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robotology-legacy / mex-wholebodymodel

Matlab MEX interface to the iWholeBodyModel interface.
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Provide a shim of mex-wholebodymodel against iDynTree classes #75

Closed traversaro closed 3 years ago

traversaro commented 7 years ago

To simplify the binary distribution of the library, it would be useful to provide a shim of mex-wholebodymodel functions against the iDynTree::KinematicsDynamicsComputations class bindings. That class should provide all the functionality provided by mex-wholebodymodel. The only exception is probably the wbm_modelInitialise function, that needs access to the YARP's ResourceFinder to find the model.urdf file for a specific YARP_ROBOT_NAME. To implement that function I think it make sense to use the yarp matlab bindings (https://github.com/robotology-playground/yarp-matlab-bindings) integrating their installation in the codyco-superbuild.

traversaro commented 3 years ago

In the end, we never implemented such as shim.