Add KinDynWrapper test

ami-iit · Nov 2, 2023 · ad5673c · ad5673c
1 parent 2e9b054
commit ad5673c
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Showing 14 changed files with 243 additions and 2,298 deletions.
diff --git a/src/Estimators/CMakeLists.txt b/src/Estimators/CMakeLists.txt
@@ -29,13 +29,11 @@ if(FRAMEWORK_COMPILE_RobotDynamicsEstimator)
     NAME                    RobotDynamicsEstimator
     SOURCES                 src/SubModel.cpp src/KinDynWrapper.cpp src/Dynamics.cpp src/ZeroVelocityStateDynamics.cpp src/JointVelocityStateDynamics.cpp
                             src/ConstantMeasurementModel.cpp src/AccelerometerMeasurementDynamics.cpp src/GyroscopeMeasurementDynamics.cpp
-                            src/FrictionTorqueStateDynamics.cpp src/MotorCurrentMeasurementDynamics.cpp src/UkfModel.cpp
-                            src/UkfState.cpp src/UkfMeasurement.cpp src/RobotDynamicsEstimator.cpp
+                            src/FrictionTorqueStateDynamics.cpp src/MotorCurrentMeasurementDynamics.cpp
     SUBDIRECTORIES          tests/RobotDynamicsEstimator
     PUBLIC_HEADERS          ${H_PREFIX}/SubModel.h ${H_PREFIX}/KinDynWrapper.h ${H_PREFIX}/Dynamics.h ${H_PREFIX}/ZeroVelocityStateDynamics.h
                             ${H_PREFIX}/JointVelocityStateDynamics.h ${H_PREFIX}/ConstantMeasurementModel.h ${H_PREFIX}/AccelerometerMeasurementDynamics.h
                             ${H_PREFIX}/GyroscopeMeasurementDynamics.h ${H_PREFIX}/FrictionTorqueStateDynamics.h ${H_PREFIX}/MotorCurrentMeasurementDynamics.h
-                            ${H_PREFIX}/UkfModel.h ${H_PREFIX}/UkfState.h ${H_PREFIX}/UkfMeasurement.h ${H_PREFIX}/RobotDynamicsEstimator.h
     PUBLIC_LINK_LIBRARIES   BipedalLocomotion::ParametersHandler MANIF::manif BipedalLocomotion::System BipedalLocomotion::Math iDynTree::idyntree-high-level
                             iDynTree::idyntree-core iDynTree::idyntree-model iDynTree::idyntree-modelio Eigen3::Eigen BayesFilters::BayesFilters
     PRIVATE_LINK_LIBRARIES  BipedalLocomotion::TextLogging BipedalLocomotion::ManifConversions

diff --git a/src/Estimators/include/BipedalLocomotion/RobotDynamicsEstimator/RobotDynamicsEstimator.h b/src/Estimators/include/BipedalLocomotion/RobotDynamicsEstimator/RobotDynamicsEstimator.h