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robotology / idyntree

Multibody Dynamics Library designed for Free Floating Robots
BSD 3-Clause "New" or "Revised" License
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KinDynComputations: Add `setWorldBaseTransform` function #1082

Open Nicogene opened 1 year ago

Nicogene commented 1 year ago

Right now there is only getWorldBaseTransform, and this transform can be set only w/ setRobotState that include also other information that maybe the user does not want to change (positions, velocity, gravity etc).

It would be nice to have this function for setting world_T_base transform

cc @mfussi66