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robotology · Oct 28, 2024 · adabf4b · adabf4b
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diff --git a/AccelerometerSensor_8h.html b/AccelerometerSensor_8h.html
@@ -69,6 +69,7 @@ <h3>Contents</h3>
               <ul>
                 <li><a href="#namespaces">Namespaces</a></li>
                 <li><a href="#nested-classes">Classes</a></li>
+                <li><a href="#typedef-members">Typedefs</a></li>
               </ul>
             </li>
           </ul>
@@ -89,6 +90,15 @@ <h2><a href="#nested-classes">Classes</a></h2>
             <dd>Interface to the Accelerometer class.</dd>
           </dl>
         </section>
+        <section id="typedef-members">
+          <h2><a href="#typedef-members">Typedefs</a></h2>
+          <dl class="m-doc">
+            <dt id="ae032ae81e0b23b33446033eefb13e629">
+              using <a href="#ae032ae81e0b23b33446033eefb13e629" class="m-doc-self">LinAcceleration</a> = LinearMotionVector3
+            </dt>
+            <dd><span></span></dd>
+          </dl>
+        </section>
       </div>
     </div>
   </div>

diff --git a/GeomVector3_8h.html b/GeomVector3_8h.html
@@ -101,18 +101,10 @@ <h2><a href="#typedef-members">Typedefs</a></h2>
               using <a href="#a408c1ac9b6f50b7425becd9b7b20f351" class="m-doc-self">LinVelocity</a> = LinearMotionVector3
             </dt>
             <dd><span></span></dd>
-            <dt id="ae032ae81e0b23b33446033eefb13e629">
-              using <a href="#ae032ae81e0b23b33446033eefb13e629" class="m-doc-self">LinAcceleration</a> = LinearMotionVector3
-            </dt>
-            <dd><span></span></dd>
             <dt id="aff2ac4b45bb6926622fcfbf47dbe82b1">
               using <a href="#aff2ac4b45bb6926622fcfbf47dbe82b1" class="m-doc-self">AngularMotionVector3</a> = GeomVector3
             </dt>
             <dd><span></span></dd>
-            <dt id="a303a7b672a9817d74c5a6279fbfe5e34">
-              using <a href="#a303a7b672a9817d74c5a6279fbfe5e34" class="m-doc-self">AngVelocity</a> = AngularMotionVector3
-            </dt>
-            <dd><span></span></dd>
             <dt id="adb7dac766ffa576a0213970d650eda15">
               using <a href="#adb7dac766ffa576a0213970d650eda15" class="m-doc-self">AngAcceleration</a> = AngularMotionVector3
             </dt>

diff --git a/GyroscopeSensor_8h.html b/GyroscopeSensor_8h.html
@@ -69,6 +69,7 @@ <h3>Contents</h3>
               <ul>
                 <li><a href="#namespaces">Namespaces</a></li>
                 <li><a href="#nested-classes">Classes</a></li>
+                <li><a href="#typedef-members">Typedefs</a></li>
               </ul>
             </li>
           </ul>
@@ -89,6 +90,15 @@ <h2><a href="#nested-classes">Classes</a></h2>
             <dd>Interface to the Gyroscope class.</dd>
           </dl>
         </section>
+        <section id="typedef-members">
+          <h2><a href="#typedef-members">Typedefs</a></h2>
+          <dl class="m-doc">
+            <dt id="a303a7b672a9817d74c5a6279fbfe5e34">
+              using <a href="#a303a7b672a9817d74c5a6279fbfe5e34" class="m-doc-self">AngVelocity</a> = AngularMotionVector3
+            </dt>
+            <dd><span></span></dd>
+          </dl>
+        </section>
       </div>
     </div>
   </div>

diff --git a/classiDynTree_1_1ModelExporter.html b/classiDynTree_1_1ModelExporter.html
@@ -66,9 +66,9 @@ <h1>
           <h3>Contents</h3>
           <ul>
             <li>
-              <a href="#autotoc_md1">Format documentation</a>
+              <a href="#autotoc_md0">Format documentation</a>
               <ul>
-                <li><a href="#autotoc_md2">URDF</a></li>
+                <li><a href="#autotoc_md1">URDF</a></li>
               </ul>
             </li>
             <li>
@@ -80,7 +80,7 @@ <h3>Contents</h3>
             </li>
           </ul>
         </nav>
-<p>Currently the only format supported for export is the URDF format, as it is described in <a href="http://wiki.ros.org/urdf/XML">http:/<wbr />/<wbr />wiki.ros.org/<wbr />urdf/<wbr />XML</a> .</p><p>Only <a href="classiDynTree_1_1Model.html" class="m-doc">iDynTree::<wbr />Model</a> classes that represent multibody system with no loops can be exported.</p><p>Furthermore, currently the model exporter only exports a subset of the features supported in <a href="classiDynTree_1_1Model.html" class="m-doc">iDynTree::<wbr />Model</a>. In particular, the following features are not exported:</p><ul><li>Sensors</li><li>Joint limits, damping and static friction.</li></ul><section id="autotoc_md1"><h2><a href="#autotoc_md1">Format documentation</a></h2><p>The following format are supported by the exporter.</p><table class="m-table"><thead><tr><th>Format</th><th>Extendend Name</th><th>Website</th><th>String for filetype argument</th></tr></thead><tbody><tr><td>URDF</td><td>Unified Robot Description Format</td><td><a href="http://wiki.ros.org/urdf">http:/<wbr />/<wbr />wiki.ros.org/<wbr />urdf</a></td><td><code>urdf</code></td></tr></tbody></table><section id="autotoc_md2"><h3><a href="#autotoc_md2">URDF</a></h3><p>As the URDF format does not distinguish between frames and links (see <a href="https://discourse.ros.org/t/urdf-ng-link-and-frame-concepts/56">https:/<wbr />/<wbr />discourse.ros.org/<wbr />t/<wbr />urdf-ng-link-and-frame-concepts/<wbr />56</a> for an extensive discussion on this) the URDF model exporter converts iDynTree&#x27;s <em>additional frames</em> to mass-less and shape-less <em>fake</em> URDF links that are connected as child links via <code>fixed</code> joints to the corresponding <strong>real</strong> URDF links.</p><p>Furthermore, it is widespread use in URDF models to never use a real link (with mass) as the root link of a model, mainly due to workaround a bug in official KDL parser used in ROS (see <a href="https://github.com/ros/kdl_parser/issues/27">https://github.com/ros/kdl_<wbr />parser/issues/27</a> for more info). For this reason, if the selected base_link has at least one additional frame, by default the first additional frame of the base link is added as a <strong>parent</strong> fake URDF link, instead as a <strong>child</strong> fake URDF link as done with the rest of iDynTree&#x27;s additional frames. If no additional frame is available for the base link, the base link of the URDF will have a mass, and will generate a warning then used with the ROS&#x27;s <a href="https://github.com/ros/kdl_parser"><code>kdl_parser</code></a> . This behaviour can be disabled by setting to false the <code>exportFirstBaseLinkAdditionalFrameAsFakeURDFBase</code> attribute of <a href="structiDynTree_1_1ModelExporterOptions.html" class="m-doc">ModelExporterOptions</a>.</p></section></section>
+<p>Currently the only format supported for export is the URDF format, as it is described in <a href="http://wiki.ros.org/urdf/XML">http:/<wbr />/<wbr />wiki.ros.org/<wbr />urdf/<wbr />XML</a> .</p><p>Only <a href="classiDynTree_1_1Model.html" class="m-doc">iDynTree::<wbr />Model</a> classes that represent multibody system with no loops can be exported.</p><p>Furthermore, currently the model exporter only exports a subset of the features supported in <a href="classiDynTree_1_1Model.html" class="m-doc">iDynTree::<wbr />Model</a>. In particular, the following features are not exported:</p><ul><li>Sensors</li><li>Joint limits, damping and static friction.</li></ul><section id="autotoc_md0"><h2><a href="#autotoc_md0">Format documentation</a></h2><p>The following format are supported by the exporter.</p><table class="m-table"><thead><tr><th>Format</th><th>Extendend Name</th><th>Website</th><th>String for filetype argument</th></tr></thead><tbody><tr><td>URDF</td><td>Unified Robot Description Format</td><td><a href="http://wiki.ros.org/urdf">http:/<wbr />/<wbr />wiki.ros.org/<wbr />urdf</a></td><td><code>urdf</code></td></tr></tbody></table><section id="autotoc_md1"><h3><a href="#autotoc_md1">URDF</a></h3><p>As the URDF format does not distinguish between frames and links (see <a href="https://discourse.ros.org/t/urdf-ng-link-and-frame-concepts/56">https:/<wbr />/<wbr />discourse.ros.org/<wbr />t/<wbr />urdf-ng-link-and-frame-concepts/<wbr />56</a> for an extensive discussion on this) the URDF model exporter converts iDynTree&#x27;s <em>additional frames</em> to mass-less and shape-less <em>fake</em> URDF links that are connected as child links via <code>fixed</code> joints to the corresponding <strong>real</strong> URDF links.</p><p>Furthermore, it is widespread use in URDF models to never use a real link (with mass) as the root link of a model, mainly due to workaround a bug in official KDL parser used in ROS (see <a href="https://github.com/ros/kdl_parser/issues/27">https://github.com/ros/kdl_<wbr />parser/issues/27</a> for more info). For this reason, if the selected base_link has at least one additional frame, by default the first additional frame of the base link is added as a <strong>parent</strong> fake URDF link, instead as a <strong>child</strong> fake URDF link as done with the rest of iDynTree&#x27;s additional frames. If no additional frame is available for the base link, the base link of the URDF will have a mass, and will generate a warning then used with the ROS&#x27;s <a href="https://github.com/ros/kdl_parser"><code>kdl_parser</code></a> . This behaviour can be disabled by setting to false the <code>exportFirstBaseLinkAdditionalFrameAsFakeURDFBase</code> attribute of <a href="structiDynTree_1_1ModelExporterOptions.html" class="m-doc">ModelExporterOptions</a>.</p></section></section>
         <section id="constructordestructor">
           <h2><a href="#constructordestructor">Constructor/Destructor</a></h2>
           <dl class="m-doc">

diff --git a/classiDynTree_1_1SimpleLeggedOdometry.html b/classiDynTree_1_1SimpleLeggedOdometry.html
@@ -173,13 +173,13 @@ <h3>Contents</h3>
 ${}^{world} H_{new\_fixed} = {}^{world} H_{old\_fixed} \cdot {}^{old\_fixed} H_{new\_fixed}(q_j)$
 </title>
 <defs>
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