternalMesh* extMesh, Box& box)
         }
 
         // Apply scale attribute for external meshes
-        double scalingFactorX=extMesh->scale.getVal(0);
-        double scalingFactorY=extMesh->scale.getVal(1);
-        double scalingFactorZ=extMesh->scale.getVal(2);
+        double scalingFactorX=extMesh->getScale().getVal(0);
+        double scalingFactorY=extMesh->getScale().getVal(1);
+        double scalingFactorZ=extMesh->getScale().getVal(2);
 
         // Use each component to scale each vertex coordinate
         for(size_t i=0; i < vertexVector.size(); i++)
@@ -212,14 +213,14 @@ bool BBFromExternalShape(ExternalMesh* extMesh, Box& box)
             vertexVector[i].z*=scalingFactorZ;
         }
 
-        box = extractAABBFromVertices(extMesh->link_H_geometry, toiDynTree(vertexVector));
+        box = extractAABBFromVertices(extMesh->getLink_H_geometry(), toiDynTree(vertexVector));
 
         return true;
     }
     else
     {
         std::stringstream ss;
-        ss << "Impossible to load mesh " << extMesh->filename << " using the Assimp library.";
+        ss << "Impossible to load mesh " << extMesh->getFilename() << " using the Assimp library.";
         reportError("", "BBFromExternalShape", ss.str().c_str());
         return false;
     }
@@ -233,7 +234,7 @@ bool BBFromShape(SolidShape* geom, Box& box)
         // If shape is a box, just copy it
         Box* pBox = static_cast<Box*>(geom);
         box = *pBox;
-        box.link_H_geometry = geom->link_H_geometry;
+        box.setLink_H_geometry(geom->getLink_H_geometry());
         return true;
     }
 
@@ -241,8 +242,10 @@ bool BBFromShape(SolidShape* geom, Box& box)
     {
         // If shape is a sphere all the side of the BB are the diameter of the sphere
         Sphere* pSphere = static_cast<Sphere*>(geom);
-        box.x = box.y = box.z = 2.0*pSphere->radius;
-        box.link_H_geometry = geom->link_H_geometry;
+        box.setX(2.0*pSphere->getRadius());
+        box.setY(2.0*pSphere->getRadius());
+        box.setZ(2.0*pSphere->getRadius());
+        box.setLink_H_geometry(geom->getLink_H_geometry());
         return true;
     }
 
@@ -251,9 +254,10 @@ bool BBFromShape(SolidShape* geom, Box& box)
         // If shape is a cylinder the x and y side of the BB are the diameter of the cylinder,
         // while the z side is the lenght of the cylinder
         Cylinder* pCylinder = static_cast<Cylinder*>(geom);
-        box.x = box.y = 2.0*pCylinder->radius;
-        box.z = pCylinder->length;
-        box.link_H_geometry = geom->link_H_geometry;
+        box.setX(2.0*pCylinder->getRadius());
+        box.setY(2.0*pCylinder->getRadius());
+        box.setZ(pCylinder->getLength());
+        box.setLink_H_geometry(geom->getLink_H_geometry());
         return true;
     }
 
@@ -275,28 +279,28 @@ std::vector<Position> computeBoxVertices(const Box box)
     std::vector<Position> vertices;
 
     // + + +
-    vertices.push_back(box.link_H_geometry*Position(+box.x/2, +box.y/2, +box.z/2));
+    vertices.push_back(box.getLink_H_geometry()*Position(+box.getX()/2, +box.getY()/2, +box.getZ()/2));
 
     // + + -
-    vertices.push_back(box.link_H_geometry*Position(+box.x/2, +box.y/2, -box.z/2));
+    vertices.push_back(box.getLink_H_geometry()*Position(+box.getX()/2, +box.getY()/2, -box.getZ()/2));
 
     // + - +
-    vertices.push_back(box.link_H_geometry*Position(+box.x/2, -box.y/2, +box.z/2));
+    vertices.push_back(box.getLink_H_geometry()*Position(+box.getX()/2, -box.getY()/2, +box.getZ()/2));
 
     // + - -
-    vertices.push_back(box.link_H_geometry*Position(+box.x/2, -box.y/2, -box.z/2));
+    vertices.push_back(box.getLink_H_geometry()*Position(+box.getX()/2, -box.getY()/2, -box.getZ()/2));
 
     // - + +
-    vertices.push_back(box.link_H_geometry*Position(-box.x/2, +box.y/2, +box.z/2));
+    vertices.push_back(box.getLink_H_geometry()*Position(-box.getX()/2, +box.getY()/2, +box.getZ()/2));
 
     // - + -
-    vertices.push_back(box.link_H_geometry*Position(-box.x/2, +box.y/2, -box.z/2));
+    vertices.push_back(box.getLink_H_geometry()*Position(-box.getX()/2, +box.getY()/2, -box.getZ()/2));
 
     // - - +
-    vertices.push_back(box.link_H_geometry*Position(-box.x/2, -box.y/2, +box.z/2));
+    vertices.push_back(box.getLink_H_geometry()*Position(-box.getX()/2, -box.getY()/2, +box.getZ()/2));
 
     // - - -
-    vertices.push_back(box.link_H_geometry*Position(-box.x/2, -box.y/2, -box.z/2));
+    vertices.push_back(box.getLink_H_geometry()*Position(-box.getX()/2, -box.getY()/2, -box.getZ()/2));
 
     return vertices;
 }
@@ -329,20 +333,22 @@ bool getBoundingBoxOfLinkGeometries(iDynTree::Model& model,
     for (LinkIndex lnkIdx=0; lnkIdx < model.getNrOfLinks(); lnkIdx++)
     {
         // If models has no shape associated
-        if (model.collisionSolidShapes().linkSolidShapes[lnkIdx].size() == 0)
+        if (model.collisionSolidShapes().getLinkSolidShapes()[lnkIdx].size() == 0)
         {
             Box box;
-            box.x = box.y = box.z = 0.0;
+            box.setX(0);
+            box.setY(0);
+            box.setZ(0);
             linkBBsInLinkFrame[lnkIdx] = box;
             continue;
         }
 
         // Bounding boxes for each shape of the link, each expressed in link frame
         std::vector<iDynTree::Box> shapesBBsInLinkFrame;
-        for(int shapeIdx=0; shapeIdx < model.collisionSolidShapes().linkSolidShapes[lnkIdx].size(); shapeIdx++)
+        for(int shapeIdx=0; shapeIdx < model.collisionSolidShapes().getLinkSolidShapes()[lnkIdx].size(); shapeIdx++)
         {
             iDynTree::Box shapeBoundingBox;
-            SolidShape * shape = model.collisionSolidShapes().linkSolidShapes[lnkIdx][shapeIdx];
+            SolidShape * shape = model.collisionSolidShapes().getLinkSolidShapes()[lnkIdx][shapeIdx];
             bool ok = BBFromShape(shape, shapeBoundingBox);
             if (!ok) return false;
             shapesBBsInLinkFrame.push_back(shapeBoundingBox);
diff --git a/src/solid-shapes/tests/InertialParametersSolidShapesHelpersIntegrationTest.cpp b/src/solid-shapes/tests/InertialParametersSolidShapesHelpersIntegrationTest.cpp
index 523a850bc27..5e2abefabe6 100644
--- a/src/solid-shapes/tests/InertialParametersSolidShapesHelpersIntegrationTest.cpp
+++ b/src/solid-shapes/tests/InertialParametersSolidShapesHelpersIntegrationTest.cpp
@@ -29,24 +29,24 @@ void checkOneCubeVsEightSmallCubes()
     iDynTree::Model oneCubeModel;
     iDynTree::Link oneCubeLink;
     oneCubeModel.addLink("link0", oneCubeLink);
-    oneCubeModel.collisionSolidShapes().linkSolidShapes[0].resize(1);
+    oneCubeModel.collisionSolidShapes().getLinkSolidShapes()[0].resize(1);
     iDynTree::Box oneCube;
-    oneCube.link_H_geometry = Transform::Identity();
-    oneCube.x = 1;
-    oneCube.y = 1;
-    oneCube.z = 1;
-    oneCubeModel.collisionSolidShapes().linkSolidShapes[0][0] = new iDynTree::Box(oneCube);
+    oneCube.setLink_H_geometry(Transform::Identity());
+    oneCube.setX(1.0);
+    oneCube.setY(1.0);
+    oneCube.setZ(1.0);
+    oneCubeModel.collisionSolidShapes().getLinkSolidShapes()[0][0] = new iDynTree::Box(oneCube);
 
     iDynTree::Model eightCubeModel;
     iDynTree::Link eightCubeLink;
     eightCubeModel.addLink("link0", eightCubeLink);
-    oneCubeModel.collisionSolidShapes().linkSolidShapes[0];
+    oneCubeModel.collisionSolidShapes().getLinkSolidShapes()[0];
 
     iDynTree::Box smallCube;
-    smallCube.link_H_geometry = Transform::Identity();
-    smallCube.x = 1.0/2.0;
-    smallCube.y = 1.0/2.0;
-    smallCube.z = 1.0/2.0;
+    smallCube.setLink_H_geometry(Transform::Identity());
+    smallCube.setX(1.0/2.0);
+    smallCube.setY(1.0/2.0);
+    smallCube.setZ(1.0/2.0);
 
     // Generate origins for the small cubes
     std::vector<Position> smallCubesOrigins;
@@ -75,8 +75,8 @@ void checkOneCubeVsEightSmallCubes()
     smallCubesOrigins.push_back(Position(-1.0/4.0, -1.0/4.0, -1.0/4.0));
 
     for(auto&& smallCubeOrigin: smallCubesOrigins) {
-        smallCube.link_H_geometry.setPosition(smallCubeOrigin);
-        eightCubeModel.collisionSolidShapes().linkSolidShapes[0].push_back(new Box(smallCube));
+        smallCube.setLink_H_geometry(Transform(Rotation::Identity(), smallCubeOrigin));
+        eightCubeModel.collisionSolidShapes().getLinkSolidShapes()[0].push_back(new Box(smallCube));
     }
 
     // Compute the inertia with the bounding boxes for both cases