Update Matlab high-level wrappers

bindings/matlab/+iDynTreeWrappers/README.md

@@ -1,4 +1,4 @@
-# idyntree high-level-wrappers
+# iDynTree high-level-wrappers
 
 A collection of Matlab/Octave functions that wraps the functionalities of (mainly) the iDyntree class `KinDynComputations`. For further information on the single wrapper, refer to the description included in each function.
 
@@ -74,16 +74,20 @@ The purpose of the wrapper is therefore to provide a simpler and easy-to-use int
 
 Not proper wrappers, they wrap more than one method of the class each. **Requirements:** compile iDyntree with Irrlicht `(IDYNTREE_USES_IRRLICHT = ON)`.
 
+**Warning**: the visualizer class may be deprecated in a future release.
+
 - [initializeVisualizer](initializeVisualizer.m)
 - [visualizerSetup](visualizerSetup.m)
 - [updateVisualizer](updateVisualizer.m)
 
 ## Matlab Native visualization
 
 Not actual wrappers, they use the iDynTreeWrappers in combination with the MATLAB patch plotting functions to visualize the robot.
+
 **Disclaimers**:
-- This visualization **has not been tested** with Octave.
-- At the moment, there is **no support** for .dae mesh files.
+
+1) This visualization **has not been tested** with Octave.
+2) At the moment, there is **no support** for `.dae` mesh file format.
 
 - [prepareVisualization](prepareVisualization.m)
 - [updateVisualization](updateVisualization.m)

bindings/matlab/+iDynTreeWrappers/generalizedBiasForces.m

@@ -1,9 +1,9 @@
 function h = generalizedBiasForces(KinDynModel)
 
-    % GENERALIZEDBIASFORCES retrieves the generalized bias forces from 
-    %                            the reduced model. 
+    % GENERALIZEDBIASFORCES retrieves the generalized bias forces from
+    %                       the reduced model.
     %
-    % This matlab function wraps a functionality of the iDyntree library.                     
+    % This matlab function wraps a functionality of the iDyntree library.
     % For further info see also: https://github.com/robotology/idyntree
     %
     % FORMAT:  h = generalizedBiasForces(KinDynModel)
@@ -15,24 +15,21 @@
     % Author : Gabriele Nava ([email protected])
     %
     % SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
-% SPDX-License-Identifier: BSD-3-Clause
+    % SPDX-License-Identifier: BSD-3-Clause
 
     %% ------------Initialization----------------
-
-    % create the vector that must be populated with the bias forces
-    h_iDyntree = iDynTree.FreeFloatingGeneralizedTorques(KinDynModel.kinDynComp.model);
-
+
     % get the bias forces
-    ack = KinDynModel.kinDynComp.generalizedBiasForces(h_iDyntree);
-    
+    ack = KinDynModel.kinDynComp.generalizedBiasForces(KinDynModel.dynamics.h_iDyntree);
+
     % check for errors
     if ~ack
         error('[generalizedBiasForces]: unable to get the bias forces from the reduced model.')
     end
-    
+
     % convert to Matlab format: compute the base bias acc (h_b) and the
     % joint bias acc (h_s) and concatenate them
-    h_b = h_iDyntree.baseWrench.toMatlab;
-    h_s = h_iDyntree.jointTorques.toMatlab;   
+    h_b = KinDynModel.dynamics.h_iDyntree.baseWrench.toMatlab;
+    h_s = KinDynModel.dynamics.h_iDyntree.jointTorques.toMatlab;
     h   = [h_b;h_s];
 end

bindings/matlab/+iDynTreeWrappers/generalizedGravityForces.m

@@ -1,9 +1,9 @@
 function g = generalizedGravityForces(KinDynModel)
 
-    % GENERALIZEDGRAVITYFORCES retrieves the generalized gravity forces 
-    %                               given the reduced model.
+    % GENERALIZEDGRAVITYFORCES retrieves the generalized gravity forces
+    %                          given the reduced model.
     %
-    % This matlab function wraps a functionality of the iDyntree library.                     
+    % This matlab function wraps a functionality of the iDyntree library.
     % For further info see also: https://github.com/robotology/idyntree
     %
     % FORMAT:  g = generalizedGravityForces(KinDynModel)
@@ -15,24 +15,21 @@
     % Author : Gabriele Nava ([email protected])
     %
     % SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
-% SPDX-License-Identifier: BSD-3-Clause
+    % SPDX-License-Identifier: BSD-3-Clause
 
     %% ------------Initialization----------------
-
-    % create the vector that must be populated with the gravity forces
-    g_iDyntree = iDynTree.FreeFloatingGeneralizedTorques(KinDynModel.kinDynComp.model);
-
+
     % get the gravity forces
-    ack = KinDynModel.kinDynComp.generalizedGravityForces(g_iDyntree);
-    
+    ack = KinDynModel.kinDynComp.generalizedGravityForces(KinDynModel.dynamics.g_iDyntree);
+
     % check for errors
-    if ~ack  
+    if ~ack
         error('[generalizedGravityForces]: unable to get the gravity forces from the reduced model.')
     end
-    
+
     % convert to Matlab format: compute the base gravity forces (g_b) and the
     % joint gravity forces (g_j) and concatenate them
-    g_b = g_iDyntree.baseWrench.toMatlab;
-    g_s = g_iDyntree.jointTorques.toMatlab;   
+    g_b = KinDynModel.dynamics.g_iDyntree.baseWrench.toMatlab;
+    g_s = KinDynModel.dynamics.g_iDyntree.jointTorques.toMatlab;
     g   = [g_b; g_s];
 end

bindings/matlab/+iDynTreeWrappers/getBaseTwist.m

@@ -2,7 +2,7 @@
 
     % GETBASETWIST retrieves the robot base velocity from the reduced model.
     %
-    % This matlab function wraps a functionality of the iDyntree library.                     
+    % This matlab function wraps a functionality of the iDyntree library.
     % For further info see also: https://github.com/robotology/idyntree
     %
     % FORMAT:  baseVel = getBaseTwist(KinDynModel)
@@ -14,13 +14,13 @@
     % Author : Gabriele Nava ([email protected])
     %
     % SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
-% SPDX-License-Identifier: BSD-3-Clause
+    % SPDX-License-Identifier: BSD-3-Clause
 
     %% ------------Initialization----------------
 
     % get the base velocities
     baseVel_iDyntree = KinDynModel.kinDynComp.getBaseTwist();
-    
+
     % convert to Matlab format
     baseVel = baseVel_iDyntree.toMatlab;
 end

bindings/matlab/+iDynTreeWrappers/getCenterOfMassJacobian.m

@@ -2,7 +2,7 @@
 
     % GETCENTEROFMASSJACOBIAN retrieves the CoM jacobian.
     %
-    % This matlab function wraps a functionality of the iDyntree library.                     
+    % This matlab function wraps a functionality of the iDyntree library.
     % For further info see also: https://github.com/robotology/idyntree
     %
     % FORMAT:  J_CoM = getCenterOfMassJacobian(KinDynModel)
@@ -14,21 +14,18 @@
     % Author : Gabriele Nava ([email protected])
     %
     % SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
-% SPDX-License-Identifier: BSD-3-Clause
+    % SPDX-License-Identifier: BSD-3-Clause
 
     %% ------------Initialization----------------
-
-    % create the matrix that must be populated with the jacobian map
-    J_CoM_iDyntree = iDynTree.MatrixDynSize(3,KinDynModel.NDOF+6);
-
+
     % get the free floating jacobian
-    ack = KinDynModel.kinDynComp.getCenterOfMassJacobian(J_CoM_iDyntree);
-    
+    ack = KinDynModel.kinDynComp.getCenterOfMassJacobian(KinDynModel.kinematics.J_CoM_iDyntree);
+
     % check for errors
-    if ~ack    
+    if ~ack
         error('[getCenterOfMassJacobian]: unable to get the CoM Jacobian from the reduced model.')
     end
-    
+
     % convert to Matlab format
-    J_CoM = J_CoM_iDyntree.toMatlab;
+    J_CoM = KinDynModel.kinematics.J_CoM_iDyntree.toMatlab;
 end

bindings/matlab/+iDynTreeWrappers/getCenterOfMassPosition.m

@@ -2,7 +2,7 @@
 
     % GETCENTEROFMASSPOSITION retrieves the CoM position in world coordinates.
     %
-    % This matlab function wraps a functionality of the iDyntree library.                     
+    % This matlab function wraps a functionality of the iDyntree library.
     % For further info see also: https://github.com/robotology/idyntree
     %
     % FORMAT:  posCoM = getCenterOfMassPosition(KinDynModel)
@@ -14,13 +14,13 @@
     % Author : Gabriele Nava ([email protected])
     %
     % SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
-% SPDX-License-Identifier: BSD-3-Clause
+    % SPDX-License-Identifier: BSD-3-Clause
 
     %% ------------Initialization----------------
-    
+
     % get the CoM position
-    posCoM_iDyntree = KinDynModel.kinDynComp.getCenterOfMassPosition(); 
-    
+    posCoM_iDyntree = KinDynModel.kinDynComp.getCenterOfMassPosition();
+
     % covert to matlab
     posCoM = posCoM_iDyntree.toMatlab;
 end

bindings/matlab/+iDynTreeWrappers/getCenterOfMassVelocity.m

@@ -2,7 +2,7 @@
 
     % GETCENTEROFMASSVELOCITY retrieves the CoM velocity in world coordinates.
     %
-    % This matlab function wraps a functionality of the iDyntree library.                     
+    % This matlab function wraps a functionality of the iDyntree library.
     % For further info see also: https://github.com/robotology/idyntree
     %
     % FORMAT:  velCoM = getCenterOfMassVelocity(KinDynModel)
@@ -14,13 +14,13 @@
     % Author : Gabriele Nava ([email protected])
     %
     % SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
-% SPDX-License-Identifier: BSD-3-Clause
+    % SPDX-License-Identifier: BSD-3-Clause
+
+    %% ------------Initialization----------------
 
-    %% ------------Initialization----------------  
-
     % get the CoM velocity
-    velCoM_iDyntree = KinDynModel.kinDynComp.getCenterOfMassVelocity(); 
-    
+    velCoM_iDyntree = KinDynModel.kinDynComp.getCenterOfMassVelocity();
+
     % covert to matlab
     velCoM = velCoM_iDyntree.toMatlab;
 end

bindings/matlab/+iDynTreeWrappers/getCentroidalTotalMomentum.m

@@ -1,10 +1,10 @@
 function totalMomentum = getCentroidalTotalMomentum(KinDynModel)
 
     % GETCENTROIDALTOTALMOMENTUM retrieves the centroidal momentum from the reduced
-    %                                 model. The quantity is expressed in a frame that depends
-    %                                 on the 'FrameVelocityReperesentation' settings.                               
+    %                            model. The quantity is expressed in a frame that depends
+    %                            on the 'FrameVelocityReperesentation' settings.
     %
-    % This matlab function wraps a functionality of the iDyntree library.                     
+    % This matlab function wraps a functionality of the iDyntree library.
     % For further info see also: https://github.com/robotology/idyntree
     %
     % FORMAT:  totalMomentum = getCentroidalTotalMomentum(KinDynModel)
@@ -16,13 +16,13 @@
     % Author : Gabriele Nava ([email protected])
     %
     % SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
-% SPDX-License-Identifier: BSD-3-Clause
+    % SPDX-License-Identifier: BSD-3-Clause
 
     %% ------------Initialization----------------
-    
+
     % get the momentum
     totalMomentum_iDyntree = KinDynModel.kinDynComp.getCentroidalTotalMomentum();
-    
+
     % convert to Matlab format
     totalMomentum = totalMomentum_iDyntree.toMatlab;
 end

bindings/matlab/+iDynTreeWrappers/getFloatingBase.m

@@ -1,9 +1,9 @@
 function baseLinkName = getFloatingBase(KinDynModel)
 
-    % GETFLOATINGBASE retrieves the floating base link name from the 
-    %                      reduced model.
+    % GETFLOATINGBASE retrieves the floating base link name from the
+    %                 reduced model.
     %
-    % This matlab function wraps a functionality of the iDyntree library.                     
+    % This matlab function wraps a functionality of the iDyntree library.
     % For further info see also: https://github.com/robotology/idyntree
     %
     % FORMAT:  baseLinkName = getFloatingBase(KinDynModel)
@@ -15,10 +15,10 @@
     % Author : Gabriele Nava ([email protected])
     %
     % SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
-% SPDX-License-Identifier: BSD-3-Clause
+    % SPDX-License-Identifier: BSD-3-Clause
 
     %% ------------Initialization----------------
-    
+
     % get the name of the floating base link
-    baseLinkName = KinDynModel.kinDynComp.getFloatingBase();  
+    baseLinkName = KinDynModel.kinDynComp.getFloatingBase();
 end

bindings/matlab/+iDynTreeWrappers/getFrameBiasAcc.m

@@ -1,28 +1,28 @@
 function JDot_nu_frame = getFrameBiasAcc(KinDynModel,frameName)
 
-    % GETFRAMEBIASACC gets the bias accelerations of a specified frame. 
+    % GETFRAMEBIASACC gets the bias accelerations of a specified frame.
     %
-    % This matlab function wraps a functionality of the iDyntree library.                     
+    % This matlab function wraps a functionality of the iDyntree library.
     % For further info see also: https://github.com/robotology/idyntree
     %
     % FORMAT:  JDot_nu_frame = getFrameBiasAcc(KinDynModel,frameName)
     %
     % INPUTS:  - KinDynModel: a structure containing the loaded model and additional info.
-    %          - frameName: a string that specifies the frame w.r.t. compute the 
-    %                       bias accelerations, or the associated ID;     
+    %          - frameName: a string that specifies the frame w.r.t. compute the
+    %                       bias accelerations, or the associated ID;
     %
     % OUTPUTS: - JDot_nu_frame: [6 x 6+ndof] frame bias accelerations.
     %
     % Author : Gabriele Nava ([email protected])
     %
     % SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
-% SPDX-License-Identifier: BSD-3-Clause
+    % SPDX-License-Identifier: BSD-3-Clause
 
     %% ------------Initialization----------------
-    
+
     % get the bias acc
     JDot_nu_frame_iDyntree = KinDynModel.kinDynComp.getFrameBiasAcc(frameName);
-    
+
     % convert to Matlab format
     JDot_nu_frame = JDot_nu_frame_iDyntree.toMatlab;
 end

bindings/matlab/+iDynTreeWrappers/getFrameFreeFloatingJacobian.m

@@ -1,37 +1,34 @@
 function J_frame = getFrameFreeFloatingJacobian(KinDynModel,frameName)
 
-    % GETFRAMEFREEFLOATINGJACOBIAN gets the free floating jacobian of a 
-    %                                   specified frame. 
+    % GETFRAMEFREEFLOATINGJACOBIAN gets the free floating jacobian of a
+    %                              specified frame.
     %
-    % This matlab function wraps a functionality of the iDyntree library.                     
+    % This matlab function wraps a functionality of the iDyntree library.
     % For further info see also: https://github.com/robotology/idyntree
     %
     % FORMAT:  J_frame = getFrameFreeFloatingJacobian(KinDynModel,frameName)
     %
     % INPUTS:  - KinDynModel: a structure containing the loaded model and additional info.
-    %          - frameName: a string that specifies the frame w.r.t. compute the 
-    %                       jacobian matrix, or the associated ID;     
+    %          - frameName: a string that specifies the frame w.r.t. compute the
+    %                       jacobian matrix, or the associated ID;
     %
     % OUTPUTS: - J_frame: [6 x 6+ndof] frame free floating Jacobian.
     %
     % Author : Gabriele Nava ([email protected])
     %
     % SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
-% SPDX-License-Identifier: BSD-3-Clause
+    % SPDX-License-Identifier: BSD-3-Clause
 
     %% ------------Initialization----------------
-
-    % create the matrix that must be populated with the jacobian map
-    J_frame_iDyntree = iDynTree.MatrixDynSize(6,KinDynModel.NDOF+6);
-
+
     % get the free floating jacobian
-    ack = KinDynModel.kinDynComp.getFrameFreeFloatingJacobian(frameName,J_frame_iDyntree);
-    
+    ack = KinDynModel.kinDynComp.getFrameFreeFloatingJacobian(frameName,KinDynModel.kinematics.J_frame_iDyntree);
+
     % check for errors
-    if ~ack   
+    if ~ack
         error('[getFrameFreeFloatingJacobian]: unable to get the Jacobian from the reduced model.')
     end
-    
+
     % convert to Matlab format
-    J_frame = J_frame_iDyntree.toMatlab;
+    J_frame = KinDynModel.kinematics.J_frame_iDyntree.toMatlab;
 end