From 288d6e925e68b6a6bee2a5a0026173086e53b626 Mon Sep 17 00:00:00 2001
From: Francesco Romano <francesco.romano.1987@gmail.com>
Date: Mon, 25 Sep 2017 12:10:57 +0200
Subject: [PATCH 01/92] Migrated old DH conversion code from embedded to
 iDynTree

---
 toolbox/CMakeLists.txt            |   3 +-
 toolbox/src/InverseKinematics.cpp | 149 ++++++------------------------
 2 files changed, 27 insertions(+), 125 deletions(-)

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index e648f87f6..52c60000f 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -40,8 +40,7 @@ add_install_rpath_support(BIN_DIRS ${CMAKE_INSTALL_PREFIX}/bin
 find_package(Eigen3 REQUIRED)
 find_package(wholeBodyInterface 0.2.5 REQUIRED)
 find_package(yarpWholeBodyInterface 0.3.2 REQUIRED)
-# Workaround section, aka, this stuff should be defined by imported libraries
-find_package(iDynTree REQUIRED)
+find_package(iDynTree 0.7.2 REQUIRED)
 
 #On new versions of Clang, MATLAB requires C++11.
 #I enable it on all Clangs
diff --git a/toolbox/src/InverseKinematics.cpp b/toolbox/src/InverseKinematics.cpp
index 1ad048a52..43c45a7e0 100644
--- a/toolbox/src/InverseKinematics.cpp
+++ b/toolbox/src/InverseKinematics.cpp
@@ -14,20 +14,12 @@
 #include <yarp/os/ResourceFinder.h>
 #include <typeinfo>
 
-//These includes are to convert from URDF to DH
-#include <kdl/tree.hpp>
-#include <kdl/jntarray.hpp>
-#include <kdl/joint.hpp>
-#include <kdl_codyco/undirectedtree.hpp>
-#include <kdl/chainfksolverpos_recursive.hpp>
-#include <iDynTree/ModelIO/impl/urdf_import.hpp>
-#include <iDynTree/ModelIO/iKin_export.hpp>
-//End of temporary include section
+#include <iDynTree/iKinConversions.h>
+#include <iDynTree/Model/DenavitHartenberg.h>
+#include <iDynTree/ModelIO/ModelLoader.h>
 
 namespace wbt {
 
-    static bool iKinLimbFromUrdfFile(const std::string &urdf_file_name, const std::string &base_link_name, const std::string& end_effector_link_name, iCub::iKin::iKinLimb &convertedChain, std::vector<std::string>& jointNames);
-
     struct InverseKinematics::InverseKinematicsPimpl {
         bool m_firstTime;
         //input buffers
@@ -204,11 +196,32 @@ namespace wbt {
         if (!m_piml->m_leg) return false;
 
         std::vector<std::string> jointNames;
-        if (!iKinLimbFromUrdfFile(urdfFile, baseLink, endEffectorLink, *((iCub::iKin::iKinLimb*)m_piml->m_leg), jointNames)) {
-            if (error) error->message = "Cannot convert urdf to iKin chain";
+        iDynTree::ModelLoader loader;
+        loader.loadModelFromFile(urdfFile);
+        if (!loader.isValid()) {
+            if (error) error->message = "Cannot load urdf file";
+            return false;
+        }
+
+        iDynTree::DHChain dhChain;
+        if (!iDynTree::ExtractDHChainFromModel(loader.model(),
+                                               baseLink,
+                                               endEffectorLink,
+                                               dhChain)) {
+            if (error) error->message = "Cannot extract DH parameters from model";
+            return false;
+        }
+        if (!iDynTree::iKinLimbFromDHChain(dhChain, *((iCub::iKin::iKinLimb*)m_piml->m_leg))) {
+            if (error) error->message = "Cannot convert DH parameters to iKin chain";
             return false;
         }
 
+        // Retrieve joint names
+        jointNames.reserve(dhChain.getNrOfDOFs());
+        for (size_t i = 0; i < dhChain.getNrOfDOFs(); ++i) {
+            jointNames.push_back(dhChain.getDOFName(i));
+        }
+
         m_piml->m_solver = new iCub::iKin::iKinIpOptMin(*m_piml->m_leg, IKINCTRL_POSE_XYZ, 1e-3, 1e-6, 100);
         if (!m_piml->m_solver) return false;
 
@@ -329,114 +342,4 @@ namespace wbt {
         return false;
     }
 
-
-    bool iKinLimbFromUrdfFile(const std::string &urdf_file_name, const std::string &base_link_name, const std::string& end_effector_link_name, iCub::iKin::iKinLimb &convertedChain, std::vector<std::string>& jointNames) {
-
-        KDL::Tree kdl_tree;
-        KDL::Chain kdl_chain;
-        std::vector<std::string> joint_names;
-        KDL::JntArray min,max;
-
-        //
-        // URDF --> KDL::Tree
-        //
-        bool root_inertia_workaround = true;
-        if (!iDynTree::treeFromUrdfFile(urdf_file_name,kdl_tree,root_inertia_workaround))
-        {
-            std::cerr << "Could not parse urdf robot model" << std::endl;
-            std::cerr << "Please open an issue at https://github.com/robotology-playground/idyntree/issues " << std::endl;
-
-            return false;
-        }
-
-        //
-        // URDF --> position ranges
-        //
-        if (!iDynTree::jointPosLimitsFromUrdfFile(urdf_file_name,joint_names,min,max))
-        {
-            std::cerr << "Could not parse urdf robot model limits" << std::endl;
-            return false;
-        }
-
-        if (joint_names.size() != min.rows() ||
-           joint_names.size() != max.rows() ||
-           joint_names.size() == 0)
-        {
-            std::cerr << "Inconsistent joint limits got from urdf (nr of joints extracted: " << joint_names.size() << " ) " << std::endl;
-            return false;
-        }
-
-        //
-        // KDL::Tree --> KDL::CoDyCo::UndirectedTree
-        // (for extracting arbitrary chains,
-        //    using KDL::Tree you can just get chains where the base of the chain
-        //    is proximal to the tree base with respect to the end effector.
-        //
-        KDL::CoDyCo::UndirectedTree undirected_tree(kdl_tree);
-
-        KDL::Tree kdl_rotated_tree = undirected_tree.getTree(base_link_name);
-
-        bool result = kdl_rotated_tree.getChain(base_link_name,end_effector_link_name,kdl_chain);
-        if (!result)
-        {
-            std::cerr << "Impossible to find " << base_link_name << " or "
-            << end_effector_link_name << " in the URDF."  << std::endl;
-            return false;
-        }
-
-        //
-        // Copy the limits extracted from the URDF to the chain
-        //
-        int nj = kdl_chain.getNrOfJoints();
-        KDL::JntArray chain_min(nj), chain_max(nj);
-
-        jointNames.clear();
-        jointNames.reserve(nj);
-
-        size_t seg_i, jnt_i;
-        for (seg_i = 0,jnt_i = 0; seg_i < kdl_chain.getNrOfSegments(); seg_i++)
-        {
-            const KDL::Segment & seg = kdl_chain.getSegment(seg_i);
-            if( seg.getJoint().getType() != KDL::Joint::None )
-            {
-                std::string jnt_name = seg.getJoint().getName();
-                // std::cerr << "searching for joint " << jnt_name << std::endl;
-                int tree_jnt = 0;
-                for(tree_jnt = 0; tree_jnt < joint_names.size(); tree_jnt++ )
-                {
-                    //std::cerr << "joint_names[ " << tree_jnt << "] is " << joint_names[tree_jnt] << std::endl;
-                    if( joint_names[tree_jnt] == jnt_name )
-                    {
-                        chain_min(jnt_i) = min(tree_jnt);
-                        chain_max(jnt_i) = max(tree_jnt);
-                        jnt_i++;
-                        jointNames.push_back(jnt_name);
-                        break;
-                    }
-                }
-                if( tree_jnt == joint_names.size() )
-                {
-                    std::cerr << "Failure in converting limits from tree to chain, unable to find joint " << jnt_name << std::endl;
-                    return false;
-                }
-            }
-        }
-        
-        if (jnt_i != nj)
-        {
-            std::cerr << "Failure in converting limits from tree to chain" << std::endl;
-            return false;
-        }
-        
-        //
-        // Convert the chain and the limits to an iKin chain (i.e. DH parameters)
-        //
-        result = iDynTree::iKinLimbFromKDLChain(kdl_chain,convertedChain,chain_min,chain_max);
-        if (!result)
-        {
-            std::cerr << "Could not export KDL::Tree to iKinChain" << std::endl;
-            return false;
-        }
-        return true;
-    }
 }

From aa70f727dc7cd15db3f52f4d1eae4e16324edfbc Mon Sep 17 00:00:00 2001
From: Francesco Romano <francesco.romano.1987@gmail.com>
Date: Mon, 25 Sep 2017 17:38:09 +0200
Subject: [PATCH 02/92] Fixed bug introduced with toolbox refactoring

SetReferences subList parameter was erroneously converted to a boolean, while it is actually the index of the selected item in the Simulink mask dropdown.
Being the index >=1 the boolean conversion resulted always in a true value.

Fix https://github.com/robotology/WB-Toolbox/issues/57
---
 toolbox/src/SetReferences.cpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 8a8f4464e..4f3e4c97d 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -33,7 +33,10 @@ namespace wbt {
 
         unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
 
-        m_fullControl = blockInfo->getScalarParameterAtIndex(WBIBlock::numberOfParameters() + 2).booleanData();
+        // In Toolbox mask the options are the following:
+        // - 1 => full control
+        // - 2 => sublist control
+        m_fullControl = blockInfo->getScalarParameterAtIndex(WBIBlock::numberOfParameters() + 2).int32Data() == 1;
 
         if (!m_fullControl) {
             //sublist

From 6716aaac2de5dea93ac48e3dc3bfed4f07e9287f Mon Sep 17 00:00:00 2001
From: Francesco Romano <francesco.romano.1987@gmail.com>
Date: Tue, 24 Oct 2017 17:12:26 +0200
Subject: [PATCH 03/92] Temporary fix: included iostream

Note: actually the std::cerr are warnings for the user, this is why they are not returned as an error.
We have to find a smarter way to return the warning to the user.
---
 toolbox/src/InverseKinematics.cpp | 2 ++
 toolbox/src/SetReferences.cpp     | 2 ++
 toolbox/src/YarpRead.cpp          | 1 +
 3 files changed, 5 insertions(+)

diff --git a/toolbox/src/InverseKinematics.cpp b/toolbox/src/InverseKinematics.cpp
index 43c45a7e0..f8f6e61ff 100644
--- a/toolbox/src/InverseKinematics.cpp
+++ b/toolbox/src/InverseKinematics.cpp
@@ -18,6 +18,8 @@
 #include <iDynTree/Model/DenavitHartenberg.h>
 #include <iDynTree/ModelIO/ModelLoader.h>
 
+#include <iostream>
+
 namespace wbt {
 
     struct InverseKinematics::InverseKinematicsPimpl {
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 4f3e4c97d..397bd6020 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -7,6 +7,8 @@
 #include <yarpWholeBodyInterface/yarpWbiUtil.h>
 #include <wbi/wholeBodyInterface.h>
 
+#include <iostream>
+
 namespace wbt {
 
     std::string SetReferences::ClassName = "SetReferences";
diff --git a/toolbox/src/YarpRead.cpp b/toolbox/src/YarpRead.cpp
index 9fd15c3ca..82fa279f4 100644
--- a/toolbox/src/YarpRead.cpp
+++ b/toolbox/src/YarpRead.cpp
@@ -10,6 +10,7 @@
 #include <yarp/sig/Vector.h>
 
 #include <algorithm>
+#include <iostream>
 
 #define PARAM_IDX_1 1                           // port name
 #define PARAM_IDX_2 2                           // Size of the port you're reading

From 22954931291da1a88e6951361b7ea74405b6ea1e Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 30 Oct 2017 10:17:22 +0000
Subject: [PATCH 04/92] New Matlab WBToolboxConfig class

This class contains and validates the configuration passed to every wbt::WBBlock object.

ValidConfiguration is a Dependent property and it is set to 1 only if the basic checks currently implemented in other properties don't fail. From this state, it is possible to call getSimulinkParameters() in order to obtain the struct which is passed to the S-Functions and then parsed in C++.

This class also contains utilities functions for obtainng a simple string representation of 1D vectors and 1D chars, required to serialize the data in the Config Block's mask. The deserialization is performed using eval().
---
 +WBToolbox/WBToolboxConfig.m | 143 +++++++++++++++++++++++++++++++++++
 1 file changed, 143 insertions(+)
 create mode 100644 +WBToolbox/WBToolboxConfig.m

diff --git a/+WBToolbox/WBToolboxConfig.m b/+WBToolbox/WBToolboxConfig.m
new file mode 100644
index 000000000..20374e498
--- /dev/null
+++ b/+WBToolbox/WBToolboxConfig.m
@@ -0,0 +1,143 @@
+classdef WBToolboxConfig < matlab.mixin.Copyable
+    %WBTOOLBOXCONFIG Summary of this class goes here
+    %   Detailed explanation goes here
+
+    % PROPERTIES
+    % ==========
+
+    properties
+        % Robot state
+        RobotName          (1,:) char
+        UrdfFile           (1,:) char
+        ControlledJoints   (1,:) cell
+        ControlBoardsNames (1,:) cell
+        LocalName          (1,:) char
+        % Other Variables
+        GravityVector      (1,3) double = [0, 0, -9.81]
+    end
+
+    properties (Dependent)
+        ValidConfiguration (1,1) logical
+    end
+
+    properties (Hidden, Dependent)
+        SimulinkParameters (1,1) struct
+    end
+
+    % METHODS
+    % =======
+
+    methods
+
+        % SET METHODS
+        % -----------
+
+        % Dependent properties
+        % --------------------
+
+        function set.ValidConfiguration(~,~)
+            error(['ValidConfiguration is set to 1 automatically ', ...
+                'when the configuration is valid.']);
+        end
+
+        function set.SimulinkParameters(~,~)
+            error(['SimulinkParameters is created automatically ', ...
+                'when the configuration is valid.']);
+        end
+
+        % Other properties
+        % ----------------
+
+        function set.ControlledJoints(obj, value)
+            if (~iscellstr(value))
+                error(['ControlledJoints must be a cell array of ', ...
+                    'charachter vectors']);
+            end
+            obj.ControlledJoints = value;
+        end
+
+        function set.ControlBoardsNames(obj, value)
+            if (~iscellstr(value))
+                error(['ControlBoardsNames must be a cell array of ', ...
+                    'charachter vectors']);
+            end
+            obj.ControlBoardsNames = value;
+        end
+
+        % GET METHODS
+        % -----------
+
+        % Dependent properties
+        % --------------------
+
+        function value = get.ValidConfiguration(obj)
+            % Check if all the properties have been set
+            value = ...
+                ~isempty(obj.RobotName) && ...
+                ~isempty(obj.UrdfFile)  && ...
+                ~isempty(obj.ControlledJoints)   && ...
+                ~isempty(obj.ControlBoardsNames) && ...
+                ~isempty(obj.LocalName) && ...
+                ~isequal(obj.GravityVector,[0, 0, 0]);
+        end
+
+        function value = get.SimulinkParameters(obj)
+            % Create and populate the struct
+            value = struct();
+            value.RobotName = obj.RobotName;
+            value.UrdfFile  = obj.UrdfFile;
+            value.LocalName = obj.LocalName;
+            value.ControlledJoints   = obj.ControlledJoints;
+            value.ControlBoardsNames = obj.ControlBoardsNames;
+            value.GravityVector = obj.GravityVector;
+        end
+
+        % Other properties
+        % ----------------
+
+        % OTHER METHODS
+        % =============
+
+        function value = getSimulinkParameters(obj)
+            if (obj.ValidConfiguration)
+                value = obj.SimulinkParameters;
+            else
+                error('The configuration is not complete');
+            end
+        end
+    end
+
+    methods(Static)
+
+        function cellArraySerialized = serializeCellArray1D(cellArray)
+            [m,n] = size(cellArray);
+            if (m>1 && n>1)
+                error('The input cell must be 1D');
+            end
+            cellArraySerialized = '{';
+            for i=1:length(cellArray)
+                cellArraySerialized = strcat(cellArraySerialized,"'",cellArray{i},"'");
+                if i ~= length(cellArray)
+                    cellArraySerialized = strcat(cellArraySerialized,',');
+                end
+            end
+            cellArraySerialized = strcat(cellArraySerialized,'}');
+        end
+
+        function vectorSerialized = serializeVector1D(vector)
+            [m,n] = size(vector);
+            if (m>1 && n>1)
+                error('The input vector must be 1D');
+            end
+            vectorSerialized = '[';
+            for i=1:length(vector)
+                vectorSerialized = strcat(vectorSerialized,num2str(vector(i)));
+                if i ~= length(vector)
+                    vectorSerialized = strcat(vectorSerialized,',');
+                end
+            end
+            vectorSerialized = strcat(vectorSerialized,']');
+        end
+
+    end
+end

From be52d5bdd48d0818540583600c50be9a19e895f3 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 30 Oct 2017 10:21:52 +0000
Subject: [PATCH 05/92] New Anytype interface and MxAnyType implementation

Initial version of the library, which will become independent in the future.

MxAnyType handles the C / C++ mxArray pointer that represents any generic data type in Matlab. It wraps most of the C APIs, and it has optional support of strict type checking.
---
 CMakeLists.txt                |   1 +
 MxAnyType/CMakeLists.txt      |  56 +++++++++
 MxAnyType/include/AnyType.h   |  67 +++++++++++
 MxAnyType/include/MxAnyType.h |  99 ++++++++++++++++
 MxAnyType/src/MxAnyType.cpp   | 213 ++++++++++++++++++++++++++++++++++
 5 files changed, 436 insertions(+)
 create mode 100644 MxAnyType/CMakeLists.txt
 create mode 100644 MxAnyType/include/AnyType.h
 create mode 100644 MxAnyType/include/MxAnyType.h
 create mode 100644 MxAnyType/src/MxAnyType.cpp

diff --git a/CMakeLists.txt b/CMakeLists.txt
index acd0156d3..034310442 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -12,6 +12,7 @@ include(YCMDefaultDirs)
 set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${CMAKE_CURRENT_SOURCE_DIR}/cmake)
 set(WB-TOOLBOX_SHARE_DIR "${CMAKE_INSTALL_PREFIX}/share/WB-Toolbox")
 
+add_subdirectory(MxAnyType)
 add_subdirectory(toolbox)
 
 install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/images DESTINATION ${WB-TOOLBOX_SHARE_DIR})
diff --git a/MxAnyType/CMakeLists.txt b/MxAnyType/CMakeLists.txt
new file mode 100644
index 000000000..8d3250642
--- /dev/null
+++ b/MxAnyType/CMakeLists.txt
@@ -0,0 +1,56 @@
+cmake_policy(SET CMP0048 NEW)
+project(MxAnyType LANGUAGES CXX VERSION 0.1)
+cmake_minimum_required(VERSION 3.0.2)
+
+# Configure the project
+# =====================
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+include(GNUInstallDirs)
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+# Use a general prefix for the project
+set(VARS_PREFIX ${PROJECT_NAME})
+# set(VARS_PREFIX "MxAnyType")
+
+# Build the library
+# =================
+
+# Export the includes needed to who inherits this library
+# Set this up properly for handling either BUILD and INSTALL trees
+set(${VARS_PREFIX}_INCLUDE_BUILD ${CMAKE_CURRENT_SOURCE_DIR}/include)
+set(${VARS_PREFIX}_INCLUDE_INSTALL ${CMAKE_INSTALL_INCLUDEDIR}/${VARS_PREFIX})
+
+# Add the target
+add_library(${VARS_PREFIX} STATIC ${CMAKE_CURRENT_SOURCE_DIR}/include/AnyType.h
+                                  ${CMAKE_CURRENT_SOURCE_DIR}/include/MxAnyType.h
+                                  ${CMAKE_CURRENT_SOURCE_DIR}/src/MxAnyType.cpp)
+
+
+# TODO: temporary, waiting the library becomes a shared
+if (CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+    set_target_properties(${VARS_PREFIX} PROPERTIES COMPILE_FLAGS "-fPIC")
+endif()
+
+# Find Eigen
+find_package(Eigen3 REQUIRED)
+target_include_directories(${VARS_PREFIX} PUBLIC "${EIGEN3_INCLUDE_DIR}")
+
+# Find Matlab resources
+find_package(Matlab REQUIRED MX_LIBRARY)
+# target_include_directories(${VARS_PREFIX} SYSTEM PUBLIC "${Matlab_INCLUDE_DIRS}") // TODO: when committing
+target_include_directories(${VARS_PREFIX} PUBLIC "${Matlab_INCLUDE_DIRS}")
+
+# Setup the include directories
+# TODO why in the how to was INTERFACE?
+target_include_directories(${VARS_PREFIX} PUBLIC
+                           $<BUILD_INTERFACE:${${VARS_PREFIX}_INCLUDE_BUILD}>
+                           $<INSTALL_INTERFACE:${${VARS_PREFIX}_INCLUDE_INSTALL}>)
+
+# Assign some useful properties
+# set_target_properties(${VARS_PREFIX} PROPERTIES VERSION ${PROJECT_VERSION}
+#                                      PUBLIC_HEADER MxAnyType.h)
+
+# Build tests
+# ===========
+# add_subdirectory(${CMAKE_CURRENT_SOURCE_DIR}/tests)
diff --git a/MxAnyType/include/AnyType.h b/MxAnyType/include/AnyType.h
new file mode 100644
index 000000000..1637b38b8
--- /dev/null
+++ b/MxAnyType/include/AnyType.h
@@ -0,0 +1,67 @@
+#ifndef ANYTYPE_H
+#define ANYTYPE_H
+
+#include <Eigen/Core>
+#include <vector>
+#include <unordered_map>
+#include <memory>
+
+class AnyType;
+
+typedef std::shared_ptr<AnyType> AnyTypeSPtr;
+typedef std::vector<AnyTypeSPtr> AnyCell;
+typedef std::unordered_map<std::string, AnyTypeSPtr> AnyStruct;
+
+class AnyType
+{
+protected:
+    // void* m_AnyData;
+
+public:
+    // AnyType() : m_AnyData(nullptr) {};
+    AnyType() = default;
+    // virtual void* getAnyDataPtr() const = 0;
+
+    virtual ~AnyType() = default;
+
+    // Integers
+    virtual bool asInt(int& i)       = 0;
+    // virtual bool asInt8(int8_t& i)   = 0;
+    // virtual bool asInt16(int16_t& i) = 0;
+    virtual bool asInt32(int32_t& i) = 0;
+    // virtual bool asInt64(int64_t& i) = 0;
+
+    // Unsigned Integers
+    virtual bool asUInt(unsigned& i) = 0;
+    // virtual bool asUInt8(uint8_t& i)     = 0;
+    // virtual bool asUInt16(uint16_t& i)   = 0;
+    // virtual bool asUInt32(uint32_t& i)   = 0;
+    // virtual bool asUInt64(uint64_t& i)   = 0;
+
+    // Boolean
+    virtual bool asBool(bool& b) = 0;
+
+    // Floating-point
+    // virtual bool asFloat(float& f)   = 0;
+    virtual bool asDouble(double& d) = 0;
+
+    // Characters
+    virtual bool asString(std::string& s) = 0;
+
+    // Struct
+    virtual bool asAnyStruct(AnyStruct& map) = 0;
+
+    // Cell array
+    virtual bool asAnyCell(AnyCell& map) = 0;
+
+    // Matrix
+    // TODO: constraint max 2-dimension
+    // virtual bool asMatrixFloat(Eigen::MatrixXf mat)  = 0;
+    // virtual bool asMatrixDouble(Eigen::MatrixXd mat) = 0;
+
+    // Vector
+    virtual bool asVectorDouble(Eigen::VectorXd& vec)     = 0;
+    virtual bool asVectorDouble(std::vector<double>& vec) = 0;
+};
+
+#endif /* ANYTYPE_H */
diff --git a/MxAnyType/include/MxAnyType.h b/MxAnyType/include/MxAnyType.h
new file mode 100644
index 000000000..21fc7090f
--- /dev/null
+++ b/MxAnyType/include/MxAnyType.h
@@ -0,0 +1,99 @@
+#ifndef MXANYTYPE_H
+#define MXANYTYPE_H
+
+#include <vector>
+#include <string>
+#include <unordered_map>
+#include <cassert>
+#include "AnyType.h"
+#include "matrix.h"
+
+class MxAnyType;
+
+// If needed in the future
+// class MxAnyCell : public AnyCell {};
+// class MxAnyStruct : public AnyStruct {};
+
+struct MxArrayMetadata {
+    mxClassID id;
+    bool isScalar;
+    size_t rows;
+    size_t cols;
+    size_t nElem;
+    size_t nDims;
+    std::vector<size_t> dims;
+};
+
+class MxAnyType : public AnyType
+{
+private:
+    const mxArray* mx;
+    MxArrayMetadata md;
+    bool validate;
+
+    // TODO: https://it.mathworks.com/help/matlab/apiref/mxgetscalar.html returns a double always
+    bool asScalar(double& d);
+    bool validateClassId(mxClassID id1, mxClassID id2);
+
+    // mxArray* getMxArrayPtr() const { return static_cast<mxArray*>(getAnyDataPtr()); }
+
+public:
+    // void* getAnyDataPtr() const override {
+    //     return (void*) mx;
+    // }
+
+    MxAnyType();
+    MxAnyType(const mxArray* m, bool validateId = false);
+    ~MxAnyType() = default;
+    MxAnyType(const MxAnyType& mxAnyType);
+
+    void enableClassIDValidation();
+
+    // STRING / CHARS
+    // ==============
+
+    bool asString(std::string& s) override;
+
+    // SCALAR TYPES
+    // ============
+
+    // Generic casting
+    // ---------------
+
+    bool asInt(int& i) override;
+    bool asUInt(unsigned& i) override;
+
+    // Specific casting
+    // ----------------
+
+    bool asInt32(int32_t& i) override;
+
+    // TODO: complete with all the other scalar types
+    // bool asInt64(int64_t& i) override
+    // {
+    //     double buffer;
+    //     if (!asScalar(buffer)) return false;
+    //     i = static_cast<int64_t>(buffer);
+    //     return validateClassId(md.id, mxINT64_CLASS);
+    // }
+
+    bool asDouble(double& d) override;
+    bool asBool(bool& b) override;
+
+    // COMPOSITE DATA TYPES
+    // ====================
+
+    bool asAnyStruct(AnyStruct& s) override;
+    bool asAnyCell(AnyCell& cell) override;
+
+    // MATRIX
+    // ======
+
+    // VECTOR
+    // ======
+
+    bool asVectorDouble(Eigen::VectorXd& vec) override;
+    bool asVectorDouble(std::vector<double>& vec) override;
+};
+
+#endif /* MXANYTYPE_H */
diff --git a/MxAnyType/src/MxAnyType.cpp b/MxAnyType/src/MxAnyType.cpp
new file mode 100644
index 000000000..77a2f10f4
--- /dev/null
+++ b/MxAnyType/src/MxAnyType.cpp
@@ -0,0 +1,213 @@
+#include "MxAnyType.h"
+#include <memory>
+
+// PRIVATE METHODS
+// ===============
+
+bool MxAnyType::asScalar(double& d)
+{
+    if (!mx) return false;
+    if (!mxIsScalar(mx)) return false;  // 1x1
+    if (!mxIsNumeric(mx)) return false; // Types: https://it.mathworks.com/help/matlab/apiref/mxisnumeric.html
+
+    // Cast to double since even a mxINT8_CLASS is returned as double:
+    // https://it.mathworks.com/help/matlab/apiref/mxgetscalar.html
+    d = static_cast<double>(mxGetScalar(mx));
+    return true;
+}
+
+bool MxAnyType::validateClassId(mxClassID id1, mxClassID id2)
+{
+    if (validate)
+        return id1 == id2;
+    else
+        return true;
+}
+
+// PUBLIC METHODS
+// ==============
+
+// Constructors
+// ============
+
+MxAnyType::MxAnyType() : mx(nullptr), validate(false)
+{
+    md.id = mxUNKNOWN_CLASS;
+}
+
+MxAnyType::MxAnyType(const mxArray* m, bool validateId) : mx(m), validate(validateId)
+{
+    assert(mx);
+
+    // Get the ID
+    md.id = mxGetClassID(mx);
+    assert(md.id != mxVOID_CLASS);
+    assert(md.id != mxUNKNOWN_CLASS);
+
+    // Get the other metadata
+    md.isScalar = mxIsScalar(mx);
+    md.rows  = static_cast<unsigned>(mxGetN(mx));
+    md.cols  = static_cast<unsigned>(mxGetM(mx));
+    md.nElem = static_cast<unsigned>(mxGetNumberOfElements(mx));
+    md.nDims = static_cast<unsigned>(mxGetNumberOfDimensions(mx));
+
+    if (md.isScalar)
+        assert(md.rows == md.cols == md.nElem == 1);
+
+    // TODO: only 2 dims currently supported
+    assert(md.nDims == 2);
+    assert(md.rows * md.cols == md.nElem);
+
+    const size_t* size = mxGetDimensions(mx);
+    for (unsigned dim = 0; dim < md.nDims; ++dim) {
+        md.dims.push_back(static_cast<unsigned>(size[dim]));
+    }
+    assert(md.dims.size() == 2);
+}
+
+MxAnyType::MxAnyType(const MxAnyType& mxAnyType)
+: mx(mxAnyType.mx)
+, md(mxAnyType.md)
+, validate(mxAnyType.validate)
+{}
+
+void MxAnyType::enableClassIDValidation()
+{
+    validate = true;
+}
+
+// STRING / CHARS
+// ==============
+
+bool MxAnyType::asString(std::string& s)
+{
+    if (!mx) return false;
+    if (md.id != mxCHAR_CLASS) return false;
+    char* buffer = mxArrayToString(mx);
+    s = std::string(buffer);
+    mxFree(buffer);
+    return true;
+}
+
+// SCALAR TYPES
+// ============
+
+// Generic casting
+// ---------------
+
+bool MxAnyType::asInt(int& i)
+{
+    double buffer;
+    if (!asScalar(buffer)) return false;
+    i = static_cast<int>(buffer);
+    return true;
+}
+
+bool MxAnyType::asUInt(unsigned& i)
+{
+    double buffer;
+    if (!asScalar(buffer)) return false;
+    i = static_cast<unsigned>(buffer);
+    return true;
+}
+
+// Specific casting
+// ----------------
+
+bool MxAnyType::asInt32(int32_t& i)
+{
+    double buffer;
+    if (!asScalar(buffer)) return false;
+    i = static_cast<int32_t>(buffer);
+    return validateClassId(md.id, mxINT32_CLASS);
+}
+
+// TODO: complete with all the other scalar types
+// bool asInt64(int64_t& i)
+// {
+//     double buffer;
+//     if (!asScalar(buffer)) return false;
+//     i = static_cast<int64_t>(buffer);
+//     return validateClassId(md.id, mxINT64_CLASS);
+// }
+
+bool MxAnyType::asDouble(double& d)
+{
+    bool ok = asScalar(d);
+    return ok && validateClassId(md.id, mxDOUBLE_CLASS);
+}
+
+bool MxAnyType::asBool(bool& b)
+ {
+    if (!mx) return false;
+    if (!mxIsLogicalScalar(mx)) return false;
+    b = mxIsLogicalScalarTrue(mx);
+    return true;
+}
+
+// COMPOSITE DATA TYPES
+// ====================
+
+bool MxAnyType::asAnyStruct(AnyStruct& s)
+{
+    if (!mx) return false;
+    if (md.id != mxSTRUCT_CLASS) return false;
+
+    for (unsigned i = 0; i < mxGetNumberOfFields(mx); ++i) {
+        const char* fieldName = mxGetFieldNameByNumber(mx,i);
+        // TODO multidimensional struct
+        mxArray* fieldContent = mxGetFieldByNumber(mx,0,i);
+        if (fieldName == nullptr) return false;
+        if (fieldContent == nullptr) return false;
+        s[std::string(fieldName)] = std::make_shared<MxAnyType>(fieldContent);
+    }
+    return true;
+}
+
+bool MxAnyType::asAnyCell(AnyCell& cell)
+{
+    if (!mx) return false;
+    if (md.id != mxCELL_CLASS) return false;
+
+    // TODO: AnyCell then will have a operator()(3,4) method;
+    for (unsigned i=0; i < mxGetNumberOfElements(mx); ++i) {
+        mxArray* cellContent = mxGetCell(mx, i);
+        if (!cellContent) return false;
+        cell.push_back(std::make_shared<MxAnyType>(cellContent));
+    }
+    return true;
+}
+
+// MATRIX
+// ======
+
+// VECTOR
+// ======
+
+// TODO tests with other types (uint8) https://it.mathworks.com/help/matlab/apiref/mxgetdata.html (Descriptio)
+bool MxAnyType::asVectorDouble(Eigen::VectorXd& vec)
+{
+    if (!mx) return false;
+    if (!mxIsDouble(mx)) return false;
+
+    if (md.rows > 1 && md.cols > 1) {
+        return false;
+    }
+
+    // TODO add method for complex vectors (and move the check into md)
+    if (mxIsComplex(mx)) return false;
+
+    double* buffer = mxGetPr(mx);
+    if (!buffer) return false;
+
+    vec = Eigen::Map<Eigen::VectorXd>(buffer, md.nElem);
+    return true;
+}
+
+bool MxAnyType::asVectorDouble(std::vector<double>& vec)
+{
+    Eigen::VectorXd vecEigen;
+    if (!asVectorDouble(vecEigen)) return false;
+    vec.assign(vecEigen.data(), vecEigen.data() + vecEigen.rows() * vecEigen.cols());
+    return true;
+}

From 705766370b9eac6ea2160fff06fdc045f1318390 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 30 Oct 2017 10:30:52 +0000
Subject: [PATCH 06/92] Error class has been enhanced and renamed to Log

wbt::Log is the new class that provides log support to the WBToolbox.
It now supports both Errors and Warnings.

For being more flexible, wbt::Log is a singleton. This approach simplifies dramatically the handling of warnings, and can be called from every method without the need of passing it though arguments. Since singletons cannot be deleted, wbt::Log state is reset in the early stage of the processing.

[Squash] toolbox.cpp
---
 toolbox/CMakeLists.txt         |   4 +-
 toolbox/include/base/Error.h   |  19 ----
 toolbox/include/base/Log.h     |  42 ++++++++
 toolbox/include/base/toolbox.h |   2 +-
 toolbox/src/base/Error.cpp     |   0
 toolbox/src/base/Log.cpp       |  71 ++++++++++++++
 toolbox/src/base/toolbox.cpp   | 174 +++++++++++++++++++++------------
 7 files changed, 230 insertions(+), 82 deletions(-)
 delete mode 100644 toolbox/include/base/Error.h
 create mode 100644 toolbox/include/base/Log.h
 delete mode 100644 toolbox/src/base/Error.cpp
 create mode 100644 toolbox/src/base/Log.cpp

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 52c60000f..9838ee86f 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -62,7 +62,7 @@ configure_block(BLOCK_NAME "Base"
             src/base/Block.cpp
             src/base/BlockInformation.cpp
             src/base/WBIBlock.cpp
-            src/base/Error.cpp
+            src/base/Log.cpp
             src/base/WBInterface.cpp
             src/base/factory.cpp
             src/base/WBIModelBlock.cpp
@@ -72,7 +72,7 @@ configure_block(BLOCK_NAME "Base"
             include/base/Block.h
             include/base/BlockInformation.h
             include/base/WBIBlock.h
-            include/base/Error.h
+            include/base/Log.h
             include/base/WBInterface.h
             include/base/WBIModelBlock.h
             include/base/SimulinkBlockInformation.h #this is temp
diff --git a/toolbox/include/base/Error.h b/toolbox/include/base/Error.h
deleted file mode 100644
index f11dc413c..000000000
--- a/toolbox/include/base/Error.h
+++ /dev/null
@@ -1,19 +0,0 @@
-#ifndef WBT_ERROR_H
-#define WBT_ERROR_H
-
-#include <string>
-
-namespace wbt {
-    class Error;
-}
-
-/**
- * Basic Error class
- */
-class wbt::Error {
-public:
-    std::string message; /**< a string representing the error message */
-};
-
-
-#endif /* end of include guard: WBT_ERROR_H */
diff --git a/toolbox/include/base/Log.h b/toolbox/include/base/Log.h
new file mode 100644
index 000000000..699c431b6
--- /dev/null
+++ b/toolbox/include/base/Log.h
@@ -0,0 +1,42 @@
+#ifndef WBT_LOG_H
+#define WBT_LOG_H
+
+#include <string>
+#include <vector>
+
+namespace wbt {
+    class Log;
+}
+
+/**
+ * Basic Log class
+ */
+class wbt::Log
+{
+private:
+    std::vector<std::string> errors;
+    std::vector<std::string> warnings;
+    std::string prefix;
+
+    static std::string serializeVectorString(std::vector<std::string> v, std::string prefix="");
+public:
+
+    static wbt::Log& getSingleton();
+
+    void error(std::string errorMessage);
+    void warning(std::string warningMessage);
+
+    void resetPrefix();
+    void setPrefix(std::string prefixMessage);
+
+    std::string getErrors() const;
+    std::string getWarnings() const;
+
+    void clearErrors();
+    void clearWarnings();
+
+    void clear();
+};
+
+
+#endif /* end of include guard: WBT_LOG_H */
diff --git a/toolbox/include/base/toolbox.h b/toolbox/include/base/toolbox.h
index a61e5e74e..a1ff7505f 100644
--- a/toolbox/include/base/toolbox.h
+++ b/toolbox/include/base/toolbox.h
@@ -1,4 +1,4 @@
-#include "Error.h"
+#include "Log.h"
 //General Yarp utilities
 #include "YarpRead.h"
 #include "YarpWrite.h"
diff --git a/toolbox/src/base/Error.cpp b/toolbox/src/base/Error.cpp
deleted file mode 100644
index e69de29bb..000000000
diff --git a/toolbox/src/base/Log.cpp b/toolbox/src/base/Log.cpp
new file mode 100644
index 000000000..9ee6abdaa
--- /dev/null
+++ b/toolbox/src/base/Log.cpp
@@ -0,0 +1,71 @@
+#include "Log.h"
+#include <sstream>
+#include <iterator>
+
+using namespace wbt;
+
+Log& Log::getSingleton()
+{
+    static Log logInstance;
+    return logInstance;
+}
+
+void Log::error(std::string errorMessage)
+{
+    errors.push_back(errorMessage);
+}
+
+void Log::warning(std::string warningMessage)
+{
+    warnings.push_back(warningMessage);
+}
+
+void Log::setPrefix(std::string prefixMessage)
+{
+    prefix = prefixMessage;
+}
+
+void Log::resetPrefix()
+{
+    prefix.clear();
+}
+
+std::string Log::serializeVectorString(std::vector<std::string> v, std::string prefix)
+{
+    std::stringstream output;
+    std::ostream_iterator<std::string> output_iterator(output, "\n");
+    std::copy(v.begin(), v.end(), output_iterator);
+
+    if (prefix.empty()) {
+        return output.str();
+    }
+    else {
+        return prefix + "\n" + output.str();
+    }
+}
+
+std::string Log::getErrors() const
+{
+    return serializeVectorString(errors, prefix);
+}
+
+std::string Log::getWarnings() const
+{
+    return serializeVectorString(warnings, prefix);
+}
+
+void Log::clearWarnings()
+{
+    warnings.clear();
+}
+
+void Log::clearErrors()
+{
+    errors.clear();
+}
+
+void Log::clear()
+{
+    clearErrors();
+    clearWarnings();
+}
diff --git a/toolbox/src/base/toolbox.cpp b/toolbox/src/base/toolbox.cpp
index 5162f3505..2e2d9037f 100644
--- a/toolbox/src/base/toolbox.cpp
+++ b/toolbox/src/base/toolbox.cpp
@@ -26,11 +26,74 @@
 
 #include "toolbox.h"
 #include "Block.h"
+#include "Log.h"
 #include "SimulinkBlockInformation.h"
 
 #include <string>
 #include <yarp/os/LogStream.h>
 
+static void catchLogMessages(bool status, SimStruct *S, std::string prefix)
+{
+    // Initialize static buffers
+    const unsigned bufferLen = 1024;
+    static char errorBuffer[bufferLen];
+    static char warningBuffer[bufferLen];
+
+    // Notify warnings
+    if (!wbt::Log::getSingleton().getWarnings().empty()) {
+        // Get the singleton
+        wbt::Log& log = wbt::Log::getSingleton();
+
+        // Handle the prefix
+        std::string warningMsg;
+        if (!prefix.empty()) {
+            log.setPrefix(prefix);
+            warningMsg = log.getWarnings();
+            log.resetPrefix();
+        }
+        else {
+            warningMsg = log.getWarnings();
+        }
+
+        // Trim the message if needed
+        if (warningMsg.length() >= bufferLen) {
+            warningMsg = warningMsg.substr(0, bufferLen-1);
+        }
+
+        // Forward to Simulink
+        sprintf(warningBuffer, "%s", warningMsg.c_str());
+        ssWarning(S, warningBuffer);
+        log.clearWarnings();
+    }
+
+    // Notify errors
+    if (!status) {
+        // Get the singleton
+        wbt::Log& log = wbt::Log::getSingleton();
+
+        // Handle the prefix
+        std::string errorMsg;
+        if (!prefix.empty()) {
+            log.setPrefix(prefix);
+            errorMsg = log.getErrors();
+            log.resetPrefix();
+        }
+        else {
+            errorMsg = log.getErrors();
+        }
+
+        // Trim the message if needed
+        if (errorMsg.length() >= bufferLen) {
+            errorMsg = errorMsg.substr(0, bufferLen-1);
+        }
+
+        // Forward to Simulink
+        sprintf(errorBuffer, "%s", errorMsg.c_str());
+        ssSetErrorStatus(S, errorBuffer);
+        return;
+    }
+}
+
 // Function: MDL_CHECK_PARAMETERS
 #define MDL_CHECK_PARAMETERS
 #if defined(MDL_CHECK_PARAMETERS) && defined(MATLAB_MEX_FILE)
@@ -65,10 +128,12 @@ static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port,
 //    block's characteristics (number of inputs, s, states, etc.).
 static void mdlInitializeSizes(SimStruct *S)
 {
-    static char errorBuffer[512];
+    // Initialize the Log singleton
+    wbt::Log::getSingleton().clear();
+
     if (ssGetSFcnParamsCount(S) < 1) {
-        sprintf(errorBuffer, "%s", "The block type parameter must be specified");
-        ssSetErrorStatus(S, errorBuffer);
+        wbt::Log::getSingleton().error("The block type parameter must be specified");
+        catchLogMessages(false, S, "\n[" + std::string(__func__) + "]");
         return;
     }
     char *classNameStr = mxArrayToString(ssGetSFcnParam(S, 0));
@@ -78,43 +143,39 @@ static void mdlInitializeSizes(SimStruct *S)
 
     //We cannot save data in PWork during the initializeSizes phase
     ssSetNumPWork(S, 1);
-    
+
+    // Notify errors
     if (!block) {
-        sprintf(errorBuffer, "Could not create an object of type %s", className.c_str());
-        ssSetErrorStatus(S, errorBuffer);
+        wbt::Log::getSingleton().error("Could not create an object of type " + className);
+        catchLogMessages(false, S, "\n[" + std::string(__func__) + "]");
         return;
     }
-    
+
     ssSetNumSFcnParams(S, 1 + block->numberOfParameters());
     ssSetSFcnParamTunable(S, 0, false);
     for (unsigned i = 1; i < ssGetNumSFcnParams(S); ++i) {
         bool tunable = false;
         block->parameterAtIndexIsTunable(i - 1, tunable);
         ssSetSFcnParamTunable(S, i, tunable);
-
     }
-    
-    
+
+
 #if defined(MATLAB_MEX_FILE)
-    if(ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)){
+    if(ssGetNumSFcnParams(S) == ssGetSFcnParamsCount(S)) {
         mdlCheckParameters(S);
-        if(ssGetErrorStatus(S)){
+        if(ssGetErrorStatus(S)) {
             return;
         }
-    } else{
-        sprintf(errorBuffer, "%s", "Number of parameters different from those defined");
-        ssSetErrorStatus(S, errorBuffer);
+    } else {
+        wbt::Log::getSingleton().error("Number of parameters different from those defined");
+        catchLogMessages(false, S, "\n[" + std::string(__func__) + "]");
         return;
     }
 #endif
 
-    wbt::Error error;
     wbt::SimulinkBlockInformation blockInfo(S);
-    if (!block->configureSizeAndPorts(&blockInfo, &error)) {
-        sprintf(errorBuffer, "%s", error.message.substr(0, 511).c_str());
-        ssSetErrorStatus(S, errorBuffer);
-        return;
-    }
+    bool ok = block->configureSizeAndPorts(&blockInfo);
+    catchLogMessages(ok, S, "\n[" + std::string(__func__) + "]");
 
     ssSetNumSampleTimes(S, 1);
 
@@ -134,17 +195,15 @@ static void mdlInitializeSizes(SimStruct *S)
 
     std::vector<std::string> additionalOptions = block->additionalBlockOptions();
 
-    for (std::vector<std::string>::const_iterator it = additionalOptions.begin();
-         it < additionalOptions.end(); ++it) {
-        wbt::Data option;
-        if (blockInfo.optionFromKey(*it, option)) {
-            options |= option.uint32Data();
+    for (auto additionalOption: additionalOptions) {
+        double option;
+        if (blockInfo.optionFromKey(additionalOption, option)) {
+            options |= static_cast<uint32_t>(option);
         }
     }
     ssSetOptions(S, options);
 
     delete block;
-
 }
 
 // Function: mdlInitializeSampleTimes =========================================
@@ -173,15 +232,12 @@ static void mdlStart(SimStruct *S)
     wbt::Block *block = wbt::Block::instantiateBlockWithClassName(className);
     ssSetPWorkValue(S, 0, block);
 
-    wbt::Error error;
     wbt::SimulinkBlockInformation blockInfo(S);
-    if (!block || !block->initialize(&blockInfo, &error)) {
-        yError() << "[mdlStart]" << error.message;
-        static char errorBuffer[1024];
-        sprintf(errorBuffer, "[mdlStart]%s", error.message.substr(0, 1023 - strlen("[mdlStart]")).c_str());
-        ssSetErrorStatus(S, errorBuffer);
+    bool ok = false;
+    if (block) {
+        ok = block->initialize(&blockInfo);
     }
-
+    catchLogMessages(ok, S, "\n[" + std::string(__func__) + "]");
 }
 
 
@@ -192,13 +248,13 @@ static void mdlUpdate(SimStruct *S, int_T tid)
     UNUSED_ARG(tid);
     if (ssGetNumPWork(S) > 0) {
         wbt::Block *block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
-        wbt::Error error;
+
         wbt::SimulinkBlockInformation blockInfo(S);
-        if (!block || !block->updateDiscreteState(&blockInfo, &error)) {
-            static char errorBuffer[1024];
-            sprintf(errorBuffer, "[mdlOutputs]%s", error.message.substr(0, 1023 - strlen("[mdlOutputs]")).c_str());
-            ssSetErrorStatus(S, errorBuffer);
+        bool ok = false;
+        if (block) {
+            ok = block->updateDiscreteState(&blockInfo);
         }
+        catchLogMessages(ok, S, "\n[" + std::string(__func__) + "]");
     }
 }
 #endif
@@ -210,13 +266,13 @@ static void mdlInitializeConditions(SimStruct *S)
 {
     if (ssGetNumPWork(S) > 0) {
         wbt::Block *block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
-        wbt::Error error;
+
         wbt::SimulinkBlockInformation blockInfo(S);
-        if (!block || !block->initializeInitialConditions(&blockInfo, &error)) {
-            static char errorBuffer[1024];
-            sprintf(errorBuffer, "[mdlInitializeConditions]%s", error.message.substr(0, 1023 - strlen("[mdlInitializeConditions]")).c_str());
-            ssSetErrorStatus(S, errorBuffer);
+        bool ok = false;
+        if (block) {
+            ok = block->initializeInitialConditions(&blockInfo);
         }
+        catchLogMessages(ok, S, "\n[" + std::string(__func__) + "]");
     }
 }
 #endif
@@ -240,35 +296,33 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     UNUSED_ARG(tid);
     if (ssGetNumPWork(S) > 0) {
         wbt::Block *block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
-        wbt::Error error;
+
         wbt::SimulinkBlockInformation blockInfo(S);
-        if (!block || !block->output(&blockInfo, &error)) {
-            static char errorBuffer[1024];
-            sprintf(errorBuffer, "[mdlOutputs]%s", error.message.substr(0, 1023 - strlen("[mdlOutputs]")).c_str());
-            ssSetErrorStatus(S, errorBuffer);
+        bool ok = false;
+        if (block) {
+            ok = block->output(&blockInfo);
         }
+        catchLogMessages(ok, S, "\n[" + std::string(__func__) + "]");
     }
-
 }
 
 static void mdlTerminate(SimStruct *S)
 {
     if (ssGetNumPWork(S) > 0 && ssGetPWork(S)) {
         wbt::Block *block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
-        wbt::Error error;
+
         wbt::SimulinkBlockInformation blockInfo(S);
+        bool ok = false;
         if (block) {
-            if (block->terminate(&blockInfo, &error)) {
-                delete block;
-                ssSetPWorkValue(S, 0, NULL);
-            } else {
-                static char errorBuffer[1024];
-                sprintf(errorBuffer, "[mdlTerminate]%s", error.message.substr(0, 1023 - strlen("[mdlTerminate]")).c_str());
-                ssSetErrorStatus(S, errorBuffer);
-            }
+            ok = block->terminate(&blockInfo);
         }
-    }
+        catchLogMessages(ok, S, "\n[" + std::string(__func__) + "]");
 
+        if (ok) {
+            delete block;
+            ssSetPWorkValue(S, 0, NULL);
+        }
+    }
 }
 
 // Required S-function trailer

From b4beb26830179ee9299ca4cabc1d3a7374463caa Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 30 Oct 2017 10:37:45 +0000
Subject: [PATCH 07/92] Removed WBIModelBlock

Its functionality are implemented by the new generic WBBlock, which is a refactored version of WBIBlock that access robot resources
in a lazy way. This approach allows avoiding the previous separation between WBIBlock and WBIModelBlock.
---
 toolbox/CMakeLists.txt               |  2 --
 toolbox/include/base/WBIModelBlock.h | 36 ----------------------------
 toolbox/src/base/WBIModelBlock.cpp   | 27 ---------------------
 3 files changed, 65 deletions(-)
 delete mode 100644 toolbox/include/base/WBIModelBlock.h
 delete mode 100644 toolbox/src/base/WBIModelBlock.cpp

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 9838ee86f..7ae729c4a 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -65,7 +65,6 @@ configure_block(BLOCK_NAME "Base"
             src/base/Log.cpp
             src/base/WBInterface.cpp
             src/base/factory.cpp
-            src/base/WBIModelBlock.cpp
             src/base/SimulinkBlockInformation.cpp #this is temp
             src/base/Signal.cpp
     HEADERS include/base/toolbox.h
@@ -74,7 +73,6 @@ configure_block(BLOCK_NAME "Base"
             include/base/WBIBlock.h
             include/base/Log.h
             include/base/WBInterface.h
-            include/base/WBIModelBlock.h
             include/base/SimulinkBlockInformation.h #this is temp
             include/base/Signal.h
             )
diff --git a/toolbox/include/base/WBIModelBlock.h b/toolbox/include/base/WBIModelBlock.h
deleted file mode 100644
index ff054e655..000000000
--- a/toolbox/include/base/WBIModelBlock.h
+++ /dev/null
@@ -1,36 +0,0 @@
-#ifndef WBT_WBIMODELBLOCK_H
-#define WBT_WBIMODELBLOCK_H
-
-#include "WBIBlock.h"
-
-namespace wbt {
-    class WBIModelBlock;
-    class BlockInformation;
-}
-
-/**
- * Basic class for WBI related blocks.
- * This class (the whole toolbox in reality) assumes the block represent
- * an instantaneous system (i.e. not a dynamic system).
- *
- * You can create a new block by deriving this class and implementing at least
- * the output method.
- *
- * This block implements the following default behaviours:
- * - it ask for 4 parameters (robot name, local (module) name, wbi config file and wbi list)
- * - It initializes the yarp network and the whole body interface object
- * - During terminate it closes and release the interface object and terminate the yarp network
- *
- * @Note: Usually you want to call this class implementations at some point in your
- * method overridings, unless you want to completely change the code (but at that point
- * you probabily want to derive from Block instead)
- */
-class wbt::WBIModelBlock : public wbt::WBIBlock {
-
-public:
-    virtual ~WBIModelBlock();
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-};
-
-#endif /* WBT_WBIMODELBLOCK_H */
diff --git a/toolbox/src/base/WBIModelBlock.cpp b/toolbox/src/base/WBIModelBlock.cpp
deleted file mode 100644
index 3921b3cf2..000000000
--- a/toolbox/src/base/WBIModelBlock.cpp
+++ /dev/null
@@ -1,27 +0,0 @@
-#include "WBIModelBlock.h"
-
-#include "WBInterface.h"
-#include "Error.h"
-
-wbt::WBIModelBlock::~WBIModelBlock() {}
-
-bool wbt::WBIModelBlock::initialize(wbt::BlockInformation *blockInfo, wbt::Error *error)
-{
-    if (!configureWBIParameters(blockInfo, error))
-        return false;
-
-    if (!WBInterface::sharedInstance().initializeModel()) {
-        if (error) error->message = "Failed to initialize WBI";
-        return false;
-    }
-    return true;
-}
-
-bool wbt::WBIModelBlock::terminate(wbt::BlockInformation *blockInfo, wbt::Error *error)
-{
-    if (!WBInterface::sharedInstance().terminateModel()) {
-        if (error) error->message = "Failed to terminate WBI";
-        return false;
-    }
-    return true;
-}

From aee4eed5b118ee4b2e9ca556bf9ae3d75d528386 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 30 Oct 2017 10:43:49 +0000
Subject: [PATCH 08/92] New Configuration class

This class contains the data passed from Simulink.

It matches the data structure of Matlab's WBToolboxConfig.getSimulinkParameters() struct.
---
 toolbox/CMakeLists.txt               |   2 +
 toolbox/include/base/Configuration.h | 162 +++++++++++++++++++++++++++
 toolbox/src/base/Configuration.cpp   | 123 ++++++++++++++++++++
 3 files changed, 287 insertions(+)
 create mode 100644 toolbox/include/base/Configuration.h
 create mode 100644 toolbox/src/base/Configuration.cpp

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 7ae729c4a..25a304fa7 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -67,6 +67,7 @@ configure_block(BLOCK_NAME "Base"
             src/base/factory.cpp
             src/base/SimulinkBlockInformation.cpp #this is temp
             src/base/Signal.cpp
+            src/base/Configuration.cpp
     HEADERS include/base/toolbox.h
             include/base/Block.h
             include/base/BlockInformation.h
@@ -75,6 +76,7 @@ configure_block(BLOCK_NAME "Base"
             include/base/WBInterface.h
             include/base/SimulinkBlockInformation.h #this is temp
             include/base/Signal.h
+            include/base/Configuration.h
             )
 
 configure_block(BLOCK_NAME "Inverse Kinematics"
diff --git a/toolbox/include/base/Configuration.h b/toolbox/include/base/Configuration.h
new file mode 100644
index 000000000..192656cdf
--- /dev/null
+++ b/toolbox/include/base/Configuration.h
@@ -0,0 +1,162 @@
+#ifndef WBT_TOOLBOXCONFIG_H
+#define WBT_TOOLBOXCONFIG_H
+
+#include <vector>
+#include <string>
+
+namespace wbt {
+    class Configuration;
+}
+
+/**
+ * \class Configuration Configuration.h
+ *
+ * This class stores in a C++ object the content of the WBToolboxConfig Matlab class.
+ *
+ * @see WBToolboxConfig Matlab Class
+ * @see RobotInterface
+ */
+class wbt::Configuration
+{
+// TODO: check how localName is used
+private:
+    std::string m_robotName; ///< Name of the robot
+    std::string m_urdfFile;  ///< Name of the file containing the urdf model
+    std::string m_localName; ///< Prefix appended to the opened ports
+    std::vector<std::string> m_controlledJoints;   ///< Subset of controlled joints
+    std::vector<std::string> m_controlBoardsNames; ///< Names of the used ControlBoard names
+    std::vector<double> m_gravityVector; ///< The gravity vector
+    size_t m_dofs; //< DoFs extracted my m_controlBoardsNames vector
+
+public:
+    Configuration();
+    ~Configuration() = default;
+
+    // SET METHODS
+    // ===========
+
+    /**
+     * Initialize the Configuration object
+     *
+     * @param robotName          Name of the robot
+     * @param urdfFile           Name of the file containing the urdf model
+     * @param controlledJoints   Subset of controlled joints
+     * @param controlBoardsNames Names of the used ControlBoard names
+     * @param localName          Prefix appended to the opened ports
+     * @param gravityVector      The gravity vector
+     */
+    void setParameters(std::string robotName,
+                       std::string urdfFile,
+                       std::vector<std::string> controlledJoints,
+                       std::vector<std::string> controlBoardsNames,
+                       std::string localName,
+                       std::vector<double> gravityVector);
+
+    /**
+     * Set the name of the robot
+     *
+     * @param robotName Name of the robot
+     */
+    void setRobotName(const std::string& robotName);
+
+    /**
+     * Set the name of the file containing the urdf model
+     *
+     * @param urdfFile Name of the file containing the urdf model
+     */
+    void setUrdfFile(const std::string& urdfFile);
+
+    /**
+     * Set the subset of controlled joints
+     * @param controlledJoints Subset of controlled joints
+     */
+    void setControlledJoints(const std::vector<std::string>& controlledJoints);
+
+    /**
+     * Set the names of the used ControlBoard names
+     * @param controlBoardsNames Names of the used ControlBoard names
+     */
+    void setControlBoardsNames(const std::vector<std::string>& controlBoardsNames);
+
+    /**
+     * Set the prefix appended to the opened ports
+     * @param localName Prefix appended to the opened ports
+     */
+    void setLocalName(const std::string& localName);
+
+    /**
+     * Set the gravity vector
+     * @param gravityVector The gravity vector
+     */
+    void setGravityVector(const std::vector<double>& gravityVector);
+
+    // GET METHODS
+    // ===========
+
+    /**
+     * Set the name of the robot
+     *
+     * @return Name of the robot
+     */
+    const std::string& getRobotName() const;
+
+    /**
+     * Set the name of the file containing the urdf model
+     *
+     * @return Name of the file containing the urdf model
+     */
+    const std::string& getUrdfFile() const;
+
+    /**
+     * Set the subset of controlled joints
+     *
+     * @return Subset of controlled joints
+     */
+    const std::vector<std::string>& getControlledJoints() const;
+
+    /**
+     * Set the names of the used ControlBoard names
+     *
+     * @return Names of the used ControlBoard names
+     */
+    const std::vector<std::string>& getControlBoardsNames() const;
+
+    /**
+     * Set the prefix appended to the opened ports
+     *
+     * @return Prefix appended to the opened ports
+     */
+    const std::string& getLocalName() const;
+
+    /**
+     * Set the gravity vector
+     *
+     * @return The gravity vector
+     */
+    const std::vector<double>& getGravityVector() const;
+
+    /**
+     * Get the configured number of DoFs
+     *
+     * @return The configured number of DoFs
+     */
+    const size_t& getNumberOfDoFs() const;
+
+    // OTHER METHODS
+    // =============
+
+    /**
+     * Checks if the stored configuration is valid, i.e. all the required fields have
+     * been saved successfully
+     *
+     * @return True if the configuration is valid
+     */
+    bool isValid() const;
+
+    // OPERATORS OVERLOADING
+    // =====================
+
+    bool operator==(const Configuration &config) const;
+};
+
+#endif // WBT_TOOLBOXCONFIG_H
diff --git a/toolbox/src/base/Configuration.cpp b/toolbox/src/base/Configuration.cpp
new file mode 100644
index 000000000..d28857016
--- /dev/null
+++ b/toolbox/src/base/Configuration.cpp
@@ -0,0 +1,123 @@
+#include "Configuration.h"
+
+using namespace wbt;
+
+Configuration::Configuration()
+: m_dofs(0)
+{}
+
+// SET METHODS
+// ===========
+
+void Configuration::setParameters(std::string robotName,
+                                  std::string urdfFile,
+                                  std::vector<std::string> controlledJoints,
+                                  std::vector<std::string> controlBoardsNames,
+                                  std::string localName,
+                                  std::vector<double> gravityVector)
+{
+    setRobotName(robotName);
+    setUrdfFile(urdfFile);
+    setControlledJoints(controlledJoints);
+    setControlBoardsNames(controlBoardsNames);
+    setLocalName(localName);
+    setGravityVector(gravityVector);
+}
+
+void Configuration::setRobotName(const std::string& robotName)
+{
+    m_robotName = robotName;
+}
+
+void Configuration::setUrdfFile(const std::string& urdfFile)
+{
+    m_urdfFile = urdfFile;
+}
+
+void Configuration::setControlledJoints(const std::vector<std::string>& controlledJoints)
+{
+    m_controlledJoints = controlledJoints;
+    m_dofs = controlledJoints.size();
+}
+
+void Configuration::setControlBoardsNames(const std::vector<std::string>& controlBoardsNames)
+{
+    m_controlBoardsNames = controlBoardsNames;
+}
+
+void Configuration::setLocalName(const std::string& localName)
+{
+    m_localName = localName;
+}
+
+void Configuration::setGravityVector(const std::vector<double>& gravityVector)
+{
+    m_gravityVector = gravityVector;
+}
+
+// GET METHODS
+// ===========
+
+const std::string& Configuration::getRobotName() const
+{
+    return m_robotName;
+}
+
+const std::string& Configuration::getUrdfFile() const
+{
+    return m_urdfFile;
+}
+
+const std::vector<std::string>& Configuration::getControlledJoints() const
+{
+    return m_controlledJoints;
+}
+
+const std::vector<std::string>& Configuration::getControlBoardsNames() const
+{
+    return m_controlBoardsNames;
+}
+
+const std::string& Configuration::getLocalName() const
+{
+    return m_localName;
+}
+
+const std::vector<double>& Configuration::getGravityVector() const
+{
+    return m_gravityVector;
+}
+
+const size_t& Configuration::getNumberOfDoFs() const
+{
+    return m_dofs;
+}
+
+// OTHER METHODS
+// =============
+
+bool Configuration::isValid() const
+{
+    bool status =  !m_robotName.empty() &&
+                   !m_urdfFile.empty() &&
+                   !m_localName.empty() &&
+                   !m_controlledJoints.empty() &&
+                   !m_controlBoardsNames.empty() &&
+                   !m_gravityVector.empty() &&
+                   m_dofs > 0;
+    return status;
+}
+
+// OPERATORS OVERLOADING
+// =====================
+
+bool Configuration::operator==(const Configuration &config) const
+{
+    return this->m_robotName == config.m_robotName &&
+           this->m_urdfFile  == config.m_urdfFile &&
+           this->m_localName == config.m_localName &&
+           this->m_controlledJoints   == config.m_controlledJoints &&
+           this->m_controlBoardsNames == config.m_controlBoardsNames &&
+           this->m_gravityVector == config.m_gravityVector &&
+           this->m_dofs == config.m_dofs;
+}

From 8a68ac718e9a75d4d9e8952ea02be3f3842ddfe3 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 30 Oct 2017 10:47:50 +0000
Subject: [PATCH 09/92] New RobotInterface class

This class contains all the required data structures to operate on a robot, either through the model or the interfaces to the hardware / gazebo.

From the Simulink point of view, there is one instance of RobotInterface for every Configuration block added in the model. In fact, RobotInterface extends by composition the Configuration object.

It handles the pointers to its members in a lazy way, initializing on the fly the asked resource.
---
 toolbox/CMakeLists.txt                |   2 +
 toolbox/include/base/RobotInterface.h | 228 +++++++++++++
 toolbox/src/base/RobotInterface.cpp   | 447 ++++++++++++++++++++++++++
 3 files changed, 677 insertions(+)
 create mode 100644 toolbox/include/base/RobotInterface.h
 create mode 100644 toolbox/src/base/RobotInterface.cpp

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 25a304fa7..f084744c7 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -68,6 +68,7 @@ configure_block(BLOCK_NAME "Base"
             src/base/SimulinkBlockInformation.cpp #this is temp
             src/base/Signal.cpp
             src/base/Configuration.cpp
+            src/base/RobotInterface.cpp
     HEADERS include/base/toolbox.h
             include/base/Block.h
             include/base/BlockInformation.h
@@ -77,6 +78,7 @@ configure_block(BLOCK_NAME "Base"
             include/base/SimulinkBlockInformation.h #this is temp
             include/base/Signal.h
             include/base/Configuration.h
+            include/base/RobotInterface.h
             )
 
 configure_block(BLOCK_NAME "Inverse Kinematics"
diff --git a/toolbox/include/base/RobotInterface.h b/toolbox/include/base/RobotInterface.h
new file mode 100644
index 000000000..83da54cde
--- /dev/null
+++ b/toolbox/include/base/RobotInterface.h
@@ -0,0 +1,228 @@
+#ifndef WBT_ROBOTINTERFACE_H
+#define WBT_ROBOTINTERFACE_H
+
+#include "Configuration.h"
+#include <memory>
+#include <string>
+#include <vector>
+#include <utility>
+#include <cassert>
+#include <unordered_map>
+
+namespace yarp {
+    namespace dev {
+        class PolyDriver;
+        class IPositionControl;
+        class IPositionDirect;
+        class IVelocityControl;
+        class ITorqueControl;
+        class IPWMControl;
+        class IControlMode2;
+        class ICurrentControl;
+        class IEncoders;
+        class IControlLimits2;
+        class IPidControl;
+    }
+}
+
+namespace iDynTree {
+    class KinDynComputations;
+}
+
+namespace wbt {
+    class RobotInterface;
+    struct YarpDevices;
+
+    typedef int jointIdx_yarp;
+    typedef int jointIdx_iDynTree;
+    typedef unsigned cb_idx;
+    typedef std::unordered_map<jointIdx_iDynTree, std::pair<cb_idx, jointIdx_yarp>> JointsMapIndex;
+    typedef std::unordered_map<std::string, std::pair<cb_idx, jointIdx_yarp>> JointsMapString;
+}
+
+/**
+ * \struct wbt::YarpDevices RobotInterface.h
+ *
+ * This struct contains shared_ptrs to the devices which are (lazy) asked from the blocks.
+ *
+ * @note The shared_ptr is owned only by wbt::RobotInterface. All the blocks will receive a
+ *       weak_ptr.
+ * @remark Right now only asking / setting the whole joint set of the current Configuration is
+ *         supported. If in the future the support of operating on a subset will be implemented,
+ *         IPositionControl2 and IVelocityControl2 should be implemented. For the time being,
+ *         a possible workaround for this situation is creating a new configuration block
+ *         containing only the reduced set in a deeper-hierarchy Simulink's subsystem.
+ * @see RobotInterface::getDevice
+ */
+struct wbt::YarpDevices
+{
+    std::shared_ptr<yarp::dev::IControlMode2> iControlMode2;
+    std::shared_ptr<yarp::dev::IPositionControl> iPositionControl;
+    std::shared_ptr<yarp::dev::IPositionDirect> iPositionDirect;
+    std::shared_ptr<yarp::dev::IVelocityControl> iVelocityControl;
+    std::shared_ptr<yarp::dev::ITorqueControl> iTorqueControl;
+    std::shared_ptr<yarp::dev::IPWMControl> iPWMControl;
+    std::shared_ptr<yarp::dev::ICurrentControl> iCurrentControl;
+    std::shared_ptr<yarp::dev::IEncoders> iEncoders;
+    std::shared_ptr<yarp::dev::IControlLimits2> iControlLimits2;
+    std::shared_ptr<yarp::dev::IPidControl> iPidControl;
+};
+
+// TODO o pensare come evitare di avere due conf con es position e torque nei setref con lo stesso robot.
+// e' un casino -> aggiungere max un warning o solo documentazione.
+// Solo un setReference attivo per configuration.Se ci sono due setReference con lo stesso
+// set di giunti attivi contemporaneamente. Oppure due stessi blocchi setReference con lo stesso blocco config.
+
+/**
+ * \class wbt::RobotInterface RobotInterface.h
+ *
+ * This class holds the configuration used by one or more blocks, and all the objects to operate
+ * with the specified robot (real or model).
+ *
+ * @see wbt::Configuration
+ * @see wbt::YarpDevices
+ * @see iDynTree::KinDynComputations
+ */
+class wbt::RobotInterface
+{
+private:
+    std::shared_ptr<yarp::dev::PolyDriver> m_robotDevice;
+    std::shared_ptr<iDynTree::KinDynComputations> m_kinDynComp;
+    wbt::YarpDevices m_yarpDevices;
+
+    // Maps used to store infos about yarp's and idyntree's internal joint indexing
+    std::shared_ptr<JointsMapIndex> m_jointsMapIndex;
+    std::shared_ptr<JointsMapString> m_jointsMapString;
+    // std::unordered_map<std::pair<cb_idx, yarp_idx>, joint_name> m_yarp2joint;
+
+    // Configuration from Simulink Block's parameters
+    const wbt::Configuration m_config;
+
+    // Counters for resource allocation / deallocation
+    unsigned m_robotDeviceCounter;
+
+    // INITIALIZATION HELPERS
+    // ======================
+
+    /**
+     * Initialize the iDynTree::KinDynComputations with the information contained
+     * in wbt::Configuration. It finds the urdf file and stores the object to operate on it.
+     * If the joint list contained in RobotInterface::m_config is not complete, it loads a
+     * reduced model of the robot
+     *
+     * @return True if success
+     */
+    bool initializeModel();
+
+    /**
+     * Configure a RemoteControlBoardRemapper device in order to allow
+     * interfacing the toolbox with the robot (real or in Gazebo).
+     *
+     * @return True if success
+     */
+    bool initializeRemoteControlBoardRemapper();
+
+    // OTHER PRIVATE METHODS
+    // =====================
+
+    /**
+     * Gather a device from the RemoteControlBoardRemapper as a \c weak_ptr
+     *
+     * @param  device The RemoteControlBoardRemapper device
+     * @return        The dynamic(ally)_cast device
+     * @tparam T      The type of the retured device
+     */
+    template <typename T> std::weak_ptr<T> getDevice(std::shared_ptr<T> device);
+
+    /**
+     * Creates the map between joints (specified as either names or idyntree indices) and
+     * their YARP representation, which consist in a pair: Control Board index and joint index inside
+     * the its Control Board.
+     *
+     * @see getJointsMapString
+     * @see getJointsMapIndex
+     *
+     * @return True if the map has been created successfully
+     */
+    bool mapDoFs();
+public:
+
+    // CONSTRUCTOR / DESTRUCTOR
+    // ========================
+
+    RobotInterface() = delete;
+    RobotInterface(const wbt::Configuration& c);
+    ~RobotInterface();
+
+    // GET METHODS
+    // ===========
+
+    /**
+     * Get the current configuration
+     *
+     * @return A reference of the Configuration object containing the current configuraton
+     */
+    const wbt::Configuration& getConfiguration() const;
+
+    /**
+     * Get the map between model joint namesand the YARP representation (Control Board and
+     * joint index)
+     *
+     * @return The joint map
+     */
+    const std::shared_ptr<JointsMapString> getJointsMapString();
+
+    /**
+     * Get the map between model joint indices and the YARP representation (Control Board and
+     * joint index)
+     *
+     * @return The joint map
+     */
+    const std::shared_ptr<JointsMapIndex> getJointsMapIndex();
+
+    /**
+     * Get the object to operate on the configured model
+     *
+     * @return A \c shared_ptr to the KinDynComputations object
+     */
+    const std::shared_ptr<iDynTree::KinDynComputations> getKinDynComputations();
+
+    /**
+     * Get a \c weak_ptr to an interface from the RemoteControlBoardRemapper
+     *
+     * param interface [out] A \c weak_ptr to the interface
+     * @return               True if the \c weak_ptr is valid
+     * @tparam T             The type of interface
+     */
+    template <typename T>
+    bool getInterface(std::weak_ptr<T>& interface);
+
+    // LAZY EVALUATION
+    // ===============
+
+    /**
+     * Handles the internal counter for using the RemoteControlBoardRemapper
+     *
+     * @attention All the blocks which need to use any of the interfaces provided by
+     *            wbt::YarpDevices must call this function in their initialize() method.
+     * @see releaseRemoteControlBoardRemapper
+     *
+     * @return True if success
+     */
+    bool retainRemoteControlBoardRemapper();
+
+    /**
+     * Handles the internal counter for using the RemoteControlBoardRemapper. After the call
+     * from the last instance which retained the object, the RemoteControlBoardRemapper and all
+     * the allocated drivers get destroyed.
+     *
+     * @note On the contrary of retainRemoteControlBoardRemapper, this method is already
+     *       called in wbt::~WBBlock
+     * @see retainRemoteControlBoardRemapper
+     *
+     * @return True if success
+     */
+    bool releaseRemoteControlBoardRemapper();
+};
+
+#endif /* end of include guard: WBT_ROBOTINTERFACE_H */
diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
new file mode 100644
index 000000000..59633f63b
--- /dev/null
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -0,0 +1,447 @@
+#include "RobotInterface.h"
+#include "Log.h"
+#include <sstream>
+#include <iterator>
+#include <iDynTree/KinDynComputations.h>
+#include <iDynTree/ModelIO/ModelLoader.h>
+#include <yarp/dev/PolyDriver.h>
+#include <yarp/os/ResourceFinder.h>
+#include <yarp/dev/ControlBoardInterfaces.h>
+#include <yarp/dev/IControlLimits2.h>
+#include <yarp/os/Property.h>
+
+namespace wbt {
+    static std::string vectorToString(std::vector<std::string> v, std::string prefix="");
+
+    // The declaration of the following template specializations are required only by GCC
+    using namespace yarp::dev;
+    template <> bool RobotInterface::getInterface(std::weak_ptr<IControlMode2>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<IPositionControl>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<IPositionDirect>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<IVelocityControl>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<ITorqueControl>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<IPWMControl>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<ICurrentControl>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<IEncoders>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<IControlLimits2>& interface);
+    template <> bool RobotInterface::getInterface(std::weak_ptr<IPidControl>& interface);
+}
+
+using namespace wbt;
+
+// CONSTRUCTOR / DESTRUCTOR
+// ========================
+
+
+RobotInterface::RobotInterface(const wbt::Configuration& c)
+: m_config(c)
+, m_robotDeviceCounter(0)
+{}
+
+RobotInterface::~RobotInterface()
+{
+    // Asserts for debugging purpose.
+
+    // - 1 if at least one block asked the model. At this point only the shared_ptr
+    //     of m_kinDynComp should be still alive (--> 1)
+    // - 0 if no block asked for the model. m_kinDynComp was never allocated.
+    assert(m_kinDynComp.use_count() <= 1);
+
+    // m_robotDevice should be destroyed by the last releaseCB()
+    assert(!m_robotDevice);
+    assert(m_robotDeviceCounter == 0);
+}
+
+bool RobotInterface::mapDoFs()
+{
+    std::unique_ptr<yarp::dev::PolyDriver> controlBoard;
+    std::vector<std::unique_ptr<yarp::dev::IAxisInfo>> iAxisInfos;
+    yarp::os::Property options;
+
+    for (unsigned cbNum = 0; cbNum < m_config.getControlBoardsNames().size(); ++cbNum) {
+        // Configure the single control board
+        options.clear();
+        options.put("device","remotecontrolboard");
+        const std::string prefix = "/" + m_config.getRobotName() + "/";
+        const std::string remoteName = prefix + m_config.getControlBoardsNames().at(cbNum);
+        options.put("remote", remoteName);
+        options.put("localPortPrefix", "WBTtmp");
+
+        // Try to open the control board
+        if (!controlBoard->open(options) || !controlBoard->isValid()) {
+            Log::getSingleton().error("Unable to open RemoteControlBoard " + remoteName);
+            return false;
+        }
+
+        // Get an IAxisInfo object from the device
+        std::unique_ptr<yarp::dev::IAxisInfo> iAxisInfo;
+        yarp::dev::IAxisInfo* iAxisInfoPtr = iAxisInfo.get();
+        controlBoard->view(iAxisInfoPtr);
+        if (!iAxisInfoPtr) {
+            Log::getSingleton().error("Unable to open IAxisInfo from " + remoteName);
+            return false;
+        }
+
+        // Get an IEncoders object from the device
+        // This is used to get how many joints the control board contains
+        std::unique_ptr<yarp::dev::IEncoders> iEnc;
+        yarp::dev::IEncoders* iEncPtr = iEnc.get();
+        controlBoard->view(iEncPtr);
+        int numAxes;
+        if (!iEncPtr || !iEncPtr->getAxes(&numAxes)) {
+            Log::getSingleton().error("Unable to open IEncoders from " + remoteName);
+            return false;
+        }
+
+        // Iterate all the joints in the selected Control Board
+        for (unsigned axis = 0; axis < numAxes; ++axis) {
+            std::string axisName;
+            if (!iAxisInfoPtr->getAxisName(axis, axisName)) {
+                Log::getSingleton().error("Unable to get AxisName from " + remoteName);
+                return false;
+            }
+            // Look if axisName is a controlledJoint
+            bool found = false;
+            for (const auto& controlledJoint : m_config.getControlledJoints()) {
+                if (controlledJoint == axisName) {
+                    // Get the iDynTree index
+                    const auto& model = getKinDynComputations()->model();
+                    iDynTree::LinkIndex iDynLinkIdx = model.getLinkIndex(axisName);
+                    if (iDynLinkIdx == iDynTree::LINK_INVALID_INDEX) {
+                        Log::getSingleton().error("Joint " + axisName + " exists in the " +
+                                                  remoteName + "control board but not in the model.");
+                        return false;
+                    }
+                    // If this is the first entry to add, allocate the objects
+                    if (!m_jointsMapIndex) {
+                        m_jointsMapIndex = std::make_shared<JointsMapIndex>();
+                    }
+                    if (!m_jointsMapString) {
+                        m_jointsMapString = std::make_shared<JointsMapString>();
+                    }
+                    // Create a new entry in the map objects
+                    m_jointsMapString->at(controlledJoint) = {cbNum, axis};
+                    m_jointsMapIndex->at(static_cast<int>(iDynLinkIdx)) = {cbNum, axis};
+                    found = true;
+                    break;
+                }
+            }
+            // Notify that the control board just checked is not used by any joint
+            // of the controlledJoints list
+            if (!found) {
+                Log::getSingleton().warning("No controlled joints found in " +
+                                            m_config.getControlBoardsNames().at(cbNum) +
+                                            " control board. It might be unsed.");
+            }
+        }
+    }
+
+    if (!controlBoard->close()) {
+        Log::getSingleton().error("Unable to close the device of the Control Board.");
+        return false;
+    }
+    return true;
+}
+
+// GET METHODS
+// ===========
+
+const wbt::Configuration& RobotInterface::getConfiguration() const
+{
+    return m_config;
+}
+
+const std::shared_ptr<JointsMapString> RobotInterface::getJointsMapString()
+{
+    if (m_jointsMapString->empty()) {
+        if (!mapDoFs()) {
+            Log::getSingleton().error("Failed to create the Yarp - iDynTree joint map.");
+            return nullptr;
+        }
+    }
+
+    assert (m_jointsMapString);
+    return m_jointsMapString;
+}
+
+const std::shared_ptr<JointsMapIndex> RobotInterface::getJointsMapIndex()
+{
+    if (m_jointsMapIndex->empty()) {
+        if (!mapDoFs()) {
+            Log::getSingleton().error("Failed to create the Yarp - iDynTree joint map.");
+            return nullptr;
+        }
+    }
+
+    assert (m_jointsMapIndex);
+    return m_jointsMapIndex;
+}
+
+const std::shared_ptr<iDynTree::KinDynComputations> RobotInterface::getKinDynComputations()
+{
+    if (m_kinDynComp) {
+        return m_kinDynComp;
+    }
+
+    // Otherwise, initialize a new object
+    if (initializeModel()) {
+        return m_kinDynComp;
+    }
+
+    // Return an empty shared_ptr (implicitly initialized)
+    return nullptr;
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IControlMode2>& interface)
+{
+    interface = getDevice(m_yarpDevices.iControlMode2);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPositionControl>& interface)
+{
+    interface = getDevice(m_yarpDevices.iPositionControl);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPositionDirect>& interface)
+{
+    interface = getDevice(m_yarpDevices.iPositionDirect);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IVelocityControl>& interface)
+{
+    interface = getDevice(m_yarpDevices.iVelocityControl);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::ITorqueControl>& interface)
+{
+    interface = getDevice(m_yarpDevices.iTorqueControl);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPWMControl>& interface)
+{
+    interface = getDevice(m_yarpDevices.iPWMControl);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::ICurrentControl>& interface)
+{
+    interface = getDevice(m_yarpDevices.iCurrentControl);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IEncoders>& interface)
+{
+    interface = getDevice(m_yarpDevices.iEncoders);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IControlLimits2>& interface)
+{
+    interface = getDevice(m_yarpDevices.iControlLimits2);
+    return !interface.expired();
+}
+
+template <>
+bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPidControl>& interface)
+{
+    interface = getDevice(m_yarpDevices.iPidControl);
+    return !interface.expired();
+}
+
+// LAZY EVALUATION
+// ===============
+
+bool RobotInterface::retainRemoteControlBoardRemapper()
+{
+    if (m_robotDeviceCounter > 0) {
+        m_robotDeviceCounter++;
+        return true;
+    }
+
+    assert(!m_robotDevice);
+    if (m_robotDevice) {
+        m_robotDevice.reset();
+    }
+
+    if (!initializeRemoteControlBoardRemapper()) {
+        return false;
+    }
+
+    m_robotDeviceCounter++;
+    return true;
+}
+
+bool RobotInterface::releaseRemoteControlBoardRemapper()
+{
+    // The RemoteControlBoardRemapper has not been used
+    if (m_robotDeviceCounter == 0) {
+        return true;
+    }
+
+    // If there are at most 2 blocks with th CB still used
+    if (m_robotDeviceCounter > 1) {
+        m_robotDeviceCounter--;
+        return true;
+    }
+
+    // This should be executed by the last block which uses CB (m_robotDeviceCounter=1)
+    assert(m_robotDevice);
+    if (m_robotDevice) {
+        // Free all the drivers
+        m_yarpDevices.iControlMode2.reset();
+        m_yarpDevices.iPositionControl.reset();
+        m_yarpDevices.iPositionDirect.reset();
+        m_yarpDevices.iVelocityControl.reset();
+        m_yarpDevices.iTorqueControl.reset();
+        m_yarpDevices.iPWMControl.reset();
+        m_yarpDevices.iCurrentControl.reset();
+        m_yarpDevices.iEncoders.reset();
+        m_yarpDevices.iControlLimits2.reset();
+        m_yarpDevices.iPidControl.reset();
+        //  Close the device
+        m_robotDevice->close();
+        // Free the object
+        m_robotDevice.reset();
+    }
+
+    m_robotDeviceCounter = 0;
+    return true;
+}
+
+// INITIALIZATION HELPERS
+// ======================
+
+bool RobotInterface::initializeModel()
+{
+    assert (!m_kinDynComp);
+
+    // Allocate the object
+    m_kinDynComp = std::make_shared<iDynTree::KinDynComputations>();
+    if (!m_kinDynComp) return false;
+
+    // Use RF to load the urdf file
+    // ----------------------------
+
+    // Initialize RF
+    // Workaround for the fact that ResourceFinder initializes the network by itself. See YARP#1014
+    using namespace yarp::os;
+    Network network;
+    ResourceFinder& rf = ResourceFinder::getResourceFinderSingleton();
+    rf.configure(0, 0);
+
+    // Get the absolute path of the urdf file
+    std::string urdf_file = getConfiguration().getUrdfFile();
+    std::string urdf_file_path = rf.findFile(urdf_file.c_str());
+
+    // Load the reduced model into KinDynComputations
+    // ----------------------------------------------
+
+    // Load the joint list
+    std::vector<std::string> controlledJoints = getConfiguration().getControlledJoints();
+
+    // Use ModelLoader to load the reduced model
+    iDynTree::ModelLoader mdlLoader;
+    if (!mdlLoader.loadReducedModelFromFile(urdf_file_path, controlledJoints)) {
+        Log::getSingleton().error("ToolboxSingleton: impossible to load " + urdf_file + ".");
+        Log::getSingleton().error("Probably the joint list contains an entry not present in the urdf model.");
+        return false;
+    }
+
+    // Add the loaded model to the KinDynComputations object
+    return m_kinDynComp->loadRobotModel(mdlLoader.model());
+}
+
+bool RobotInterface::initializeRemoteControlBoardRemapper()
+{
+    // Setup the RemoteControlBoardRemapper
+    yarp::os::Property options;
+    options.put("device", "remotecontrolboardremapper");
+    options.put("axesNames", vectorToString(m_config.getControlledJoints()));
+    std::string prefix = "/" + m_config.getRobotName() + "/";
+    options.put("remoteControlBoards", vectorToString(m_config.getControlBoardsNames(), prefix));
+    options.put("localPortPrefix", m_config.getLocalName());
+    yarp::os::Property& remoteCBOpts = options.addGroup("REMOTE_CONTROLBOARD_OPTIONS");
+    remoteCBOpts.put("writeStrict","on");
+
+    // Allocate the device driver
+    m_robotDevice = std::make_shared<yarp::dev::PolyDriver>();
+
+    if (!m_robotDevice) {
+        return false;
+    }
+
+    // Open the device driver
+    if (m_robotDevice->open(options) && m_robotDevice->isValid()) {
+        return true;
+    }
+
+    // Remove garbage if the opening fails
+    m_robotDevice.reset();
+    return false;
+}
+
+// OTHER METHODS
+// =============
+
+template <typename T>
+std::weak_ptr<T> RobotInterface::getDevice(std::shared_ptr<T> device)
+{
+    if (!device) {
+        // Blocks which require the RemoteControlBoardRemapper need to retain / release it
+        // in their initialization / terminate phase;
+        assert(m_robotDevice);
+        if (!m_robotDevice) {
+            // Return an empty weak pointer
+            return std::weak_ptr<T>();
+        }
+
+        T* ptr = nullptr;
+        if (!m_robotDevice->view(ptr)) {
+            // Return an empty weak_ptr
+            return std::weak_ptr<T>();
+        }
+        // Store ptr into the smart pointer
+        device.reset(ptr);
+    }
+    // Implicit conversion from shared_ptr to weak_ptr
+    return device;
+}
+
+/**
+ * Converts a vector of strings into a string format \code (element1 element2 element3) \endcode.
+ * It optioanlly support appending a prefix to the elements. e.g.
+ * \code ({prefix}element1 {prefix}element2 {prefix}element3)
+ *
+ * @param  v      The vector of strings
+ * @param  prefix The optional element prefix
+ * @return        The serialized string
+ */
+std::string wbt::vectorToString(std::vector<std::string> v, std::string prefix)
+{
+    // Add the prefix if specified
+    if (!prefix.empty()) {
+        for (auto& str : v) {
+            str = prefix + str;
+        }
+    }
+
+    // Create a string in a format which YARP likes: (item1 item2 item3)
+    std::stringstream output;
+    std::ostream_iterator<std::string> output_iterator(output, " ");
+    std::copy(v.begin(), v.end(), output_iterator);
+    return "(" + output.str() + ")";
+}

From af1fa4106a4597254b28b4f3eaecb41261600124 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 11:14:43 +0000
Subject: [PATCH 10/92] ClockServer thrift messages are now a static library

This is a temporary fix. The cpp file should be generated by its thrift source, which should be found already installed in the system. A new CMake option e.g. USE_GAZEBO should be added.
---
 toolbox/CMakeLists.txt                        | 10 +++--
 toolbox/autogenerated/CMakeLists.txt          | 38 +++++++++++++++++++
 .../autogenerated/src/thrift/ClockServer.cpp  |  4 +-
 3 files changed, 45 insertions(+), 7 deletions(-)
 create mode 100644 toolbox/autogenerated/CMakeLists.txt

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index f084744c7..8da7e2e47 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -143,13 +143,11 @@ configure_block(BLOCK_NAME "Yarp Clock"
     SOURCES src/YarpClock.cpp
     HEADERS include/YarpClock.h)
 
-# TODO: this should be removed with a proper inclusion of the library
-include_directories(SYSTEM "autogenerated/include/")
 configure_block(BLOCK_NAME "Simulator Synchronizer"
     GROUP "Utilities"
     LIST_PREFIX WBT
-    SOURCES src/SimulatorSynchronizer.cpp autogenerated/src/thrift/ClockServer.cpp
-    HEADERS include/SimulatorSynchronizer.h autogenerated/include/thrift/ClockServer.h)
+    SOURCES src/SimulatorSynchronizer.cpp
+    HEADERS include/SimulatorSynchronizer.h)
 
 configure_block(BLOCK_NAME "Mass Matrix"
     GROUP "Model"
@@ -275,6 +273,10 @@ else()
     target_link_libraries(WBToolbox ${LINKED_LIBRARIES} ${Matlab_LIBRARIES})
 endif()
 
+# Link with ClockServer library
+add_subdirectory(autogenerated/)
+target_link_libraries(WBToolbox PUBLIC ClockServer)
+
 # Remote Inverse Kinematics requires C++11
 if (CMAKE_VERSION VERSION_LESS "3.1")
     if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR 
diff --git a/toolbox/autogenerated/CMakeLists.txt b/toolbox/autogenerated/CMakeLists.txt
new file mode 100644
index 000000000..3ce96c1c5
--- /dev/null
+++ b/toolbox/autogenerated/CMakeLists.txt
@@ -0,0 +1,38 @@
+cmake_policy(SET CMP0048 NEW)
+project(ClockServer LANGUAGES CXX VERSION 0.1)
+cmake_minimum_required(VERSION 3.0.2)
+
+# Configure the project
+# =====================
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+include(GNUInstallDirs)
+set(CMAKE_WINDOWS_EXPORT_ALL_SYMBOLS ON)
+
+# Use a general prefix for the project
+set(VARS_PREFIX ${PROJECT_NAME})
+
+# Build the library
+# =================
+
+# Export the includes needed to who inherits this library
+# Set this up properly for handling either BUILD and INSTALL trees
+set(${VARS_PREFIX}_INCLUDE_BUILD ${CMAKE_CURRENT_SOURCE_DIR}/include)
+set(${VARS_PREFIX}_INCLUDE_INSTALL ${CMAKE_INSTALL_INCLUDEDIR}/${VARS_PREFIX})
+
+# Add the target
+add_library(${VARS_PREFIX} STATIC ${CMAKE_CURRENT_SOURCE_DIR}/include/thrift/ClockServer.h
+                                  ${CMAKE_CURRENT_SOURCE_DIR}/src/thrift/ClockServer.cpp)
+
+if (CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
+    set_target_properties(${VARS_PREFIX} PROPERTIES COMPILE_FLAGS "-fPIC")
+endif()
+
+# Setup the include directories
+target_include_directories(${VARS_PREFIX} PUBLIC
+                           $<BUILD_INTERFACE:${${VARS_PREFIX}_INCLUDE_BUILD}>
+                           $<INSTALL_INTERFACE:${${VARS_PREFIX}_INCLUDE_INSTALL}>)
+
+# YARP
+find_package(YARP REQUIRED)
+target_include_directories(${VARS_PREFIX} PUBLIC ${YARP_INCLUDE_DIRS})
diff --git a/toolbox/autogenerated/src/thrift/ClockServer.cpp b/toolbox/autogenerated/src/thrift/ClockServer.cpp
index 30ced2c9d..64d4cf3e8 100644
--- a/toolbox/autogenerated/src/thrift/ClockServer.cpp
+++ b/toolbox/autogenerated/src/thrift/ClockServer.cpp
@@ -1,7 +1,7 @@
 // This is an automatically-generated file.
 // It could get re-generated if the ALLOW_IDL_GENERATION flag is on.
 
-#include <thrift/ClockServer.h>
+#include "thrift/ClockServer.h"
 #include <yarp/os/idl/WireTypes.h>
 
 namespace gazebo {
@@ -382,5 +382,3 @@ std::vector<std::string> ClockServer::help(const std::string& functionName) {
   return helpString;
 }
 } // namespace
-
-

From 1d71a8628a3721213555da85780ce7f6aecd7c6a Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 12:18:16 +0000
Subject: [PATCH 11/92] Substituted C-style cast with static_cast in Signal.cpp

This commit fixes also some error in computing the address used in memcpy calls
---
 toolbox/src/base/Signal.cpp | 92 +++++++++++++++++++++++++++++--------
 1 file changed, 73 insertions(+), 19 deletions(-)

diff --git a/toolbox/src/base/Signal.cpp b/toolbox/src/base/Signal.cpp
index de33aaf15..86c40a89d 100644
--- a/toolbox/src/base/Signal.cpp
+++ b/toolbox/src/base/Signal.cpp
@@ -42,38 +42,92 @@ namespace wbt {
         Data data;
         switch (portType) {
             case PortDataTypeDouble:
-                data.doubleData(isContiguous ? ((double*)contiguousData)[index] : *((double **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.doubleData((static_cast<double*>(contiguousData))[index]);
+                }
+                else {
+                    const double* buffer = static_cast<const double*>(*nonContiguousData);
+                    data.doubleData(static_cast<const double>(buffer[index]));
+                }
                 break;
             case PortDataTypeSingle:
-                data.floatData(isContiguous ? ((float*)contiguousData)[index] : *((float **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.floatData((static_cast<float*>(contiguousData))[index]);
+                }
+                else {
+                    const float* buffer = static_cast<const float*>(*nonContiguousData);
+                    data.floatData(static_cast<const float>(buffer[index]));
+                }
                 break;
             case PortDataTypeInt8:
-                data.int8Data(isContiguous ? ((int8_t*)contiguousData)[index] : *((int8_t **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.int8Data((static_cast<int8_t*>(contiguousData))[index]);
+                }
+                else {
+                    const int8_t* buffer = static_cast<const int8_t*>(*nonContiguousData);
+                    data.int8Data(static_cast<const int8_t>(buffer[index]));
+                }
                 break;
             case PortDataTypeUInt8:
-                data.uint8Data(isContiguous ? ((uint8_t*)contiguousData)[index] : *((uint8_t **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.uint8Data((static_cast<uint8_t*>(contiguousData))[index]);
+                }
+                else {
+                    const uint8_t* buffer = static_cast<const uint8_t*>(*nonContiguousData);
+                    data.uint8Data(static_cast<const uint8_t>(buffer[index]));
+                }
                 break;
             case PortDataTypeInt16:
-                data.int8Data(isContiguous ? ((int16_t*)contiguousData)[index] : *((int16_t **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.int16Data((static_cast<int16_t*>(contiguousData))[index]);
+                }
+                else {
+                    const int16_t* buffer = static_cast<const int16_t*>(*nonContiguousData);
+                    data.int16Data(static_cast<const int16_t>(buffer[index]));
+                }
                 break;
             case PortDataTypeUInt16:
-                data.uint8Data(isContiguous ? ((uint16_t*)contiguousData)[index] : *((uint16_t **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.uint16Data((static_cast<uint16_t*>(contiguousData))[index]);
+                }
+                else {
+                    const uint16_t* buffer = static_cast<const uint16_t*>(*nonContiguousData);
+                    data.uint16Data(static_cast<const uint16_t>(buffer[index]));
+                }
                 break;
             case PortDataTypeInt32:
-                data.int8Data(isContiguous ? ((int32_t*)contiguousData)[index] : *((int32_t **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.int32Data((static_cast<int32_t*>(contiguousData))[index]);
+                }
+                else {
+                    const int32_t* buffer = static_cast<const int32_t*>(*nonContiguousData);
+                    data.int32Data(static_cast<const int32_t>(buffer[index]));
+                }
                 break;
             case PortDataTypeUInt32:
-                data.uint8Data(isContiguous ? ((uint32_t*)contiguousData)[index] : *((uint32_t **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.uint32Data((static_cast<uint32_t*>(contiguousData))[index]);
+                }
+                else {
+                    const uint32_t* buffer = static_cast<const uint32_t*>(*nonContiguousData);
+                    data.uint32Data(static_cast<const uint32_t>(buffer[index]));
+                }
                 break;
             case PortDataTypeBoolean:
-                data.booleanData(isContiguous ? ((bool*)contiguousData)[index] : *((bool **)nonContiguousData)[index]);
+                if (isContiguous) {
+                    data.booleanData((static_cast<bool*>(contiguousData))[index]);
+                }
+                else {
+                    const bool* buffer = static_cast<const bool*>(*nonContiguousData);
+                    data.booleanData(static_cast<const bool>(buffer[index]));
+                }
         }
         return data;
     }
 
     void* Signal::getContiguousBuffer()
     {
-        if (!isContiguous) return 0;
+        if (!isContiguous) return nullptr;
         return this->contiguousData;
     }
 
@@ -110,13 +164,13 @@ namespace wbt {
             case PortDataTypeDouble:
             {
                 dataSize = sizeof(double);
-                address = data + startIndex;
+                address = static_cast<const double*>(address) + startIndex;
                 break;
             }
             case PortDataTypeSingle:
             {
                 dataSize = sizeof(float);
-                address = ((float*)data) + startIndex;
+                address = static_cast<const float*>(address) + startIndex;
                 break;
             }
             default:
@@ -164,19 +218,19 @@ namespace wbt {
             case PortDataTypeInt32:
             {
                 dataSize = sizeof(int32_t);
-                address = ((int32_t*)data) + startIndex;
+                address = static_cast<const int32_t*>(address) + startIndex;
                 break;
             }
             case PortDataTypeInt16:
             {
                 dataSize = sizeof(int16_t);
-                address = ((int16_t*)data) + startIndex;
+                address = static_cast<const int16_t*>(address) + startIndex;
                 break;
             }
             case PortDataTypeInt8:
             {
                 dataSize = sizeof(int8_t);
-                address = ((int8_t*)data) + startIndex;
+                address = static_cast<const int8_t*>(address) + startIndex;
                 break;
             }
             default:
@@ -223,19 +277,19 @@ namespace wbt {
             case PortDataTypeUInt32:
             {
                 dataSize = sizeof(uint32_t);
-                address = ((uint32_t*)data) + startIndex;
+                address = data + startIndex;
                 break;
             }
             case PortDataTypeUInt16:
             {
                 dataSize = sizeof(uint16_t);
-                address = ((uint16_t*)data) + startIndex;
+                address = data + startIndex;
                 break;
             }
             case PortDataTypeUInt8:
             {
                 dataSize = sizeof(uint8_t);
-                address = ((uint8_t*)data) + startIndex;
+                address = data + startIndex;
                 break;
             }
             default:
@@ -255,7 +309,7 @@ namespace wbt {
     {
         if (isConstPort) return;
         unsigned dataSize = sizeof(bool);
-        const void * address = ((bool*)data) + startIndex;
+        const void* address = static_cast<const bool*>(data) + startIndex;
 
         memcpy(contiguousData, address, dataSize * length);
     }

From 19cf4d6fe51b7e4a8df2df5a6413bb538d53c691 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 13:49:23 +0000
Subject: [PATCH 12/92] Switch to AnyType interface to handle data read by
 BlockInformation

Furthermore:

- All methods that read parameters return a bool value
- optionFromKey doesn't use anymore wbt::Data
- setNumberOfOuputPorts() became setNumberOfOutputPorts()
---
 toolbox/include/base/BlockInformation.h       | 31 ++++++----
 .../include/base/SimulinkBlockInformation.h   | 13 +++--
 toolbox/src/base/BlockInformation.cpp         |  2 +-
 toolbox/src/base/SimulinkBlockInformation.cpp | 57 +++++++++++--------
 4 files changed, 63 insertions(+), 40 deletions(-)

diff --git a/toolbox/include/base/BlockInformation.h b/toolbox/include/base/BlockInformation.h
index b16461d89..f49ba843c 100644
--- a/toolbox/include/base/BlockInformation.h
+++ b/toolbox/include/base/BlockInformation.h
@@ -1,6 +1,7 @@
 #ifndef WBT_BLOCKINFORMATION_H
 #define WBT_BLOCKINFORMATION_H
 
+#include "AnyType.h"
 #include <string>
 #include <cstdint>
 
@@ -20,8 +21,8 @@ namespace wbt {
         PortDataTypeBoolean,
     } PortDataType;
 
-
-    struct Data {
+    class Data
+    {
     private:
         double buffer;
     public:
@@ -59,7 +60,8 @@ class wbt::BlockInformation {
 public:
     virtual ~BlockInformation();
 
-    //Block Options methods
+    // Block Options methods
+    // =====================
 
     /**
      * Convert a block option from its Toolbox identifier to a specific implementation
@@ -68,10 +70,12 @@ class wbt::BlockInformation {
      * @param [out] option implementation-specific block option
      * @return true if the option has been converted. False otherwise
      */
-    virtual bool optionFromKey(const std::string& key, Data &option) const;
+    virtual bool optionFromKey(const std::string& key, double& option) const;
+
 
+    // Parameters methods
+    // ==================
 
-    //Parameters methods
     /**
      * Reads the parameter at the specified index and interpret it as a string
      *
@@ -81,12 +85,16 @@ class wbt::BlockInformation {
      * @return true if success, false otherwise
      */
     virtual bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) = 0;
-    virtual Data getScalarParameterAtIndex(unsigned parameterIndex) = 0;
+    virtual bool getScalarParameterAtIndex(unsigned parameterIndex, double& value) = 0;
+    virtual bool getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) = 0;
+    virtual bool getStructAtIndex(unsigned parameterIndex, AnyStruct& map) = 0;
+    virtual bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) = 0;
+
+    // Port information methods
+    // ========================
 
-    //Port information methods
     virtual bool setNumberOfInputPorts(unsigned numberOfPorts) = 0;
-    virtual bool setNumberOfOuputPorts(unsigned numberOfPorts) = 0;
-    //If portSize == -1, then it is dynamic
+    virtual bool setNumberOfOutputPorts(unsigned numberOfPorts) = 0;
     virtual bool setInputPortVectorSize(unsigned portNumber, int portSize) = 0;
     virtual bool setInputPortMatrixSize(unsigned portNumber, int rows, int columns) = 0;
     virtual bool setOutputPortVectorSize(unsigned portNumber, int portSize) = 0;
@@ -103,12 +111,13 @@ class wbt::BlockInformation {
     virtual bool setInputPortType(unsigned portNumber, PortDataType portType) = 0;
     virtual bool setOutputPortType(unsigned portNumber, PortDataType portType) = 0;
 
-    //Port data
+    // Port data
+    // =========
+
     virtual unsigned getInputPortWidth(unsigned portNumber) = 0;
     virtual unsigned getOutputPortWidth(unsigned portNumber) = 0;
     virtual wbt::Signal getInputPortSignal(unsigned portNumber) = 0;
     virtual wbt::Signal getOutputPortSignal(unsigned portNumber) = 0;
-
 };
 
 #endif /* end of include guard: WBT_BLOCKINFORMATION_H */
diff --git a/toolbox/include/base/SimulinkBlockInformation.h b/toolbox/include/base/SimulinkBlockInformation.h
index 40b3c36c6..9c26b23b1 100644
--- a/toolbox/include/base/SimulinkBlockInformation.h
+++ b/toolbox/include/base/SimulinkBlockInformation.h
@@ -2,8 +2,8 @@
 #define WBT_SIMULINKBLOCKINFORMATION_H
 
 #include "BlockInformation.h"
-
 #include "simstruc.h"
+#include "AnyType.h"
 
 namespace wbt {
     class SimulinkBlockInformation;
@@ -18,21 +18,24 @@ class wbt::SimulinkBlockInformation : public wbt::BlockInformation {
 
     virtual ~SimulinkBlockInformation();
 
-    virtual bool optionFromKey(const std::string& key, Data &option) const;
+    bool optionFromKey(const std::string& key, double& option) const override;
 
     //Parameters methods
-    virtual bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter);
-    virtual Data getScalarParameterAtIndex(unsigned parameterIndex);
+    bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) override;
+    bool getScalarParameterAtIndex(unsigned parameterIndex, double& value) override;
+    bool getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) override;
+    bool getStructAtIndex(unsigned parameterIndex, AnyStruct& map) override;
+    bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) override;
 
     //Port information methods
     virtual bool setNumberOfInputPorts(unsigned numberOfPorts);
-    virtual bool setNumberOfOuputPorts(unsigned numberOfPorts);
     virtual bool setInputPortVectorSize(unsigned portNumber, int portSize);
     virtual bool setInputPortMatrixSize(unsigned portNumber, int rows, int columns);
     virtual bool setOutputPortVectorSize(unsigned portNumber, int portSize);
     virtual bool setOutputPortMatrixSize(unsigned portNumber, int rows, int columns);
     virtual bool setInputPortType(unsigned portNumber, PortDataType portType);
     virtual bool setOutputPortType(unsigned portNumber, PortDataType portType);
+    bool setNumberOfOutputPorts(unsigned numberOfPorts) override;
 
     //Port data
     virtual unsigned getInputPortWidth(unsigned portNumber);
diff --git a/toolbox/src/base/BlockInformation.cpp b/toolbox/src/base/BlockInformation.cpp
index c2fc14f0d..5fa160eef 100644
--- a/toolbox/src/base/BlockInformation.cpp
+++ b/toolbox/src/base/BlockInformation.cpp
@@ -3,4 +3,4 @@
 const std::string wbt::BlockOptionPrioritizeOrder = "wbt.BlockOptionPrioritizeOrder";
 
 wbt::BlockInformation::~BlockInformation() {}
-bool wbt::BlockInformation::optionFromKey(const std::string& key, wbt::Data &option) const { return false; }
+bool wbt::BlockInformation::optionFromKey(const std::string& key, double& option) const { return false; }
diff --git a/toolbox/src/base/SimulinkBlockInformation.cpp b/toolbox/src/base/SimulinkBlockInformation.cpp
index 85dc6593d..9f1f69f71 100644
--- a/toolbox/src/base/SimulinkBlockInformation.cpp
+++ b/toolbox/src/base/SimulinkBlockInformation.cpp
@@ -1,8 +1,10 @@
 #include "SimulinkBlockInformation.h"
 
 #include "Signal.h"
-
+#include "MxAnyType.h"
 #include "simstruc.h"
+#include <string>
+#include <vector>
 
 namespace wbt {
 
@@ -11,10 +13,10 @@ namespace wbt {
 
     SimulinkBlockInformation::~SimulinkBlockInformation() {}
 
-    bool SimulinkBlockInformation::optionFromKey(const std::string& key, Data &option) const
+    bool SimulinkBlockInformation::optionFromKey(const std::string& key, double& option) const
     {
         if (key == wbt::BlockOptionPrioritizeOrder) {
-            option.uint32Data(SS_OPTION_PLACE_ASAP);
+            option = SS_OPTION_PLACE_ASAP;
             return true;
         }
 
@@ -24,26 +26,33 @@ namespace wbt {
     //Parameters methods
     bool SimulinkBlockInformation::getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter)
     {
-        int_T buflen, status;
-        char *buffer = NULL;
+        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+        return MxAnyType(blockParam).asString(stringParameter);
+    }
 
-        //robot name
-        buflen = (1 + mxGetN(ssGetSFcnParam(simstruct, parameterIndex))) * sizeof(mxChar);
-        buffer = static_cast<char*>(mxMalloc(buflen));
-        status = mxGetString((ssGetSFcnParam(simstruct, parameterIndex)), buffer, buflen);
-        if (status) {
-            return false;
-        }
-        stringParameter = buffer;
-        mxFree(buffer); buffer = NULL;
-        return true;
+    bool SimulinkBlockInformation::getStructAtIndex(unsigned parameterIndex, AnyStruct& map)
+    {
+        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+        return MxAnyType(blockParam).asAnyStruct(map);
+    }
+
+
+    bool SimulinkBlockInformation::getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec)
+    {
+        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+        return MxAnyType(blockParam).asVectorDouble(vec);
+    }
+
+    bool SimulinkBlockInformation::getScalarParameterAtIndex(unsigned parameterIndex, double& value)
+    {
+        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+        return MxAnyType(blockParam).asDouble(value);
     }
 
-    Data SimulinkBlockInformation::getScalarParameterAtIndex(unsigned parameterIndex)
+    bool SimulinkBlockInformation::getBooleanParameterAtIndex(unsigned parameterIndex, bool& value)
     {
-        Data data;
-        data.doubleData(mxGetScalar(ssGetSFcnParam(simstruct, parameterIndex)));
-        return data;
+        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+        return MxAnyType(blockParam).asBool(value);
     }
 
     //Port information methods
@@ -52,7 +61,7 @@ namespace wbt {
         return ssSetNumInputPorts(simstruct, numberOfPorts);
     }
 
-    bool SimulinkBlockInformation::setNumberOfOuputPorts(unsigned numberOfPorts)
+    bool SimulinkBlockInformation::setNumberOfOutputPorts(unsigned numberOfPorts)
     {
         return ssSetNumOutputPorts(simstruct, numberOfPorts);
     }
@@ -170,7 +179,8 @@ namespace wbt {
     {
         Signal signal;
         InputPtrsType port = ssGetInputPortSignalPtrs(simstruct, portNumber);
-        signal.initSignalType(PortDataTypeDouble, true);
+        bool isConstPort = true;
+        signal.initSignalType(PortDataTypeDouble, isConstPort);
         signal.setNonContiguousBuffer(port);
         return signal;
     }
@@ -178,9 +188,10 @@ namespace wbt {
     wbt::Signal SimulinkBlockInformation::getOutputPortSignal(unsigned portNumber)
     {
         Signal signal;
-        signal.initSignalType(PortDataTypeDouble, false);
+        bool isConstPort = false;
+        signal.initSignalType(PortDataTypeDouble, isConstPort);
         signal.setContiguousBuffer(ssGetOutputPortSignal(simstruct, portNumber));
         return signal;
     }
-    
+
 }

From f0973693c675e28491c50091288126b730985464 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 14:26:05 +0000
Subject: [PATCH 13/92] WBIBlock refactored and renamed to WBBlock

This new WBBlock implements the same functionalities of the former WBIBlock and WBIModelBlock blocks.
Resources are lazy-handled, and it is not anymore necessary having two different setups.

Furthermore:

- The parameters from Simulink are stored in the ToolboxSingleton in the configureSizeAndPorts() instead
  of initialize(). This is possible because singletons are not deleted by Simulink between these two steps
  (Blocks instead are deleted).
---
 toolbox/CMakeLists.txt          |   4 +-
 toolbox/include/base/WBBlock.h  |  82 +++++++++++
 toolbox/include/base/WBIBlock.h |  48 -------
 toolbox/src/base/WBBlock.cpp    | 241 ++++++++++++++++++++++++++++++++
 toolbox/src/base/WBIBlock.cpp   | 140 -------------------
 5 files changed, 325 insertions(+), 190 deletions(-)
 create mode 100644 toolbox/include/base/WBBlock.h
 delete mode 100644 toolbox/include/base/WBIBlock.h
 create mode 100644 toolbox/src/base/WBBlock.cpp
 delete mode 100644 toolbox/src/base/WBIBlock.cpp

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 8da7e2e47..855625d45 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -61,7 +61,7 @@ configure_block(BLOCK_NAME "Base"
     SOURCES src/base/toolbox.cpp
             src/base/Block.cpp
             src/base/BlockInformation.cpp
-            src/base/WBIBlock.cpp
+            src/base/WBBlock.cpp
             src/base/Log.cpp
             src/base/WBInterface.cpp
             src/base/factory.cpp
@@ -72,7 +72,7 @@ configure_block(BLOCK_NAME "Base"
     HEADERS include/base/toolbox.h
             include/base/Block.h
             include/base/BlockInformation.h
-            include/base/WBIBlock.h
+            include/base/WBBlock.h
             include/base/Log.h
             include/base/WBInterface.h
             include/base/SimulinkBlockInformation.h #this is temp
diff --git a/toolbox/include/base/WBBlock.h b/toolbox/include/base/WBBlock.h
new file mode 100644
index 000000000..cee7d7d11
--- /dev/null
+++ b/toolbox/include/base/WBBlock.h
@@ -0,0 +1,82 @@
+#ifndef WBT_WBIBLOCK_H
+#define WBT_WBIBLOCK_H
+
+#include "Block.h"
+#include <string>
+#include <memory>
+#include <iDynTree/Core/VectorFixSize.h>
+#include <iDynTree/Core/VectorDynSize.h>
+#include <iDynTree/Core/Twist.h>
+#include <iDynTree/Core/Transform.h>
+
+namespace wbt {
+    class WBBlock;
+    class Configuration;
+    class BlockInformation;
+    class RobotInterface;
+}
+
+namespace iDynTree {
+    class MatrixDynSize;
+}
+
+/**
+ * \struct iDynTreeRobotState WBBlock.h
+ *
+ * This struct contains the iDynTree objects used to configure the
+ * state of iDynTree::KinDynComputations objects.
+ */
+struct iDynTreeRobotState {
+    iDynTree::Twist         m_baseVelocity;
+    iDynTree::Vector3       m_gravity;
+    iDynTree::Transform     m_world_T_base;
+    iDynTree::VectorDynSize m_jointsVelocity;
+    iDynTree::VectorDynSize m_jointsPosition;
+
+    iDynTreeRobotState() = default;
+    ~iDynTreeRobotState() = default;
+
+    iDynTreeRobotState(const unsigned& dofs, const std::vector<double>& gravity);
+};
+
+/**
+ * Basic class for Whole-Body related blocks.
+ * This class (the whole toolbox in reality) assumes the block represent
+ * an instantaneous system (i.e. not a dynamic system).
+ *
+ * You can create a new block by deriving this class and implementing at least
+ * the output method.
+ *
+ * This block implements the following default behaviours:
+ * - it ask for 4 parameters (robot name, local (module) name, names of the remote control boards,
+ *   and the list of joints which should all belong to one of the remote control boards)
+ * - It initializes the yarp network and the whole body interface object
+ * - During terminate it closes and release the interface object and terminate the yarp network
+ *
+ * @note Usually you want to call this class implementations at some point in your
+ * method overridings, unless you want to completely change the code (but at that point
+ * you probabily want to derive from Block instead)
+ */
+class wbt::WBBlock : public wbt::Block
+{
+private:
+    static const unsigned ConfigurationParameterIndex;
+    static const unsigned ConfBlockNameParameterIndex;
+
+protected:
+    std::string confKey;
+    iDynTreeRobotState robotState;
+    bool getWBToolboxParameters(Configuration& config, BlockInformation* blockInfo);
+    const std::shared_ptr<wbt::RobotInterface> getRobotInterface();
+    const Configuration& getConfiguration();
+
+public:
+    WBBlock() = default;
+    ~WBBlock() override = default;
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+};
+
+#endif /* end of include guard: WBT_WBIBLOCK_H */
diff --git a/toolbox/include/base/WBIBlock.h b/toolbox/include/base/WBIBlock.h
deleted file mode 100644
index 33ffe9c36..000000000
--- a/toolbox/include/base/WBIBlock.h
+++ /dev/null
@@ -1,48 +0,0 @@
-#ifndef WBT_WBIBLOCK_H
-#define WBT_WBIBLOCK_H
-
-#include "Block.h"
-#include <string>
-
-namespace wbt {
-    class WBIBlock;
-    class BlockInformation;
-}
-
-/**
- * Basic class for WBI related blocks.
- * This class (the whole toolbox in reality) assumes the block represent
- * an instantaneous system (i.e. not a dynamic system).
- *
- * You can create a new block by deriving this class and implementing at least
- * the output method.
- *
- * This block implements the following default behaviours:
- * - it ask for 4 parameters (robot name, local (module) name, wbi config file and wbi list)
- * - It initializes the yarp network and the whole body interface object
- * - During terminate it closes and release the interface object and terminate the yarp network
- *
- * @note Usually you want to call this class implementations at some point in your
- * method overridings, unless you want to completely change the code (but at that point 
- * you probabily want to derive from Block instead)
- */
-class wbt::WBIBlock : public wbt::Block {
-
-protected:
-
-    std::string m_wbiConfigurationFileName;
-    std::string m_wbiListName;
-
-    bool configureWBIParameters(BlockInformation *blockInfo, wbt::Error *error);
-
-public:
-    WBIBlock();
-    virtual ~WBIBlock();
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-};
-
-
-#endif /* end of include guard: WBT_WBIBLOCK_H */
diff --git a/toolbox/src/base/WBBlock.cpp b/toolbox/src/base/WBBlock.cpp
new file mode 100644
index 000000000..27f9913f2
--- /dev/null
+++ b/toolbox/src/base/WBBlock.cpp
@@ -0,0 +1,241 @@
+#include "WBBlock.h"
+
+#include "BlockInformation.h"
+#include "Log.h"
+#include "ToolboxSingleton.h"
+#include "Configuration.h"
+#include "RobotInterface.h"
+#include "AnyType.h"
+#include <string>
+#include <memory>
+#include <iDynTree/Core/MatrixFixSize.h>
+#include <iDynTree/Core/VectorDynSize.h>
+#include <iDynTree/Core/Twist.h>
+#include <iDynTree/Core/Transform.h>
+
+using namespace wbt;
+
+const unsigned WBBlock::ConfigurationParameterIndex = 1; // Struct from Simulink
+const unsigned WBBlock::ConfBlockNameParameterIndex = 2; // Absolute name of the block containing the
+                                                         // configuration
+
+iDynTreeRobotState::iDynTreeRobotState(const unsigned& dofs, const std::vector<double>& gravity)
+: m_gravity(gravity.data(), 3)
+, m_jointsVelocity(dofs)
+, m_jointsPosition(dofs)
+{
+    m_jointsPosition.zero();
+    m_jointsVelocity.zero();
+}
+
+unsigned WBBlock::numberOfParameters() { return 2; }
+
+bool WBBlock::getWBToolboxParameters(Configuration& config, BlockInformation* blockInfo)
+{
+    // Infos
+    // =====
+    //
+    // For what concern initialization, the callback order is:
+    //
+    // -> configureSizeAndPorts()
+    //    -> initialize()
+    //       -> initializeInitialConditions()
+    //
+    // Despite class objects after the configureSizeAndPorts() are destroyed and
+    // reallocated before the initialize(), the ToolboxSingleton remains alive and
+    // can store from this stage the configuration created by reading the parameters.
+    //
+
+    // Gather the parameters from the Mask of the Simulink Block
+    // =========================================================
+
+    // Get the struct containing the parameters
+    AnyStruct s;
+    if (!blockInfo->getStructAtIndex(ConfigurationParameterIndex, s)) {
+        Log::getSingleton().error("Failed to retrieve the struct with parameters.");
+        return false;
+    }
+
+    // Check the existence of all the fields
+    try {
+        s.at("RobotName");
+        s.at("UrdfFile");
+        s.at("ControlledJoints");
+        s.at("ControlBoardsNames");
+        s.at("LocalName");
+        s.at("GravityVector");
+    }
+    catch (const std::out_of_range& e) {
+        Log::getSingleton().error("Cannot retrieve one or more parameter from config struct.");
+        return false;
+    }
+
+    // RobotName
+    std::string robotName;
+    if (!s["RobotName"]->asString(robotName)) {
+        Log::getSingleton().error("Cannot retrieve string from RobotName parameter.");
+        return false;
+    }
+
+    // UrdfFile
+    std::string urdfFile;
+    if (!s["UrdfFile"]->asString(urdfFile)) {
+        Log::getSingleton().error("Cannot retrieve string from UrdfFile parameter.");
+        return false;
+    }
+
+    // ControlledJoints
+    AnyCell cellCJ;
+    if (!s["ControlledJoints"]->asAnyCell(cellCJ)) {
+        Log::getSingleton().error("Cannot retrieve ControlledJoints parameter.");
+        return false;
+    }
+
+    std::vector<std::string> controlledJoints;
+    for (auto cell: cellCJ) {
+        std::string joint;
+        if (!cell->asString(joint)) {
+            Log::getSingleton().error("Failed to convert ControlledJoints from cell to strings.");
+            return false;
+        }
+        controlledJoints.push_back(joint);
+    }
+
+    // ControlBoardsNames
+    AnyCell cellCBN;
+    if (!s["ControlBoardsNames"]->asAnyCell(cellCBN)) {
+        Log::getSingleton().error("Cannot retrieve ControlBoardsNames parameter.");
+        return false;
+    }
+
+    std::vector<std::string> controlBoardsNames;
+    for (auto cell: cellCBN) {
+        std::string joint;
+        if (!cell->asString(joint)) {
+            Log::getSingleton().error("Failed to convert ControlBoardsNames from cell to string.");
+            return false;
+        }
+        controlBoardsNames.push_back(joint);
+    }
+
+    // LocalName
+    std::string localName;
+    if (!s["LocalName"]->asString(localName)) {
+        Log::getSingleton().error("Cannot retrieve string from LocalName parameter.");
+        return false;
+    }
+
+    std::vector<double> gravityVector;
+    if (!s["GravityVector"]->asVectorDouble(gravityVector)) {
+        Log::getSingleton().error("Cannot retrieve vector from GravityVector parameter.");
+        return false;
+    }
+
+    // Create the ToolboxConfig object
+    // ===============================
+
+    // Populate a Property object that stores the input parameters
+    config.setRobotName(robotName);
+    config.setUrdfFile(urdfFile);
+    config.setControlledJoints(controlledJoints);
+    config.setControlBoardsNames(controlBoardsNames);
+    config.setLocalName(localName);
+    config.setGravityVector(gravityVector);
+
+    return true;
+}
+
+const Configuration& WBBlock::getConfiguration()
+{
+    ToolboxSingleton& interface = ToolboxSingleton::sharedInstance();
+    return interface.getConfiguration(confKey);
+}
+
+const std::shared_ptr<RobotInterface> WBBlock::getRobotInterface()
+{
+    ToolboxSingleton& interface = ToolboxSingleton::sharedInstance();
+    return interface.getRobotInterface(confKey);
+}
+
+bool WBBlock::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // Remember not allocate / save any data in this function, it won't be persistent.
+
+    // Setup the ToolboxSingleton
+    // ==========================
+
+    // Setup the DOFs (required by childs for configuring port sizes)
+    // --------------------------------------------------------------
+
+    // Initialize the ToolboxSingleton
+    ToolboxSingleton& interface = ToolboxSingleton::sharedInstance();
+
+    // Get the absolute name of the block from which the configuration has been retrieved.
+    // This will be the key of the map containing all the configurations of the ToolboxSingleton.
+    if (!blockInfo->getStringParameterAtIndex(ConfBlockNameParameterIndex, confKey)) {
+        Log::getSingleton().error("Failed to retrieve the struct with parameters.");
+        return false;
+    }
+
+    // Get the configuration struct from the block
+    Configuration config;
+    if (!getWBToolboxParameters(config, blockInfo)) {
+        return false;
+    }
+
+    // Check if the configuration is valid
+    if (!config.isValid()) {
+        Log::getSingleton().error("The provided configuration is not valid.");
+        return false;
+    }
+
+    // Store the configuration inside the ToolboxSingleton
+    if (!interface.storeConfiguration(confKey, config)) {
+        Log::getSingleton().error("Failed to configure ToolboxSingleton.");
+        return false;
+    }
+
+    // Check if the DoFs are positive (and if the config has been stored successfully)
+    const Configuration& configFromSingleton = getConfiguration();
+
+    if (configFromSingleton.getNumberOfDoFs() < 1) {
+        Log::getSingleton().error("Failed to configure WBBlock. Read 0 DoFs.");
+        return false;
+    }
+
+    return true;
+}
+
+bool WBBlock::initialize(BlockInformation* blockInfo)
+{
+    // CONFIGURE the ToolboxSingleton
+    // ==============================
+
+    ToolboxSingleton& interface = ToolboxSingleton::sharedInstance();
+
+    // Gather again confKey
+    // Note: despite data for blocks is not persistent between configureSizeAndPorts()
+    //       and initialize() (e.g. confKey), the singleton is not destroyed.
+    //       This means that the stored configurations are still there.
+    if (!blockInfo->getStringParameterAtIndex(ConfBlockNameParameterIndex, confKey)) {
+        Log::getSingleton().error("Failed to retrieve the struct with parameters.");
+        return false;
+    }
+
+    // Check if the key is valid
+    if (!interface.isKeyValid(confKey)) {
+        Log::getSingleton().error("Failed to retrieve the configuration object from the singleton.");
+        return false;
+    }
+
+    // Initialize the iDynTreeRobotState struct
+    const unsigned& dofs = interface.numberOfDoFs(confKey);
+    robotState = iDynTreeRobotState(dofs, getConfiguration().getGravityVector());
+
+    return true;
+}
+
+bool WBBlock::terminate(BlockInformation* /*blockInfo*/)
+{
+    return true;
+}
diff --git a/toolbox/src/base/WBIBlock.cpp b/toolbox/src/base/WBIBlock.cpp
deleted file mode 100644
index 475ffee97..000000000
--- a/toolbox/src/base/WBIBlock.cpp
+++ /dev/null
@@ -1,140 +0,0 @@
-#include "WBIBlock.h"
-
-#include "BlockInformation.h"
-#include "Error.h"
-#include "WBInterface.h"
-#include <yarp/os/Network.h>
-
-#define PARAM_IDX_1 1                           // robot name
-#define PARAM_IDX_2 2                           // local (module) name
-#define PARAM_IDX_3 3                           // wbi config file
-#define PARAM_IDX_4 4                           // wbi list
-
-wbt::WBIBlock::WBIBlock()
-: m_wbiConfigurationFileName("")
-, m_wbiListName("") {}
-
-wbt::WBIBlock::~WBIBlock() { }
-
-unsigned wbt::WBIBlock::numberOfParameters() { return 4; }
-
-bool wbt::WBIBlock::configureWBIParameters(BlockInformation *blockInfo, wbt::Error *error)
-{
-    //parameters needed by this block:
-    // - YARP_ROBOT_NAME: needed by resource finder for resource lookup (for now it is taken by the environment)
-    // - robot: robot port. If defined overrides the one specified by wbi file
-    // - moduleName: local (opened) ports.
-    // - wbi config file name (default: yarpWholeBodyInterface.ini): specifies the wbi config file
-    // - wbi list (default ROBOT_TORQUE_CONTROL_JOINTS): specifies the WBI list .
-    //            It it is a normal string, it is interpreted as a named list of joints that is loaded from the
-    //            yarpWholeBodyInterface.ini file. If instead it s
-
-
-    //robot name
-    std::string robotName;
-    if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_1, robotName)) {
-        if (error) error->message = "Cannot retrieve string from robot parameter";
-        return false;
-    }
-
-    //local name
-    std::string localName;
-    if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_2, localName)) {
-        if (error) error->message = "Cannot retrieve string from localName parameter";
-        return false;
-    }
-    //default local name
-    if (localName.empty()) localName = "WBIT";
-
-    //wbi config file
-    if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_3, m_wbiConfigurationFileName)) {
-        if (error) error->message = "Cannot retrieve string from WBI config file parameter";
-        return false;
-    }
-
-    //default config file:
-    if (m_wbiConfigurationFileName.empty()) m_wbiConfigurationFileName = "yarpWholeBodyInterface.ini";
-
-    //wbi list name
-    if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_4, m_wbiListName)) {
-        if (error) error->message = "Cannot retrieve string from WBI list parameter";
-        return false;
-    }
-
-    //default list:
-    if (m_wbiListName.empty()) m_wbiListName = "ROBOT_TORQUE_CONTROL_JOINTS";
-
-    WBInterface &interface = WBInterface::sharedInstance();
-
-    Error interfaceError;
-    if (!interface.configure(robotName, localName, m_wbiConfigurationFileName, m_wbiListName, &interfaceError)) {
-        if (error) error->message = "Failed to configure WholeBodyInterface with error " + interfaceError.message;
-        return false;
-    }
-    return true;
-}
-
-bool wbt::WBIBlock::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
-{
-    //wbi config file
-    if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_3, m_wbiConfigurationFileName)) {
-        if (error) error->message = "Could not read WBI configuration file parameter";
-        return false;
-    }
-
-    //default config file:
-    if (m_wbiConfigurationFileName.empty()) m_wbiConfigurationFileName = "yarpWholeBodyInterface.ini";
-
-    //wbi list name
-    if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_4, m_wbiListName)) {
-        if (error) error->message = "Could not read WBI list parameter";
-        return false;
-    }
-
-    //default list:
-    if (m_wbiListName.empty()) m_wbiListName = "ROBOT_TORQUE_CONTROL_JOINTS";
-
-    WBInterface &interface = WBInterface::sharedInstance();
-
-    int dofs = interface.dofsForConfigurationFileAndList(m_wbiConfigurationFileName, m_wbiListName);
-    if (dofs == -1) {
-        if (error) error->message = "Failed to configure WholeBodyInterface. Could not load WBI properties from file";
-        return false;
-    } else if (dofs == -2) {
-        if (error) error->message = "Failed to configure WholeBodyInterface. WBI joint list not found or failed to configure. Check if joint list exists.";
-        return false;
-    }
-
-    return true;
-}
-
-bool wbt::WBIBlock::initialize(BlockInformation *blockInfo, wbt::Error *error)
-{
-    using namespace yarp::os;
-    Network::init();
-    if (!Network::initialized() || !Network::checkNetwork(5.0)) {
-        if (error) error->message = "YARP server wasn't found active";
-        return false;
-    }
-
-    if (!configureWBIParameters(blockInfo, error)) {
-        return false;
-    }
-
-    WBInterface &interface = WBInterface::sharedInstance();
-    if (!interface.initialize()) {
-        if (error) error->message = "Failed to initialize WBI";
-        return false;
-    }
-    return true;
-}
-
-bool wbt::WBIBlock::terminate(BlockInformation */*S*/, wbt::Error *error)
-{
-    if (!WBInterface::sharedInstance().terminate()) {
-        if (error) error->message = "Failed to terminate WBI";
-        return false;
-    }
-    yarp::os::Network::fini();
-    return true;
-}

From 04531f146dd55050a5c11e9b270558c540c8a552 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 10 Nov 2017 14:47:40 +0000
Subject: [PATCH 14/92] Minor edits of base/ classes

- Removed old Error parameter from methods
- Small documentation changes
- Small style edits
---
 toolbox/include/base/Block.h                  | 31 ++++++-------
 toolbox/include/base/BlockInformation.h       |  4 +-
 toolbox/include/base/Signal.h                 | 19 ++++----
 .../include/base/SimulinkBlockInformation.h   | 33 +++++++-------
 toolbox/src/base/Block.cpp                    |  8 ++--
 toolbox/src/base/Signal.cpp                   | 43 +++++++++---------
 toolbox/src/base/SimulinkBlockInformation.cpp |  8 ++--
 toolbox/src/base/factory.cpp                  |  2 +-
 toolbox/src/base/toolbox.cpp                  | 44 +++++++++----------
 9 files changed, 92 insertions(+), 100 deletions(-)

diff --git a/toolbox/include/base/Block.h b/toolbox/include/base/Block.h
index b65f52a7b..a233859e6 100644
--- a/toolbox/include/base/Block.h
+++ b/toolbox/include/base/Block.h
@@ -6,7 +6,6 @@
 
 namespace wbt {
     class Block;
-    class Error;
     class BlockInformation;
 
 }
@@ -15,14 +14,15 @@ namespace wbt {
  * Basic abstract class for all the blocks.
  * This class (the whole toolbox in reality) assumes the block represent
  * an instantaneous system (i.e. not a dynamic system).
- * 
+ *
  * You can create a new block by deriving this class and implementing at least
  * all the pure virtual methods.
  *
  * @Note: if you need to implement a block which uses the WBI, you should derive
  * from WBIBlock as it already provides some facilities.
  */
-class wbt::Block {
+class wbt::Block
+{
 public:
     /**
      * Create and returns a new Block object of the specified class.
@@ -39,7 +39,7 @@ class wbt::Block {
      *
      */
     virtual ~Block();
-    
+
     /**
      * Returns the number of configuration parameters needed by this block
      *
@@ -59,7 +59,7 @@ class wbt::Block {
      * Returns the number of discrete states of the block.
      *
      * The base implementation returns 0, i.e. no discrete states
-     * @note if you return a number > 0, you should implement the 
+     * @note if you return a number > 0, you should implement the
      * updateDiscreteState function
      * @return the number of discrete states
      */
@@ -82,7 +82,7 @@ class wbt::Block {
      * @param S the SimStruct structure
      * @return true for success, false otherwise
      */
-    virtual bool updateDiscreteState(BlockInformation *blockInfo, wbt::Error *error);
+    virtual bool updateDiscreteState(BlockInformation* blockInfo);
 
     /**
      * Not called for now
@@ -90,7 +90,7 @@ class wbt::Block {
      * @param S the SimStruct structure
      * @return true for success, false otherwise
      */
-    virtual bool stateDerivative(BlockInformation *blockInfo, wbt::Error *error);
+    virtual bool stateDerivative(BlockInformation* blockInfo);
 
 
     /**
@@ -111,21 +111,19 @@ class wbt::Block {
      * their size and configuration.
      * @Note: you should not save any object in this method because it will not persist
      * @param S     simulink structure
-     * @param [out]error output error object that can be filled in case of error. Check if the pointer exists before dereference it.
      *
      * @return true for success, false otherwise
      */
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error) = 0;
+    virtual bool configureSizeAndPorts(BlockInformation* blockInfo) = 0;
 
     /**
      * Never called.
      *
      * @param S     simulink structure
-     * @param [out]error output error object that can be filled in case of error. Check if the pointer exists before dereference it.
      *
      * @return true for success, false otherwise
      */
-    virtual bool checkParameters(BlockInformation *blockInfo, wbt::Error *error);
+    virtual bool checkParameters(BlockInformation* blockInfo);
 
     /**
      * Initialize the object for the simulation
@@ -133,11 +131,10 @@ class wbt::Block {
      * This method is called at model startup (i.e. during mdlStart)
      * @Note: you can save and initialize your object in this method
      * @param S     simulink structure
-     * @param [out]error output error object that can be filled in case of error.
      *
      * @return true for success, false otherwise
      */
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error) = 0;
+    virtual bool initialize(BlockInformation* blockInfo) = 0;
 
     /**
      * Called to initialize the initial conditions
@@ -146,11 +143,10 @@ class wbt::Block {
      * @note this function is also called on a reset event
      * @note if you need to perform initialization only once, than implement initialize
      * @param S     simulink structure
-     * @param [out]error output error object that can be filled in case of error.
      *
      * @return true for success, false otherwise
      */
-    virtual bool initializeInitialConditions(BlockInformation *blockInfo, wbt::Error *error);
+    virtual bool initializeInitialConditions(BlockInformation* blockInfo);
 
     /**
      * Perform model cleanup.
@@ -158,11 +154,10 @@ class wbt::Block {
      * This method is called at model termination (i.e. during mdlTerminate).
      * You should release all the resources you requested during the initialize method
      * @param S     simulink structure
-     * @param [out]error output error object that can be filled in case of error.
      *
      * @return true for success, false otherwise
      */
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error) = 0;
+    virtual bool terminate(BlockInformation* blockInfo) = 0;
 
 
 
@@ -175,7 +170,7 @@ class wbt::Block {
      *
      * @return true for success, false otherwise
      */
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error) = 0;
+    virtual bool output(BlockInformation* blockInfo) = 0;
 
 public:
 
diff --git a/toolbox/include/base/BlockInformation.h b/toolbox/include/base/BlockInformation.h
index f49ba843c..a4ea9da0a 100644
--- a/toolbox/include/base/BlockInformation.h
+++ b/toolbox/include/base/BlockInformation.h
@@ -66,9 +66,9 @@ class wbt::BlockInformation {
     /**
      * Convert a block option from its Toolbox identifier to a specific implementation
      *
-     * @param [in] key identifier of the block option
+     * @param [in]  key    identifier of the block option
      * @param [out] option implementation-specific block option
-     * @return true if the option has been converted. False otherwise
+     * @return             true if the option has been converted. False otherwise
      */
     virtual bool optionFromKey(const std::string& key, double& option) const;
 
diff --git a/toolbox/include/base/Signal.h b/toolbox/include/base/Signal.h
index 97f567669..b46d70ecd 100644
--- a/toolbox/include/base/Signal.h
+++ b/toolbox/include/base/Signal.h
@@ -7,7 +7,9 @@ namespace wbt {
     class Signal;
 }
 
-class wbt::Signal {
+class wbt::Signal
+{
+private:
     PortDataType portType;
     bool isContiguous;
     bool isConstPort;
@@ -16,31 +18,30 @@ class wbt::Signal {
     void* contiguousData;
 
 public:
-    Signal();
+    Signal() = default;
 
     void initSignalType(wbt::PortDataType type, bool constPort);
 
-
     void setContiguousBuffer(void* buffer);
     void setContiguousBuffer(const void* buffer);
     void setNonContiguousBuffer(void** buffer);
-    void setNonContiguousBuffer(const void* const * buffer);
+    void setNonContiguousBuffer(const void* const* buffer);
 
     const Data get(unsigned index) const;
     void* getContiguousBuffer();
-    
+
     //the missing are cast
     void set(unsigned index, double data);
-    void setBuffer(const double *data, const unsigned length, unsigned startIndex = 0);
+    void setBuffer(const double* data, const unsigned length, unsigned startIndex = 0);
 
     void set(unsigned index, int32_t data);
-    void setBuffer(const int32_t *data, const unsigned length, unsigned startIndex = 0);
+    void setBuffer(const int32_t* data, const unsigned length, unsigned startIndex = 0);
 
     void set(unsigned index, uint32_t data);
-    void setBuffer(const uint32_t *data, const unsigned length, unsigned startIndex = 0);
+    void setBuffer(const uint32_t* data, const unsigned length, unsigned startIndex = 0);
 
     void set(unsigned index, bool data);
-    void setBuffer(const bool *data, const unsigned length, unsigned startIndex = 0);
+    void setBuffer(const bool* data, const unsigned length, unsigned startIndex = 0);
 
 };
 
diff --git a/toolbox/include/base/SimulinkBlockInformation.h b/toolbox/include/base/SimulinkBlockInformation.h
index 9c26b23b1..2334d32a4 100644
--- a/toolbox/include/base/SimulinkBlockInformation.h
+++ b/toolbox/include/base/SimulinkBlockInformation.h
@@ -10,13 +10,14 @@ namespace wbt {
     class Signal;
 }
 
-class wbt::SimulinkBlockInformation : public wbt::BlockInformation {
-    SimStruct *simstruct;
+class wbt::SimulinkBlockInformation : public wbt::BlockInformation
+{
+private:
+    SimStruct* simstruct;
 
 public:
-    SimulinkBlockInformation(SimStruct *simstruct);
-
-    virtual ~SimulinkBlockInformation();
+    SimulinkBlockInformation(SimStruct* simstruct);
+    ~SimulinkBlockInformation() override = default;
 
     bool optionFromKey(const std::string& key, double& option) const override;
 
@@ -28,20 +29,20 @@ class wbt::SimulinkBlockInformation : public wbt::BlockInformation {
     bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) override;
 
     //Port information methods
-    virtual bool setNumberOfInputPorts(unsigned numberOfPorts);
-    virtual bool setInputPortVectorSize(unsigned portNumber, int portSize);
-    virtual bool setInputPortMatrixSize(unsigned portNumber, int rows, int columns);
-    virtual bool setOutputPortVectorSize(unsigned portNumber, int portSize);
-    virtual bool setOutputPortMatrixSize(unsigned portNumber, int rows, int columns);
-    virtual bool setInputPortType(unsigned portNumber, PortDataType portType);
-    virtual bool setOutputPortType(unsigned portNumber, PortDataType portType);
+    bool setNumberOfInputPorts(unsigned numberOfPorts) override;
     bool setNumberOfOutputPorts(unsigned numberOfPorts) override;
+    bool setInputPortVectorSize(unsigned portNumber, int portSize) override;
+    bool setInputPortMatrixSize(unsigned portNumber, int rows, int columns) override;
+    bool setOutputPortVectorSize(unsigned portNumber, int portSize) override;
+    bool setOutputPortMatrixSize(unsigned portNumber, int rows, int columns) override;
+    bool setInputPortType(unsigned portNumber, PortDataType portType) override;
+    bool setOutputPortType(unsigned portNumber, PortDataType portType) override;
 
     //Port data
-    virtual unsigned getInputPortWidth(unsigned portNumber);
-    virtual unsigned getOutputPortWidth(unsigned portNumber);
-    virtual wbt::Signal getInputPortSignal(unsigned portNumber);
-    virtual wbt::Signal getOutputPortSignal(unsigned portNumber);
+    unsigned getInputPortWidth(unsigned portNumber) override;
+    unsigned getOutputPortWidth(unsigned portNumber) override;
+    wbt::Signal getInputPortSignal(unsigned portNumber) override;
+    wbt::Signal getOutputPortSignal(unsigned portNumber) override;
 };
 
 #endif /* end of include guard: WBT_SIMULINKBLOCKINFORMATION_H */
diff --git a/toolbox/src/base/Block.cpp b/toolbox/src/base/Block.cpp
index 396e1084d..b7d36396a 100644
--- a/toolbox/src/base/Block.cpp
+++ b/toolbox/src/base/Block.cpp
@@ -4,12 +4,12 @@
 wbt::Block::~Block() {}
 std::vector<std::string> wbt::Block::additionalBlockOptions() { return std::vector<std::string>(); }
 void wbt::Block::parameterAtIndexIsTunable(unsigned /*index*/, bool &tunable) { tunable = false; }
-bool wbt::Block::checkParameters(wbt::BlockInformation */*blockInfo*/, wbt::Error */*error*/) { return true; }
+bool wbt::Block::checkParameters(wbt::BlockInformation* /*blockInfo*/) { return true; }
 
 unsigned wbt::Block::numberOfDiscreteStates() { return 0; }
 unsigned wbt::Block::numberOfContinuousStates() { return 0; }
 
-bool wbt::Block::updateDiscreteState(wbt::BlockInformation */*blockInfo*/, wbt::Error */*error*/) { return true; }
-bool wbt::Block::stateDerivative(wbt::BlockInformation */*blockInfo*/, wbt::Error */*error*/) { return true; }
+bool wbt::Block::updateDiscreteState(wbt::BlockInformation* /*blockInfo*/) { return true; }
+bool wbt::Block::stateDerivative(wbt::BlockInformation* /*blockInfo*/) { return true; }
 
-bool wbt::Block::initializeInitialConditions(wbt::BlockInformation */*blockInfo*/, wbt::Error */*error*/) { return true; }
+bool wbt::Block::initializeInitialConditions(wbt::BlockInformation* /*blockInfo*/) { return true; }
diff --git a/toolbox/src/base/Signal.cpp b/toolbox/src/base/Signal.cpp
index 86c40a89d..5d57938fc 100644
--- a/toolbox/src/base/Signal.cpp
+++ b/toolbox/src/base/Signal.cpp
@@ -4,9 +4,6 @@
 
 namespace wbt {
 
-
-    Signal::Signal() {}
-
     void Signal::initSignalType(wbt::PortDataType type, bool constPort)
     {
         this->portType = type;
@@ -30,7 +27,7 @@ namespace wbt {
         this->isContiguous = false;
     }
 
-    void Signal::setNonContiguousBuffer(const void* const * buffer)
+    void Signal::setNonContiguousBuffer(const void* const* buffer)
     {
         nonContiguousData = const_cast<void**>(buffer);
         this->isContiguous = false;
@@ -139,13 +136,13 @@ namespace wbt {
         switch (portType) {
             case PortDataTypeDouble:
             {
-                double *buffer = static_cast<double*>(contiguousData);
+                double* buffer = static_cast<double*>(contiguousData);
                 buffer[index] = data;
                 break;
             }
             case PortDataTypeSingle:
             {
-                float *buffer = static_cast<float*>(contiguousData);
+                float* buffer = static_cast<float*>(contiguousData);
                 buffer[index] = data;
                 break;
             }
@@ -154,11 +151,11 @@ namespace wbt {
         }
     }
 
-    void Signal::setBuffer(const double *data, const unsigned length, unsigned startIndex)
+    void Signal::setBuffer(const double* data, const unsigned length, unsigned startIndex)
     {
         if (isConstPort) return;
         unsigned dataSize = 0;
-        const void * address = data;
+        const void* address = data;
 
         switch (portType) {
             case PortDataTypeDouble:
@@ -187,19 +184,19 @@ namespace wbt {
         switch (portType) {
             case PortDataTypeInt32:
             {
-                int32_t *buffer = static_cast<int32_t*>(contiguousData);
+                int32_t* buffer = static_cast<int32_t*>(contiguousData);
                 buffer[index] = data;
                 break;
             }
             case PortDataTypeInt16:
             {
-                int16_t *buffer = static_cast<int16_t*>(contiguousData);
+                int16_t* buffer = static_cast<int16_t*>(contiguousData);
                 buffer[index] = data;
                 break;
             }
             case PortDataTypeInt8:
             {
-                int8_t *buffer = static_cast<int8_t*>(contiguousData);
+                int8_t* buffer = static_cast<int8_t*>(contiguousData);
                 buffer[index] = data;
                 break;
             }
@@ -208,11 +205,11 @@ namespace wbt {
         }
     }
 
-    void Signal::setBuffer(const int32_t *data, const unsigned length, unsigned startIndex)
+    void Signal::setBuffer(const int32_t* data, const unsigned length, unsigned startIndex)
     {
         if (isConstPort) return;
         unsigned dataSize = 0;
-        const void * address = data;
+        const void* address = data;
 
         switch (portType) {
             case PortDataTypeInt32:
@@ -237,7 +234,7 @@ namespace wbt {
                 break;
         }
 
-        memcpy(contiguousData, address, dataSize * length);
+        memcpy(contiguousData, address, dataSize* length);
     }
 
     void Signal::set(unsigned index, uint32_t data)
@@ -246,19 +243,19 @@ namespace wbt {
         switch (portType) {
             case PortDataTypeUInt32:
             {
-                uint32_t *buffer = static_cast<uint32_t*>(contiguousData);
+                uint32_t* buffer = static_cast<uint32_t*>(contiguousData);
                 buffer[index] = data;
                 break;
             }
             case PortDataTypeUInt16:
             {
-                uint16_t *buffer = static_cast<uint16_t*>(contiguousData);
+                uint16_t* buffer = static_cast<uint16_t*>(contiguousData);
                 buffer[index] = data;
                 break;
             }
             case PortDataTypeUInt8:
             {
-                uint8_t *buffer = static_cast<uint8_t*>(contiguousData);
+                uint8_t* buffer = static_cast<uint8_t*>(contiguousData);
                 buffer[index] = data;
                 break;
             }
@@ -267,11 +264,11 @@ namespace wbt {
         }
     }
 
-    void Signal::setBuffer(const uint32_t *data, const unsigned length, unsigned startIndex)
+    void Signal::setBuffer(const uint32_t* data, const unsigned length, unsigned startIndex)
     {
         if (isConstPort) return;
         unsigned dataSize = 0;
-        const void * address = data;
+        const void* address = data;
 
         switch (portType) {
             case PortDataTypeUInt32:
@@ -296,22 +293,22 @@ namespace wbt {
                 break;
         }
 
-        memcpy(contiguousData, address, dataSize * length);
+        memcpy(contiguousData, address, dataSize* length);
     }
 
     void Signal::set(unsigned index, bool data)
     {
-        bool *buffer = static_cast<bool*>(contiguousData);
+        bool* buffer = static_cast<bool*>(contiguousData);
         buffer[index] = data;
     }
 
-    void Signal::setBuffer(const bool *data, const unsigned length, unsigned startIndex)
+    void Signal::setBuffer(const bool* data, const unsigned length, unsigned startIndex)
     {
         if (isConstPort) return;
         unsigned dataSize = sizeof(bool);
         const void* address = static_cast<const bool*>(data) + startIndex;
 
-        memcpy(contiguousData, address, dataSize * length);
+        memcpy(contiguousData, address, dataSize* length);
     }
 
 
diff --git a/toolbox/src/base/SimulinkBlockInformation.cpp b/toolbox/src/base/SimulinkBlockInformation.cpp
index 9f1f69f71..48ccdde51 100644
--- a/toolbox/src/base/SimulinkBlockInformation.cpp
+++ b/toolbox/src/base/SimulinkBlockInformation.cpp
@@ -1,5 +1,4 @@
 #include "SimulinkBlockInformation.h"
-
 #include "Signal.h"
 #include "MxAnyType.h"
 #include "simstruc.h"
@@ -8,10 +7,9 @@
 
 namespace wbt {
 
-    SimulinkBlockInformation::SimulinkBlockInformation(SimStruct *S)
-    : simstruct(S) {}
-
-    SimulinkBlockInformation::~SimulinkBlockInformation() {}
+    SimulinkBlockInformation::SimulinkBlockInformation(SimStruct* S)
+    : simstruct(S)
+    {}
 
     bool SimulinkBlockInformation::optionFromKey(const std::string& key, double& option) const
     {
diff --git a/toolbox/src/base/factory.cpp b/toolbox/src/base/factory.cpp
index 9ff5aac03..69a962e08 100644
--- a/toolbox/src/base/factory.cpp
+++ b/toolbox/src/base/factory.cpp
@@ -3,7 +3,7 @@
 wbt::Block* wbt::Block::instantiateBlockWithClassName(std::string blockClassName)
 {
     wbt::Block *block = NULL;
-    
+
     if (blockClassName == wbt::YarpRead::ClassName) {
         block = new wbt::YarpRead();
     } else if (blockClassName == wbt::YarpWrite::ClassName) {
diff --git a/toolbox/src/base/toolbox.cpp b/toolbox/src/base/toolbox.cpp
index 2e2d9037f..ba9c86cb5 100644
--- a/toolbox/src/base/toolbox.cpp
+++ b/toolbox/src/base/toolbox.cpp
@@ -32,7 +32,7 @@
 #include <string>
 #include <yarp/os/LogStream.h>
 
-static void catchLogMessages(bool status, SimStruct *S, std::string prefix)
+static void catchLogMessages(bool status, SimStruct* S, std::string prefix)
 {
     // Initialize static buffers
     const unsigned bufferLen = 1024;
@@ -97,7 +97,7 @@ static void catchLogMessages(bool status, SimStruct *S, std::string prefix)
 // Function: MDL_CHECK_PARAMETERS
 #define MDL_CHECK_PARAMETERS
 #if defined(MDL_CHECK_PARAMETERS) && defined(MATLAB_MEX_FILE)
-static void mdlCheckParameters(SimStruct *S)
+static void mdlCheckParameters(SimStruct* S)
 {
     UNUSED_ARG(S);
     //TODO: still to find a way to call Block implementation
@@ -105,8 +105,8 @@ static void mdlCheckParameters(SimStruct *S)
 #endif  /*MDL_CHECK_PARAMETERS*/
 
 #define MDL_SET_INPUT_PORT_DIMENSION_INFO
-static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port,
-                                         const DimsInfo_T *dimsInfo)
+static void mdlSetInputPortDimensionInfo(SimStruct* S, int_T port,
+                                         const DimsInfo_T* dimsInfo)
 {
     //TODO: for now accept the proposed size.
     //If we want to change the behaviour we have to implement some callbacks
@@ -114,8 +114,8 @@ static void mdlSetInputPortDimensionInfo(SimStruct *S, int_T port,
 }
 
 #define MDL_SET_OUTPUT_PORT_DIMENSION_INFO
-static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port,
-                                         const DimsInfo_T *dimsInfo)
+static void mdlSetOutputPortDimensionInfo(SimStruct* S, int_T port,
+                                         const DimsInfo_T* dimsInfo)
 {
     //TODO: for now accept the proposed size.
     //If we want to change the behaviour we have to implement some callbacks
@@ -126,7 +126,7 @@ static void mdlSetOutputPortDimensionInfo(SimStruct *S, int_T port,
 // Abstract:
 //    The sizes information is used by Simulink to determine the S-function
 //    block's characteristics (number of inputs, s, states, etc.).
-static void mdlInitializeSizes(SimStruct *S)
+static void mdlInitializeSizes(SimStruct* S)
 {
     // Initialize the Log singleton
     wbt::Log::getSingleton().clear();
@@ -136,10 +136,10 @@ static void mdlInitializeSizes(SimStruct *S)
         catchLogMessages(false, S, "\n[" + std::string(__func__) + "]");
         return;
     }
-    char *classNameStr = mxArrayToString(ssGetSFcnParam(S, 0));
+    char* classNameStr = mxArrayToString(ssGetSFcnParam(S, 0));
     std::string className(classNameStr);
     mxFree(classNameStr);
-    wbt::Block *block = wbt::Block::instantiateBlockWithClassName(className);
+    wbt::Block* block = wbt::Block::instantiateBlockWithClassName(className);
 
     //We cannot save data in PWork during the initializeSizes phase
     ssSetNumPWork(S, 1);
@@ -211,7 +211,7 @@ static void mdlInitializeSizes(SimStruct *S)
 //   This function is used to specify the sample time(s) for your
 //   S-function. You must register the same number of sample times as
 //   specified in ssSetNumSampleTimes.
-static void mdlInitializeSampleTimes(SimStruct *S)
+static void mdlInitializeSampleTimes(SimStruct* S)
 {
     ssSetSampleTime(S, 0, INHERITED_SAMPLE_TIME);
     ssSetOffsetTime(S, 0, 0.0);
@@ -224,12 +224,12 @@ static void mdlInitializeSampleTimes(SimStruct *S)
 //   have states that should be initialized once, this is the place
 //   to do it.
 #define MDL_START
-static void mdlStart(SimStruct *S)
+static void mdlStart(SimStruct* S)
 {
-    char *classNameStr = mxArrayToString(ssGetSFcnParam(S, 0));
+    char* classNameStr = mxArrayToString(ssGetSFcnParam(S, 0));
     std::string className(classNameStr);
     mxFree(classNameStr);
-    wbt::Block *block = wbt::Block::instantiateBlockWithClassName(className);
+    wbt::Block* block = wbt::Block::instantiateBlockWithClassName(className);
     ssSetPWorkValue(S, 0, block);
 
     wbt::SimulinkBlockInformation blockInfo(S);
@@ -243,11 +243,11 @@ static void mdlStart(SimStruct *S)
 
 #define MDL_UPDATE
 #if defined(MDL_UPDATE) && defined(MATLAB_MEX_FILE)
-static void mdlUpdate(SimStruct *S, int_T tid)
+static void mdlUpdate(SimStruct* S, int_T tid)
 {
     UNUSED_ARG(tid);
     if (ssGetNumPWork(S) > 0) {
-        wbt::Block *block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
+        wbt::Block* block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
 
         wbt::SimulinkBlockInformation blockInfo(S);
         bool ok = false;
@@ -262,10 +262,10 @@ static void mdlUpdate(SimStruct *S, int_T tid)
 //Initialize the state vectors of this C MEX S-function
 #define MDL_INITIALIZE_CONDITIONS
 #if defined(MDL_INITIALIZE_CONDITIONS) && defined(MATLAB_MEX_FILE)
-static void mdlInitializeConditions(SimStruct *S)
+static void mdlInitializeConditions(SimStruct* S)
 {
     if (ssGetNumPWork(S) > 0) {
-        wbt::Block *block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
+        wbt::Block* block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
 
         wbt::SimulinkBlockInformation blockInfo(S);
         bool ok = false;
@@ -280,7 +280,7 @@ static void mdlInitializeConditions(SimStruct *S)
 
 #define MDL_DERIVATIVES
 #if defined(MDL_DERIVATIVES) && defined(MATLAB_MEX_FILE)
-static void mdlDerivatives(SimStruct *S)
+static void mdlDerivatives(SimStruct* S)
 {
     /* Add mdlDerivatives code here */
 }
@@ -291,11 +291,11 @@ static void mdlDerivatives(SimStruct *S)
 // Abstract:
 //   In this function, you compute the outputs of your S-function
 //   block.
-static void mdlOutputs(SimStruct *S, int_T tid)
+static void mdlOutputs(SimStruct* S, int_T tid)
 {
     UNUSED_ARG(tid);
     if (ssGetNumPWork(S) > 0) {
-        wbt::Block *block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
+        wbt::Block* block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
 
         wbt::SimulinkBlockInformation blockInfo(S);
         bool ok = false;
@@ -306,10 +306,10 @@ static void mdlOutputs(SimStruct *S, int_T tid)
     }
 }
 
-static void mdlTerminate(SimStruct *S)
+static void mdlTerminate(SimStruct* S)
 {
     if (ssGetNumPWork(S) > 0 && ssGetPWork(S)) {
-        wbt::Block *block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
+        wbt::Block* block = static_cast<wbt::Block*>(ssGetPWorkValue(S, 0));
 
         wbt::SimulinkBlockInformation blockInfo(S);
         bool ok = false;

From 639fb718b461f1bbf0d02f8d922026111dd30b33 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 14:37:43 +0000
Subject: [PATCH 15/92] WBInterface refactored and renamed to ToolboxSingleton

The new ToolboxSingleton class contains in a persistent wat Configuration and RobotInterface objects. Most of the logic previously contained in WBInterface has been moved in these two new classes.
---
 toolbox/CMakeLists.txt                  |   4 +-
 toolbox/include/base/ToolboxSingleton.h | 143 +++++++++++
 toolbox/include/base/WBInterface.h      | 189 --------------
 toolbox/src/base/ToolboxSingleton.cpp   | 122 +++++++++
 toolbox/src/base/WBInterface.cpp        | 318 ------------------------
 5 files changed, 267 insertions(+), 509 deletions(-)
 create mode 100644 toolbox/include/base/ToolboxSingleton.h
 delete mode 100644 toolbox/include/base/WBInterface.h
 create mode 100644 toolbox/src/base/ToolboxSingleton.cpp
 delete mode 100644 toolbox/src/base/WBInterface.cpp

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 855625d45..d9fcf56eb 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -63,7 +63,7 @@ configure_block(BLOCK_NAME "Base"
             src/base/BlockInformation.cpp
             src/base/WBBlock.cpp
             src/base/Log.cpp
-            src/base/WBInterface.cpp
+            src/base/ToolboxSingleton.cpp
             src/base/factory.cpp
             src/base/SimulinkBlockInformation.cpp #this is temp
             src/base/Signal.cpp
@@ -74,7 +74,7 @@ configure_block(BLOCK_NAME "Base"
             include/base/BlockInformation.h
             include/base/WBBlock.h
             include/base/Log.h
-            include/base/WBInterface.h
+            include/base/ToolboxSingleton.h
             include/base/SimulinkBlockInformation.h #this is temp
             include/base/Signal.h
             include/base/Configuration.h
diff --git a/toolbox/include/base/ToolboxSingleton.h b/toolbox/include/base/ToolboxSingleton.h
new file mode 100644
index 000000000..1140a2d76
--- /dev/null
+++ b/toolbox/include/base/ToolboxSingleton.h
@@ -0,0 +1,143 @@
+#ifndef WBT_ToolboxSingleton_H
+#define WBT_ToolboxSingleton_H
+
+#include <string>
+#include <vector>
+#include <memory>
+#include <unordered_map>
+#include "Configuration.h"
+
+namespace wbt {
+    class ToolboxSingleton;
+    class RobotInterface;
+}
+
+namespace iDynTree {
+    class KinDynComputations;
+}
+
+// TODO: check class doxygen macro
+/**
+ * \class ToolboxSingleton ToolboxSingleton.h
+ *
+ * This class handles and contains configuration and devices used by all the blocks
+ * allocated by a running model. It is possible obtaining a singleton of this class
+ * by calling WBToolbox::sharedInstance.
+ *
+ * @see wbt::RobotInterface
+ * @see wbt::Configuration
+ * @see wbt::yarpDevices
+ *
+ */
+class wbt::ToolboxSingleton { // TODO: wbt::ToolboxSingleton
+private:
+    /// Object that stores all the configurations labelled by the name of the Simulink Block's
+    /// name.
+    /// @see wbt::RobotInterface
+    std::unordered_map<std::string, std::shared_ptr<wbt::RobotInterface>> m_interfaces;
+
+public:
+
+    // CONSTRUCTOR / DESTRUCTOR
+    // ========================
+
+    ToolboxSingleton();
+    ~ToolboxSingleton();
+
+    ToolboxSingleton(const ToolboxSingleton&) = delete;
+    ToolboxSingleton& operator=(const ToolboxSingleton&) = delete;
+
+    // UTILITIES
+    // =========
+
+    /**
+     * Check if a Configuration labelled by confKey exists and is a
+     * valid object.
+     *
+     * @param  confKey The key describing the configuration (name of the Simulink block)
+     * @return         True if the configuration is valid
+     */
+    bool isKeyValid(const std::string& confKey);
+
+    /**
+     * Returns the DoFs associated with the configuration labelled by confKey
+     *
+     * @param  confKey The key describing the configuration (name of the Simulink block)
+     * @return         The number of degrees of freedom. It returns -1 when failing.
+     */
+    int numberOfDoFs(const std::string& confKey);
+
+    // GET METHODS
+    // ===========
+
+    /**
+     * Returns the singleton instance to this object.
+     *
+     * @note The singleton stays in memory until the entire matlab is closed. The WBToolbox
+     *       is designed in such a way that assures to reach a clean state when all blocks
+     *       have been terminated.
+     *
+     * @return the singleton instance
+     */
+    static wbt::ToolboxSingleton& sharedInstance();
+
+    // TODO: check if doxygen ref work
+
+    /**
+     * Returns the Configuration object labelled by confKey.
+     * This object is contained into the wbt::RobotInterface object.
+     *
+     * @see ToolboxSingleton::getRobotInterface
+     * @param  confKey The key describing the configuration (name of the Simulink block)
+     * @return         A constant reference to the Configuration object
+     */
+    const Configuration& getConfiguration(const std::string& confKey);
+
+    /**
+    * Returns a \c shared_ptr to the RobotInterface object containing the configuration
+    * labelled by confKey and all the objects used to gather and set robot data
+    *
+    * @param confKey The key describing the configuration (name of the Simulink block)
+    * @return        A \c shared_ptr to the RobotInterface of the requested configuration
+    */
+    const std::shared_ptr<RobotInterface> getRobotInterface(const std::string& confKey);
+
+    /**
+     * Returns a \c shared_ptr to the KinDynComputations object used to perform calculation
+     * on the provided model
+     *
+     * @param confKey The key describing the configuration (name of the Simulink block)
+     * @return        A \c shared_ptr to the iDynTree::KinDynComputations of the requested
+     *                configuration
+     */
+    const std::shared_ptr<iDynTree::KinDynComputations> getModel(const std::string& confKey);
+
+    // TOOLBOXSINGLETON CONFIGURATION
+    // ==============================
+
+    /*! Saves in the singleton a new configuration \c config.
+     *
+     * If the config is valid and hasn't been already stored, it creates a new entry
+     * in ToolboxSingleton::m_interfaces. If a configuration with matching confKey is found,
+     * if the Configuration object is the same it does nothing, otherwise it overrides it.
+     *
+     * @note Since confKey is the name of the block, the overriding can happen only after
+     *       subsequent compilation in Simulink, when the block's parameters have been
+     *       changed.
+     *
+     * @param  confKey The key describing the configuration (name of the Simulink block)
+     * @param  config  The wbt::Configuration object parsed from Simulink's parameters
+     * @return         Returns \c true if configure is successful, \c false otherwise
+     * @see            ToolboxSingleton::isKeyValid
+     */
+    bool storeConfiguration(const std::string& confKey, const Configuration& config);
+
+    /**
+     * Delete the wbt::RobotInterface referred by confKey. No-op if it doesn't exist.
+     *
+     * @param confKey The key describing the configuration (name of the Simulink block)
+     */
+    void eraseConfiguration(const std::string& confKey);
+};
+
+#endif /* end of include guard: WBT_ToolboxSingleton_H */
diff --git a/toolbox/include/base/WBInterface.h b/toolbox/include/base/WBInterface.h
deleted file mode 100644
index bfae00cc9..000000000
--- a/toolbox/include/base/WBInterface.h
+++ /dev/null
@@ -1,189 +0,0 @@
-#ifndef WBT_WBINTERFACE_H
-#define WBT_WBINTERFACE_H
-
-#include <string>
-
-namespace wbt {
-    class WBInterface;
-    class Error;
-}
-
-namespace wbi {
-    class wholeBodyInterface;
-    class iWholeBodyModel;
-    class IDList;
-}
-namespace yarp {
-    namespace os {
-        class Property;
-    }
-}
-
-/**
- * This class holds a reference counted handle to the whole body interface object.
- * You can obtain the singleton reference to this object by calling the sharedInstance method.
- * @note at the current state, and because of how the wbi is structured, the model and the interface are
- * two different objects, even if this should not lead to any problem
- */
-class wbt::WBInterface {
-
-    // Private constructor, destructor, copy constructor and assignemnt operator
-    WBInterface();
-    WBInterface(const WBInterface&);
-    WBInterface& operator=(const WBInterface&);
-    ~WBInterface();
-
-
-    wbi::wholeBodyInterface* m_interface; /**< Reference to the interface object */
-    wbi::iWholeBodyModel* m_model; /**< Reference to the model object */
-
-    wbi::IDList *m_robotList; /**< Reference to the joint list object */
-    yarp::os::Property *m_configuration; /**< Reference to the configuration used to configure the interface */
-
-    bool m_initialized; /**< true if the interface has been initialized */
-    bool m_modelInitialized; /**< true if the model has been initialized */
-    bool m_configured; /**< true if the interface has been configured */
-    int m_dofs; /**< dofs modelled by the interface */
-
-    std::string m_wbiFilePath;
-    std::string m_wbiListName;
-
-    static unsigned s_referenceCount; /**< number of blocks currently initialized */
-    static unsigned s_modelReferenceCount; /**< number of model blocks currently initialized */
-
-public:
-    /**
-     * Returns the singleton instance to this object.
-     *
-     * This is the only way to obtain a reference to an instance of this class
-     * @return the singleton instance
-     */
-    static wbt::WBInterface& sharedInstance();
-
-    /**
-     * Returns the constant pointer to the whole body interface object
-     *
-     * @return the whole body interface object
-     */
-    wbi::wholeBodyInterface * const interface();
-
-    /**
-     * @return a weak pointer to the model;
-     */
-    wbi::iWholeBodyModel * const model();
-
-    /**
-     * @return the current configuration used for the interface and/or model
-     */
-    const yarp::os::Property * const currentConfiguration() const;
-
-    /**
-     * Returns the degrees of freedom associated with the interface object
-     *
-     * @return degrees of freedom of the WBI object
-     */
-    int numberOfDoFs() const;
-
-    /**
-     * Load the used wbi::IDList from the WBI configuration and the list parameter
-     *
-     * @param wbiConfigFile wbi configuration file
-     * @param list          either the name of joint list to be found in the wbi configuration file,
-     *                      or directly a list in the format (value1 value2 value3)
-     * @return true if loading the list was successful, false otherwise.
-     */
-     static bool wbdIDListFromConfigPropAndList(const yarp::os::Property & wbiConfigProp,
-                                                const std::string & list,
-                                                wbi::IDList & idList);
-
-    /**
-     * Returns the degrees of freedom for the specified configuration file and the list parameter
-     *
-     * @note this method also save the dofs in the internal state. It is thus possible to retrieve it
-     * by calling numberOfDofs.
-     * @todo: maybe we should transform this method into const?
-     * @param wbiConfigFile wbi configuration file
-     * @param list          either the name of joint list to be found in the wbi configuration file,
-     *                      or directly a list in the format (Value1 value2 value3)
-     *
-     * @return the degrees of freedom of the specified list
-     */
-    int dofsForConfigurationFileAndList(const std::string & wbiConfigFile, const std::string & list);
-
-    /**
-     * Configure the interface with the specified paramters.
-     *
-     * @Note: the interface is configured only once. Subsequent calls are ignored.
-     * Call clearConfiguration() to clear the configuration.
-     * @param robotName     name of the robot (The model will connect to port with this name as prefix).
-     *                      empty the one specified in the configuration file is taken
-     * @param localName     name of the model (ports will be open with this name)
-     * @param wbiConfigFile name of the wbi configuration file. The file will be looked for by using
-     *                      yarp::os::ResourceFinder policies
-     * @param list          either the name of joint list to be found in the wbi configuration file,
-     *                      or directly a list in the format (Value1 value2 value3)
-     * @param [out]error    Pointer to the error object to be filled in case of error.
-     *                      Check for NULL before using it
-     *
-     * @return true if configure is successful, false otherwise.
-     */
-    bool configure(const std::string &robotName,
-                   const std::string & localName,
-                   const std::string & wbiConfigFile,
-                   const std::string & list,
-                   wbt::Error *error);
-
-    /**
-     * Clear the current configuration, so that configure can be called again.
-     */
-    void clearConfiguration();
-
-    /**
-     * Initialize the whole body interface.
-     *
-     * This call has effect only the first time. Subsequent calls only increase the reference count
-     * @Note: Each initialize call should be matched by a subsequent call to terminate.
-     * @return: true if configure is successful, false otherwise.
-     */
-    bool initialize();
-
-    /**
-     * Initialize the model.
-     *
-     * This call has effect only the first time. Subsequent calls only increase the reference count
-     * @Note: Each initialize call should be matched by a subsequent call to terminateModel.
-     * @return: true if configure is successful, false otherwise.
-     */
-    bool initializeModel();
-
-    /**
-     * Release the resources associated with the whole body interface
-     *
-     * @Note: resources are released only if the call is made by the last object using the interface
-     * otherwise the reference count is decreased and no resources are relased.
-     * @return true if configure is successful, false otherwise.
-     */
-    bool terminate();
-
-    /**
-     * Release the resources associated with the model
-     *
-     * @Note: resources are released only if the call is made by the last object using the interface
-     * otherwise the reference count is decreased and no resources are relased.
-     * @return true if configure is successful, false otherwise.
-     */
-    bool terminateModel();
-
-    /**
-     * Returns true if the interface is initialized. False otherwise
-     *
-     * @return true if the interface is initialized, false otherwise
-     */
-    bool isInterfaceInitialized() const;
-
-    const wbi::IDList* wbiList() const;
-    const std::string& wbiFilePath() const;
-    const std::string& wbiListName() const;
-};
-
-#endif /* end of include guard: WBT_WBINTERFACE_H */
diff --git a/toolbox/src/base/ToolboxSingleton.cpp b/toolbox/src/base/ToolboxSingleton.cpp
new file mode 100644
index 000000000..a3d7981b5
--- /dev/null
+++ b/toolbox/src/base/ToolboxSingleton.cpp
@@ -0,0 +1,122 @@
+#include "ToolboxSingleton.h"
+
+#include "Log.h"
+#include "RobotInterface.h"
+#include <string>
+#include <iDynTree/KinDynComputations.h>
+#include <iDynTree/ModelIO/ModelLoader.h>
+#include <yarp/os/ResourceFinder.h>
+#include <yarp/os/Network.h>
+
+// TODO: remove nesting
+namespace wbt {
+
+    // CONSTRUCTOR / DESTRUCTOR
+    // ========================
+
+    ToolboxSingleton::ToolboxSingleton() {}
+    ToolboxSingleton::~ToolboxSingleton() {}
+
+    // UTILITIES
+    // =========
+
+    int ToolboxSingleton::numberOfDoFs(const std::string& confKey)
+    {
+        if (!isKeyValid(confKey))
+            return -1;
+        else
+            return m_interfaces[confKey]->getConfiguration().getNumberOfDoFs();
+    }
+
+    bool ToolboxSingleton::isKeyValid(const std::string& confKey)
+    {
+        if (m_interfaces.find(confKey) != m_interfaces.end()) {
+            if (m_interfaces[confKey])
+                return true;
+            else
+                return false;
+        }
+        else {
+            return false;
+        }
+    }
+
+    // GET METHODS
+    // ===========
+
+    ToolboxSingleton& ToolboxSingleton::sharedInstance()
+    {
+        static ToolboxSingleton instance;
+        return instance;
+    }
+
+    const Configuration& ToolboxSingleton::getConfiguration(const std::string& confKey)
+    {
+        return getRobotInterface(confKey)->getConfiguration();
+    }
+
+    const std::shared_ptr<RobotInterface> ToolboxSingleton::getRobotInterface(const std::string& confKey)
+    {
+        if (!isKeyValid(confKey)) {
+            return nullptr;
+        }
+
+        return m_interfaces[confKey];
+    }
+
+    const std::shared_ptr<iDynTree::KinDynComputations> ToolboxSingleton::getModel(const std::string& confKey)
+    {
+        if (!isKeyValid(confKey)) {
+            return nullptr;
+        }
+
+        return m_interfaces[confKey]->getKinDynComputations();
+    }
+
+    // TOOLBOXSINGLETON CONFIGURATION
+    // ==============================
+
+    bool ToolboxSingleton::storeConfiguration(const std::string& confKey, const Configuration& config)
+    {
+        if (!config.isValid()) {
+            return false;
+        }
+
+        // Add the new Configuration object and override an existing key if it already exist.
+        // Note: Simulink doesn't flush memory unless Matlab is closed, and static objects stay in memory.
+        //       This may cause problems if the config block's mask is changed after the first compilation.
+        if (m_interfaces.find(confKey) == m_interfaces.end()) {
+            m_interfaces[confKey] = std::make_shared<RobotInterface>(config);
+            return static_cast<bool>(m_interfaces[confKey]);
+        }
+
+        if (!(m_interfaces[confKey]->getConfiguration() == config)) {
+            assert(m_interfaces[confKey]);
+
+            // Check that at top there are 2 instances of the model:
+            // the private member of RobotInterface and the one returned
+            // by the model() called by the assert itself
+            assert(getModel(confKey).use_count() <= 2);
+            // TODO: and also m_robotDeviceCounter should be max 1
+            //
+            // TODO: domani: quando finisce la simulazione (terminate) dovrei avere
+            //       dentro tutti i Configuration al massimo 1 sia di model che di
+            //       device (e le interfacce tutte chiuse?)
+
+            // Delete the old configuration (calling the destructor for cleaning garbage)
+            m_interfaces[confKey].reset();
+            m_interfaces.erase(confKey);
+
+            // Allocate a new configuration
+            m_interfaces[confKey] = std::make_shared<RobotInterface>(config);
+            return static_cast<bool>(m_interfaces[confKey]);
+        }
+
+        return true;
+    }
+
+    void ToolboxSingleton::eraseConfiguration(const std::string& confKey)
+    {
+        m_interfaces.erase(confKey);
+    }
+}
diff --git a/toolbox/src/base/WBInterface.cpp b/toolbox/src/base/WBInterface.cpp
deleted file mode 100644
index befd4051d..000000000
--- a/toolbox/src/base/WBInterface.cpp
+++ /dev/null
@@ -1,318 +0,0 @@
-#include "WBInterface.h"
-
-#include "Error.h"
-#include <yarp/os/ResourceFinder.h>
-#include <yarpWholeBodyInterface/yarpWholeBodyInterface.h>
-
-namespace wbt {
-
-    unsigned WBInterface::s_referenceCount = 0;
-    unsigned WBInterface::s_modelReferenceCount = 0;
-
-    WBInterface::WBInterface()
-    : m_interface(0)
-    , m_model(0)
-    , m_robotList(0)
-    , m_configuration(0)
-    , m_initialized(false)
-    , m_modelInitialized(false)
-    , m_configured(false)
-    , m_dofs(-1) {}
-
-    WBInterface::WBInterface(const WBInterface&) {}
-    WBInterface::~WBInterface() {}
-    WBInterface& WBInterface::operator=(const wbt::WBInterface &) { return *this; }
-
-    WBInterface& WBInterface::sharedInstance()
-    {
-        static WBInterface instance;
-        return instance;
-        //TODO: check if the destructor get called at simulink exit
-    }
-
-    wbi::wholeBodyInterface * const WBInterface::interface() { return m_interface; }
-
-    wbi::iWholeBodyModel * const WBInterface::model()
-    {
-        if (!m_model)
-            return ((yarpWbi::yarpWholeBodyInterface*)m_interface)->wholeBodyModel();
-        return m_model;
-    }
-
-    const yarp::os::Property * const WBInterface::currentConfiguration() const
-    {
-        return m_configuration;
-    }
-
-
-    int WBInterface::numberOfDoFs() const { return m_dofs; }
-
-    bool WBInterface::wbdIDListFromConfigPropAndList(const yarp::os::Property& wbiConfigProp,
-                                                     const std::string& list, wbi::IDList& idList) {
-        // There are two ways of specifying the list throuth the mask parameter:
-        // either the specified parameter is a list (in the sense of YARP configuration file list,
-        // so something like (joint1,joint2,joint3) ) and it that case it is
-        // considered to by directly the list of joints to load, or otherwise
-        // the wbi list is just a string, and it is considered the name of the list
-        // in the yarpWholeBodyInterface.ini file
-
-        // Reset the idList
-        idList.removeAllIDs();
-
-        // Check if the list string is actually a list
-        yarp::os::Value listAsValue;
-        listAsValue.fromString(list.c_str());
-
-        if (listAsValue.isList()) {
-            // If the list param is a (YARP) list, load the IDList from it
-            for (int jnt = 0; jnt < listAsValue.asList()->size(); jnt++)
-            {
-                yarp::os::ConstString jntName = listAsValue.asList()->get(jnt).asString();
-                idList.addID(wbi::ID(jntName.c_str()));
-            }
-        } else {
-            // Otherwise consider the list to be a
-            if (!yarpWbi::loadIdListFromConfig(list, wbiConfigProp, idList)) {
-                return false;
-            }
-        }
-        return true;
-    }
-
-    int WBInterface::dofsForConfigurationFileAndList(const std::string & wbiConfigFile, const std::string & list)
-    {
-        using namespace yarp::os;
-
-        //Workaround for the fact that ResourceFinder initializes the network by itself. See YARP#1014
-        Network network;
-
-        ResourceFinder &resourceFinder = ResourceFinder::getResourceFinderSingleton();
-        resourceFinder.configure(0, 0);
-
-        Property configurations;
-        //loading defaults from configuration file
-        if (!configurations.fromConfigFile(resourceFinder.findFile(wbiConfigFile))) {
-            return -1;
-        }
-
-        wbi::IDList jointList;
-        //parse the file to get the joint list
-        if (!WBInterface::wbdIDListFromConfigPropAndList(configurations,list,jointList)) {
-            return -2;
-        }
-
-        m_dofs = jointList.size();
-
-        return m_dofs;
-    }
-
-    bool WBInterface::configure(const std::string &robotName,
-                   const std::string & localName,
-                   const std::string & wbiConfigFile,
-                   const std::string & list,
-                   wbt::Error *error)
-    {
-        if (m_configured) return true;
-
-        using namespace yarp::os;
-
-        //Workaround for the fact that ResourceFinder initializes the network by itself. See YARP#1014
-        Network network;
-        ResourceFinder &resourceFinder = ResourceFinder::getResourceFinderSingleton();
-        resourceFinder.configure(0, 0);
-
-        //parameters needed by this block:
-        // - YARP_ROBOT_NAME: needed by resource finder for resource lookup (for now it is taken by the environment)
-        // - robot: robot port. If defined overrides the one specified by wbi file
-        // - moduleName: local (opened) ports.
-        // - wbi config file name (default: yarpWholeBodyInterface.ini): specifies the wbi config file
-        // - wbi list (default ROBOT_TORQUE_CONTROL_JOINTS): specifies the WBI list.
-        //            If it is a list [of style: (value1 value2 value3)] it specifies directly the list of joints to control,
-        //            otherwise its value specifies the name of list present the wbi config file.
-
-        if (m_configuration) {
-            delete m_configuration;
-            m_configuration = 0;
-        }
-        m_configuration = new Property();
-        //loading defaults
-        m_wbiFilePath = resourceFinder.findFile(wbiConfigFile);
-        if (!m_configuration->fromConfigFile(m_wbiFilePath)) {
-            if (error) error->message = "Could not load the WBI configuration file";
-            return false;
-        }
-
-        //overwriting values
-        if (!robotName.empty())
-            m_configuration->put("robot", robotName);
-
-        m_configuration->put("localName", localName);
-
-        //loading joint list
-        if (m_robotList) {
-            delete m_robotList;
-            m_robotList = 0;
-        }
-
-        m_robotList = new wbi::IDList();
-
-        if (!WBInterface::wbdIDListFromConfigPropAndList(*m_configuration,list,*m_robotList)) {
-            if(error) error->message = "Could not load the specified WBI list (list param: " + list + " )";
-            Network::fini();
-            return false;
-        }
-        m_wbiListName = list;
-
-        m_dofs = m_robotList->size();
-
-        m_configured = true;
-
-        return true;
-    }
-
-    void WBInterface::clearConfiguration()
-    {
-        m_configured = false;
-        if (m_robotList) {
-            delete m_robotList;
-            m_robotList = 0;
-        }
-        if (m_configuration) {
-            delete m_configuration;
-            m_configuration = 0;
-        }
-    }
-
-    bool WBInterface::initialize()
-    {
-        if (m_initialized) {
-            s_referenceCount++;
-            return true;
-        }
-
-        if (!m_configuration || !m_robotList) return false;
-
-        if (m_interface) {
-            m_interface->close();
-            delete m_interface;
-            m_interface = 0;
-        }
-
-        m_interface = new yarpWbi::yarpWholeBodyInterface(m_configuration->find("localName").toString().c_str(), *m_configuration);
-        if (!m_interface) return false;
-
-        s_referenceCount = 1;
-
-        if (!m_interface->addJoints(*m_robotList)) {
-            terminate();
-            return false;
-        }
-
-        if (!m_interface->init()) {
-            terminate();
-            return false;
-        }
-
-        m_initialized = true;
-        return true;
-    }
-
-    bool WBInterface::initializeModel()
-    {
-        if (m_modelInitialized) {
-            s_modelReferenceCount++;
-            return true;
-        }
-
-        if (!m_configuration || !m_robotList) return false;
-
-        if (m_model) {
-            m_model->close();
-            delete m_model;
-            m_model = 0;
-        }
-
-        m_model = new yarpWbi::yarpWholeBodyModel(m_configuration->find("localName").toString().c_str(), *m_configuration);
-        if (!m_model) return false;
-
-        s_modelReferenceCount = 1;
-
-        if (!m_model->addJoints(*m_robotList)) {
-            terminateModel();
-            return false;
-        }
-
-        if (!m_model->init()) {
-            terminateModel();
-            return false;
-        }
-
-        m_modelInitialized = true;
-        return true;
-    }
-
-    bool WBInterface::terminate()
-    {
-        if (s_referenceCount > 1) {
-            s_referenceCount--;
-            return true;
-        }
-
-        bool result = true;
-        if (m_interface) {
-            result = m_interface->close();
-            if (result) {
-                delete m_interface;
-                m_interface = 0;
-            }
-        }
-
-        //clean also configuration if also model has been removed
-        if (!m_modelInitialized) clearConfiguration();
-        m_initialized = false;
-        s_referenceCount = 0;
-        return result;
-    }
-
-    bool WBInterface::terminateModel()
-    {
-        if (s_modelReferenceCount > 1) {
-            s_modelReferenceCount--;
-            return true;
-        }
-
-        bool result = true;
-        if (m_model) {
-            result = m_model->close();
-            if (result) {
-                delete m_model;
-                m_model = 0;
-            }
-        }
-
-        //clean also configuration if also interface has been removed
-        if (!m_initialized) clearConfiguration();
-        m_modelInitialized = false;
-        s_modelReferenceCount = 0;
-        return result;
-    }
-
-    bool WBInterface::isInterfaceInitialized() const { return m_initialized; }
-
-    const wbi::IDList* WBInterface::wbiList() const
-    {
-        if (m_robotList)
-            return m_robotList;
-        return NULL;
-    }
-
-    const std::string& WBInterface::wbiFilePath() const
-    {
-        return m_wbiFilePath;
-    }
-
-    const std::string& WBInterface::wbiListName() const
-    {
-        return m_wbiListName;
-    }
-}

From 42a06f4546a9411de615eb96f5cdc71dfadcf7cc Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:14:11 +0000
Subject: [PATCH 16/92] CentroidalMomentum refactored

---
 toolbox/include/CentroidalMomentum.h |  37 +++--
 toolbox/src/CentroidalMomentum.cpp   | 237 ++++++++++++++-------------
 2 files changed, 142 insertions(+), 132 deletions(-)

diff --git a/toolbox/include/CentroidalMomentum.h b/toolbox/include/CentroidalMomentum.h
index c4c5c121d..d3abb34bb 100644
--- a/toolbox/include/CentroidalMomentum.h
+++ b/toolbox/include/CentroidalMomentum.h
@@ -1,35 +1,36 @@
 #ifndef WBT_CENTROIDALMOMENTUM_H
 #define WBT_CENTROIDALMOMENTUM_H
 
-#include "WBIModelBlock.h"
+#include "WBBlock.h"
 
 namespace wbt {
     class CentroidalMomentum;
 }
 
-class wbt::CentroidalMomentum : public wbt::WBIModelBlock {
+namespace iDynTree {
+    class SpatialMomentum;
+}
 
-    double *m_basePose;
-    double *m_centroidalMomentum;
+class wbt::CentroidalMomentum : public wbt::WBBlock
+{
+private:
+    iDynTree::SpatialMomentum* m_centroidalMomentum;
 
-    //input buffers
-    double *m_basePoseRaw;
-    double *m_configuration;
-    double *m_baseVelocity;
-    double *m_jointsVelocity;
+    static const unsigned INPUT_IDX_BASE_POSE;
+    static const unsigned INPUT_IDX_JOINTCONF;
+    static const unsigned INPUT_IDX_BASE_VEL;
+    static const unsigned INPUT_IDX_JOINT_VEL;
+    static const unsigned OUTPUT_IDX_CENTRMOM;
 
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
     CentroidalMomentum();
 
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-    
-    
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
-
-#endif /* end of include guard: WBT_CENTROIDALMOMENTUM_H */
+#endif /* WBT_CENTROIDALMOMENTUM_H */
diff --git a/toolbox/src/CentroidalMomentum.cpp b/toolbox/src/CentroidalMomentum.cpp
index 35a707f68..ca93b9308 100644
--- a/toolbox/src/CentroidalMomentum.cpp
+++ b/toolbox/src/CentroidalMomentum.cpp
@@ -2,158 +2,167 @@
 
 #include "BlockInformation.h"
 #include "Signal.h"
-#include "Error.h"
-#include "WBInterface.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
+#include "Log.h"
+#include "RobotInterface.h"
+#include <memory>
+#include <iDynTree/Core/SpatialMomentum.h>
+#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
 namespace wbt {
 
-    std::string CentroidalMomentum::ClassName = "CentroidalMomentum";
+    const std::string CentroidalMomentum::ClassName = "CentroidalMomentum";
+
+    const unsigned CentroidalMomentum::INPUT_IDX_BASE_POSE = 0;
+    const unsigned CentroidalMomentum::INPUT_IDX_JOINTCONF = 1;
+    const unsigned CentroidalMomentum::INPUT_IDX_BASE_VEL  = 2;
+    const unsigned CentroidalMomentum::INPUT_IDX_JOINT_VEL = 3;
+    const unsigned CentroidalMomentum::OUTPUT_IDX_CENTRMOM = 0;
 
     CentroidalMomentum::CentroidalMomentum()
-    : m_basePose(0)
-    , m_centroidalMomentum(0)
-    , m_basePoseRaw(0)
-    , m_configuration(0)
-    , m_baseVelocity(0)
-    , m_jointsVelocity(0) {}
-
-    bool CentroidalMomentum::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    : m_centroidalMomentum(nullptr)
+    {}
+
+    bool CentroidalMomentum::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
+        // Memory allocation / Saving data not allowed here
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // Specify I/O
-        // Input ports:
-        // - 4x4 matrix (homogenous transformation for the base pose w.r.t. world)
-        // - DoFs vector for the robot (joints) configurations
+        // INPUTS
+        // ======
+        //
+        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+        // 2) Joints position (1xDoFs vector)
+        // 3) Base frame velocity (1x6 vector)
+        // 4) Joints velocity (1xDoFs vector)
+        //
 
+        // Number of inputs
         if (!blockInfo->setNumberOfInputPorts(4)) {
-            if (error) error->message = "Failed to configure the number of input ports";
+            Log::getSingleton().error("Failed to configure the number of input ports.");
             return false;
         }
-        bool success = true;
 
-        success = success && blockInfo->setInputPortMatrixSize(0, 4, 4); //base pose
-        success = success && blockInfo->setInputPortVectorSize(1, dofs); //joint configuration
-        success = success && blockInfo->setInputPortVectorSize(2, 6); //base velocity
-        success = success && blockInfo->setInputPortVectorSize(3, dofs); //joints velocitity
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
-        blockInfo->setInputPortType(1, PortDataTypeDouble);
-        blockInfo->setInputPortType(2, PortDataTypeDouble);
-        blockInfo->setInputPortType(3, PortDataTypeDouble);
+        // Size and type
+        bool success = true;
+        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL, 6);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
+
+        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
 
         if (!success) {
-            if (error) error->message = "Failed to configure input ports";
+            Log::getSingleton().error("Failed to configure input ports.");
             return false;
         }
 
-        // Output port:
-        // - 6 vector representing the centroidal momentum
-        if (!blockInfo->setNumberOfOuputPorts(1)) {
-            if (error) error->message = "Failed to configure the number of output ports";
+        // OUTPUTS
+        // =======
+        //
+        // 1) Vector representing the centroidal momentum (1x6)
+        //
+
+        // Number of outputs
+        if (!blockInfo->setNumberOfOutputPorts(1)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
             return false;
         }
 
-        success = blockInfo->setOutputPortVectorSize(0, 6);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+        // Size and type
+        success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_CENTRMOM, 6);
+        blockInfo->setOutputPortType(OUTPUT_IDX_CENTRMOM, PortDataTypeDouble);
 
         return success;
     }
 
-    bool CentroidalMomentum::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool CentroidalMomentum::initialize(BlockInformation* blockInfo)
     {
-        using namespace yarp::os;
-        if (!WBIModelBlock::initialize(blockInfo, error)) return false;
-
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        m_basePose = new double[16];
-        m_centroidalMomentum = new double[6];
-        m_basePoseRaw = new double[16];
-        m_configuration = new double[dofs];
-        m_baseVelocity = new double[6];
-        m_jointsVelocity = new double[dofs];
-
-        return m_basePose && m_centroidalMomentum && m_basePoseRaw && m_configuration && m_baseVelocity && m_jointsVelocity;
+        if (!WBBlock::initialize(blockInfo)) return false;
+
+        // OUTPUT
+        // ======
+
+        m_centroidalMomentum = new iDynTree::SpatialMomentum();
+        return m_centroidalMomentum;
     }
 
-    bool CentroidalMomentum::terminate(BlockInformation *blockInfo, wbt::Error *error)
+    bool CentroidalMomentum::terminate(BlockInformation* blockInfo)
     {
-        if (m_basePose) {
-            delete [] m_basePose;
-            m_basePose = 0;
-        }
         if (m_centroidalMomentum) {
-            delete [] m_centroidalMomentum;
+            delete m_centroidalMomentum;
             m_centroidalMomentum = 0;
         }
-        if (m_basePoseRaw) {
-            delete [] m_basePoseRaw;
-            m_basePoseRaw = 0;
-        }
-        if (m_configuration) {
-            delete [] m_configuration;
-            m_configuration = 0;
-        }
-        if (m_baseVelocity) {
-            delete [] m_baseVelocity;
-            m_baseVelocity = 0;
-        }
-        if (m_jointsVelocity) {
-            delete [] m_jointsVelocity;
-            m_jointsVelocity = 0;
-        }
 
-        return WBIModelBlock::terminate(blockInfo, error);
+        return WBBlock::terminate(blockInfo);
     }
 
-    bool CentroidalMomentum::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool CentroidalMomentum::output(BlockInformation* blockInfo)
     {
-        //get input
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (interface) {
-            Signal basePoseRaw = blockInfo->getInputPortSignal(0);
-            Signal configuration = blockInfo->getInputPortSignal(1);
-            Signal baseVelocity = blockInfo->getInputPortSignal(2);
-            Signal jointsVelocity = blockInfo->getInputPortSignal(3);
-
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-                m_basePoseRaw[i] = basePoseRaw.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(1); ++i) {
-                m_configuration[i] = configuration.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(2); ++i) {
-                m_baseVelocity[i] = baseVelocity.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(3); ++i) {
-                m_jointsVelocity[i] = jointsVelocity.get(i).doubleData();
-            }
-
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::ColMajor> > basePoseColMajor(m_basePoseRaw);
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::RowMajor> > basePose(m_basePose);
-            basePose = basePoseColMajor;
-
-            wbi::Frame frame;
-            wbi::frameFromSerialization(basePose.data(), frame);
-
-            interface->computeCentroidalMomentum(m_configuration,
-                                                 frame,
-                                                 m_jointsVelocity,
-                                                 m_baseVelocity,
-                                                 m_centroidalMomentum);
-
-            Signal output = blockInfo->getOutputPortSignal(0);
-            output.setBuffer(m_centroidalMomentum, blockInfo->getOutputPortWidth(0));
-
-            return true;
+        using namespace iDynTree;
+        using namespace Eigen;
+        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+
+        const auto& model = getRobotInterface()->getKinDynComputations();
+
+        if (!model) {
+            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+            return false;
         }
-        return false;
+
+        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+        // ====================================================
+
+        unsigned signalWidth;
+
+        // Base pose
+        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+        fromEigen(robotState.m_world_T_base,
+                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+
+        // Joints position
+        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+
+        // Base velocity
+        Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
+        double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
+        robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
+                                     AngVelocity(m_baseVelocityBuffer+3, 3));
+
+        // Joints velocity
+        Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
+        robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
+
+        // UPDATE THE ROBOT STATUS
+        // =======================
+        model->setRobotState(robotState.m_world_T_base,
+                             robotState.m_jointsPosition,
+                             robotState.m_baseVelocity,
+                             robotState.m_jointsVelocity,
+                             robotState.m_gravity);
+
+        // OUTPUT
+        // ======
+
+        // Calculate the centroidal momentum
+        *m_centroidalMomentum = model->getCentroidalTotalMomentum();
+
+        // Forward the output to Simulink
+        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_CENTRMOM);
+        output.setBuffer(toEigen(*m_centroidalMomentum).data(),
+                         blockInfo->getOutputPortWidth(OUTPUT_IDX_CENTRMOM));
+        return true;
     }
 }

From aab17af561e3022a1ea6c0ada7bfd5305425af10 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:15:08 +0000
Subject: [PATCH 17/92] DotJNu refactored

---
 toolbox/include/DotJNu.h |  44 ++++---
 toolbox/src/DotJNu.cpp   | 278 ++++++++++++++++++++++-----------------
 2 files changed, 177 insertions(+), 145 deletions(-)

diff --git a/toolbox/include/DotJNu.h b/toolbox/include/DotJNu.h
index 343b8b15c..d844bb510 100644
--- a/toolbox/include/DotJNu.h
+++ b/toolbox/include/DotJNu.h
@@ -1,38 +1,40 @@
 #ifndef WBT_DOTJDOTQ_H
 #define WBT_DOTJDOTQ_H
 
-#include "WBIModelBlock.h"
+#include "WBBlock.h"
+#include <iDynTree/Model/Indices.h>
+#include <iDynTree/Core/VectorFixSize.h>
 
 namespace wbt {
     class DotJNu;
 }
 
-class wbt::DotJNu : public wbt::WBIModelBlock {
+class wbt::DotJNu : public wbt::WBBlock
+{
+private:
+    // Output
+    iDynTree::Vector6* m_dotJNu;
 
-    double *m_basePose;
-    double *m_dotJNu;
+    // Other variables
+    bool m_frameIsCoM;
+    iDynTree::FrameIndex m_frameIndex;
 
-    //input buffers
-    double *m_basePoseRaw;
-    double *m_configuration;
-    double *m_baseVelocity;
-    double *m_jointsVelocity;
-
-    int m_frameIndex;
+    static const unsigned INPUT_IDX_BASE_POSE;
+    static const unsigned INPUT_IDX_JOINTCONF;
+    static const unsigned INPUT_IDX_BASE_VEL;
+    static const unsigned INPUT_IDX_JOINT_VEL;
+    static const unsigned OUTPUT_IDX_DOTJ_NU;
 
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
     DotJNu();
 
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-    
-    
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
-
-#endif /* end of include guard: WBT_DOTJDOTQ_H */
+#endif /* WBT_DOTJDOTQ_H */
diff --git a/toolbox/src/DotJNu.cpp b/toolbox/src/DotJNu.cpp
index 1dfaef8e8..db9264ab2 100644
--- a/toolbox/src/DotJNu.cpp
+++ b/toolbox/src/DotJNu.cpp
@@ -1,186 +1,216 @@
 #include "DotJNu.h"
 
-#include "Error.h"
-#include "WBInterface.h"
+#include "Log.h"
 #include "BlockInformation.h"
 #include "Signal.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
+#include "RobotInterface.h"
+#include <memory>
+#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
 namespace wbt {
 
-    std::string DotJNu::ClassName = "DotJNu";
+    const std::string DotJNu::ClassName = "DotJNu";
+
+    const unsigned DotJNu::INPUT_IDX_BASE_POSE = 0;
+    const unsigned DotJNu::INPUT_IDX_JOINTCONF = 1;
+    const unsigned DotJNu::INPUT_IDX_BASE_VEL  = 2;
+    const unsigned DotJNu::INPUT_IDX_JOINT_VEL = 3;
+    const unsigned DotJNu::OUTPUT_IDX_DOTJ_NU  = 0;
 
     DotJNu::DotJNu()
-    : m_basePose(0)
-    , m_dotJNu(0)
-    , m_basePoseRaw(0)
-    , m_configuration(0)
-    , m_baseVelocity(0)
-    , m_jointsVelocity(0)
-    , m_frameIndex(-1) {}
+    : m_dotJNu(nullptr)
+    , m_frameIsCoM(false)
+    , m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
+    {}
 
     unsigned DotJNu::numberOfParameters()
     {
-        return WBIBlock::numberOfParameters() + 1;
+        return WBBlock::numberOfParameters() + 1;
     }
 
-    bool DotJNu::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool DotJNu::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
+        // Memory allocation / Saving data not allowed here
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // Specify I/O
-        // Input ports:
-        // - 4x4 matrix (homogenous transformation for the base pose w.r.t. world)
-        // - DoFs vector for the robot (joints) configurations
+        // INPUTS
+        // ======
+        //
+        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+        // 2) Joints position (1xDoFs vector)
+        // 3) Base frame velocity (1x6 vector)
+        // 4) Joints velocity (1xDoFs vector)
+        //
 
+        // Number of inputs
         if (!blockInfo->setNumberOfInputPorts(4)) {
-            if (error) error->message = "Failed to configure the number of input ports";
+            Log::getSingleton().error("Failed to configure the number of input ports.");
             return false;
         }
-        bool success = true;
 
-        success = success && blockInfo->setInputPortMatrixSize(0, 4, 4); //base pose
-        success = success && blockInfo->setInputPortVectorSize(1, dofs); //joint configuration
-        success = success && blockInfo->setInputPortVectorSize(2, 6); //base velocity
-        success = success && blockInfo->setInputPortVectorSize(3, dofs); //joints velocitity
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
-        blockInfo->setInputPortType(1, PortDataTypeDouble);
-        blockInfo->setInputPortType(2, PortDataTypeDouble);
-        blockInfo->setInputPortType(3, PortDataTypeDouble);
+        // Size and type
+        bool success = true;
+        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL,  6);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
+
+        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
 
         if (!success) {
-            if (error) error->message = "Failed to configure input ports";
+            Log::getSingleton().error("Failed to configure input ports.");
             return false;
         }
 
-        // Output port:
-        // - 6-d vector representing the \dot{J} \dot{q} vector
-        if (!blockInfo->setNumberOfOuputPorts(1)) {
-            if (error) error->message = "Failed to configure the number of output ports";
+        // OUTPUTS
+        // =======
+        //
+        // 1) Vector representing the \dot{J} \nu vector (1x6)
+        //
+
+        // Number of outputs
+        if (!blockInfo->setNumberOfOutputPorts(1)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
             return false;
         }
 
-        success = blockInfo->setOutputPortVectorSize(0, 6);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+        // Size and type
+        success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_DOTJ_NU, 6);
+        blockInfo->setOutputPortType(OUTPUT_IDX_DOTJ_NU, PortDataTypeDouble);
 
         return success;
     }
 
-    bool DotJNu::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool DotJNu::initialize(BlockInformation* blockInfo)
     {
-        using namespace yarp::os;
-        if (!WBIModelBlock::initialize(blockInfo, error)) return false;
+        if (!WBBlock::initialize(blockInfo)) return false;
+
+        // INPUT PARAMETERS
+        // ================
 
-        int parentParameters = WBIBlock::numberOfParameters() + 1;
         std::string frame;
-        if (!blockInfo->getStringParameterAtIndex(parentParameters, frame)) {
-            if (error) error->message = "Cannot retrieve string from frame parameter";
+        int parentParameters = WBBlock::numberOfParameters();
+
+        if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
+            Log::getSingleton().error("Cannot retrieve string from frame parameter.");
             return false;
         }
-        //here obtain joint list and get the frame
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (!interface) {
-            if (error) error->message = "Cannot retrieve handle to WBI interface";
+
+        // Check if the frame is valid
+        // ---------------------------
+
+        const auto& model = getRobotInterface()->getKinDynComputations();
+        if (!model) {
+            Log::getSingleton().error("Cannot retrieve handle to KinDynComputations.");
             return false;
         }
-        wbi::IDList frames =  interface->getFrameList();
+
         if (frame != "com") {
-            if (!frames.idToIndex(wbi::ID(frame), m_frameIndex)) {
-                if (error) error->message = "Cannot find " + frame + " in the frame list";
+            m_frameIndex = model->getFrameIndex(frame);
+            if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
+                Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
                 return false;
             }
-        } else {
-            m_frameIndex = wbi::wholeBodyInterface::COM_LINK_ID;
         }
-        
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        m_basePose = new double[16];
-        m_dotJNu = new double[6];
-        m_basePoseRaw = new double[16];
-        m_configuration = new double[dofs];
-        m_baseVelocity = new double[6];
-        m_jointsVelocity = new double[dofs];
-
-        return m_basePose && m_dotJNu && m_basePoseRaw && m_configuration && m_baseVelocity && m_jointsVelocity;
+        else {
+            m_frameIsCoM = true;
+            m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
+        }
+
+        // OUTPUT
+        // ======
+        m_dotJNu = new iDynTree::Vector6();
+        m_dotJNu->zero();
+
+        return m_dotJNu;
     }
 
-    bool DotJNu::terminate(BlockInformation *blockInfo, wbt::Error *error)
+    bool DotJNu::terminate(BlockInformation* blockInfo)
     {
-        if (m_basePose) {
-            delete [] m_basePose;
-            m_basePose = 0;
-        }
+        // Output
         if (m_dotJNu) {
-            delete [] m_dotJNu;
+            delete m_dotJNu;
             m_dotJNu = 0;
         }
-        if (m_basePoseRaw) {
-            delete [] m_basePoseRaw;
-            m_basePoseRaw = 0;
-        }
-        if (m_configuration) {
-            delete [] m_configuration;
-            m_configuration = 0;
-        }
-        if (m_baseVelocity) {
-            delete [] m_baseVelocity;
-            m_baseVelocity = 0;
-        }
-        if (m_jointsVelocity) {
-            delete [] m_jointsVelocity;
-            m_jointsVelocity = 0;
-        }
-        return WBIModelBlock::terminate(blockInfo, error);
+
+        return WBBlock::terminate(blockInfo);
     }
 
-    bool DotJNu::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool DotJNu::output(BlockInformation* blockInfo)
     {
-        //get input
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (interface) {
-            Signal basePoseRaw = blockInfo->getInputPortSignal(0);
-            Signal configuration = blockInfo->getInputPortSignal(1);
-            Signal baseVelocity = blockInfo->getInputPortSignal(2);
-            Signal jointsVelocity = blockInfo->getInputPortSignal(3);
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-                m_basePoseRaw[i] = basePoseRaw.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(1); ++i) {
-                m_configuration[i] = configuration.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(2); ++i) {
-                m_baseVelocity[i] = baseVelocity.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(3); ++i) {
-                m_jointsVelocity[i] = jointsVelocity.get(i).doubleData();
-            }
-
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::ColMajor> > basePoseColMajor(m_basePoseRaw);
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::RowMajor> > basePose(m_basePose);
-            basePose = basePoseColMajor;
+        using namespace iDynTree;
+        using namespace Eigen;
+        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
 
-            wbi::Frame frame;
-            wbi::frameFromSerialization(basePose.data(), frame);
+        const auto& model = getRobotInterface()->getKinDynComputations();
 
-            interface->computeDJdq(m_configuration,
-                                   frame,
-                                   m_jointsVelocity,
-                                   m_baseVelocity,
-                                   m_frameIndex,
-                                   m_dotJNu);
-
-            Signal output = blockInfo->getOutputPortSignal(0);
-            output.setBuffer(m_dotJNu, blockInfo->getOutputPortWidth(0));
+        if (!model) {
+            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+            return false;
+        }
 
-            return true;
+        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+        // ====================================================
+
+        unsigned signalWidth;
+
+        // Base pose
+        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+        fromEigen(robotState.m_world_T_base,
+                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+
+        // Joints position
+        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+
+        // Base velocity
+        Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
+        double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
+        robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
+                                      AngVelocity(m_baseVelocityBuffer+3, 3));
+
+        // Joints velocity
+        Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
+        robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
+
+        // UPDATE THE ROBOT STATUS
+        // =======================
+        model->setRobotState(robotState.m_world_T_base,
+                             robotState.m_jointsPosition,
+                             robotState.m_baseVelocity,
+                             robotState.m_jointsVelocity,
+                             robotState.m_gravity);
+
+        // OUTPUT
+        // ======
+
+        // Compute the dot{J}*\nu
+        Vector6 biasAcc;
+        if (!m_frameIsCoM) {
+            biasAcc = model->getFrameBiasAcc(m_frameIndex);
+        }
+        else {
+            Vector3 comBiasAcc = model->getCenterOfMassBiasAcc();
+            toEigen(biasAcc).segment<3>(0) = iDynTree::toEigen(comBiasAcc);
+            toEigen(biasAcc).segment<3>(3).setZero();
         }
-        return false;
+
+        // Forward the output to Simulink
+        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_DOTJ_NU);
+        output.setBuffer(m_dotJNu->data(),
+                         blockInfo->getOutputPortWidth(OUTPUT_IDX_DOTJ_NU));
+        return true;
     }
 }

From 2881b1b08176df3e8cae95773bfeeefafdf78a3a Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:16:12 +0000
Subject: [PATCH 18/92] ForwardKinematics refactored

---
 toolbox/include/ForwardKinematics.h |  37 +++--
 toolbox/src/ForwardKinematics.cpp   | 228 ++++++++++++++++------------
 2 files changed, 147 insertions(+), 118 deletions(-)

diff --git a/toolbox/include/ForwardKinematics.h b/toolbox/include/ForwardKinematics.h
index 6ed0e5bf9..147f2c7b4 100644
--- a/toolbox/include/ForwardKinematics.h
+++ b/toolbox/include/ForwardKinematics.h
@@ -1,36 +1,33 @@
 #ifndef WBT_FORWARDKINEMATICS_H
 #define WBT_FORWARDKINEMATICS_H
 
-#include "WBIModelBlock.h"
+#include "WBBlock.h"
+#include <iDynTree/Model/Indices.h>
 
 namespace wbt {
     class ForwardKinematics;
 }
 
-class wbt::ForwardKinematics : public wbt::WBIModelBlock {
+class wbt::ForwardKinematics : public wbt::WBBlock
+{
+private:
+    bool m_frameIsCoM;
+    iDynTree::FrameIndex m_frameIndex;
 
-    double *m_basePose;
-    double *m_frameForwardKinematics;
-
-    //input buffers
-    double *m_basePoseRaw;
-    double *m_configuration;
-
-    int m_frameIndex;
+    static const unsigned INPUT_IDX_BASE_POSE;
+    static const unsigned INPUT_IDX_JOINTCONF;
+    static const unsigned OUTPUT_IDX_FW_FRAME;
 
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
     ForwardKinematics();
 
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
-
-#endif /* end of include guard: WBT_FORWARDKINEMATICS_H */
+#endif /* WBT_FORWARDKINEMATICS_H */
diff --git a/toolbox/src/ForwardKinematics.cpp b/toolbox/src/ForwardKinematics.cpp
index 81f7dee14..052713745 100644
--- a/toolbox/src/ForwardKinematics.cpp
+++ b/toolbox/src/ForwardKinematics.cpp
@@ -2,160 +2,192 @@
 
 #include "BlockInformation.h"
 #include "Signal.h"
-#include "Error.h"
-#include "WBInterface.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
+#include "Log.h"
+#include "RobotInterface.h"
+#include <memory>
+#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
 namespace wbt {
 
-    std::string ForwardKinematics::ClassName = "ForwardKinematics";
+    const std::string ForwardKinematics::ClassName = "ForwardKinematics";
+
+    const unsigned ForwardKinematics::INPUT_IDX_BASE_POSE = 0;
+    const unsigned ForwardKinematics::INPUT_IDX_JOINTCONF = 1;
+    const unsigned ForwardKinematics::OUTPUT_IDX_FW_FRAME = 0;
 
     ForwardKinematics::ForwardKinematics()
-    : m_basePose(0)
-    , m_frameForwardKinematics(0)
-    , m_basePoseRaw(0)
-    , m_configuration(0)
-    , m_frameIndex(-1) {}
+    : m_frameIsCoM(false)
+    , m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
+    {}
 
     unsigned ForwardKinematics::numberOfParameters()
     {
-        return WBIBlock::numberOfParameters() + 1;
+        return WBBlock::numberOfParameters() + 1;
     }
 
-    bool ForwardKinematics::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool ForwardKinematics::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
+        // Memory allocation / Saving data not allowed here
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // Specify I/O
-        // Input ports:
-        // - 4x4 matrix (homogenous transformation for the base pose w.r.t. world)
-        // - DoFs vector for the robot (joints) configurations
+        // INPUTS
+        // ======
+        //
+        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+        // 2) Joints position (1xDoFs vector)
+        //
 
+        // Number of inputs
         if (!blockInfo->setNumberOfInputPorts(2)) {
-            if (error) error->message = "Failed to configure the number of input ports";
+            Log::getSingleton().error("Failed to configure the number of input ports.");
             return false;
         }
+
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+        // Size and type
         bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(0, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(1, dofs);
+        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
 
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
-        blockInfo->setInputPortType(1, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
 
         if (!success) {
-            if (error) error->message = "Failed to configure input ports";
+            Log::getSingleton().error("Failed to configure input ports.");
             return false;
         }
 
-        // Output port:
-        // - (4)x(4) matrix representing the homogenous transformation between the specified frame and the world frame
-        if (!blockInfo->setNumberOfOuputPorts(1)) {
-            if (error) error->message = "Failed to configure the number of output ports";
+        // OUTPUTS
+        // =======
+        //
+        // 1) Homogeneous transformation between the world and the specified frame (4x4 matrix)
+        //
+
+        // Number of outputs
+        if (!blockInfo->setNumberOfOutputPorts(1)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
             return false;
         }
 
-        success = blockInfo->setOutputPortMatrixSize(0, 4, 4);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+        // Size and type
+        success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_FW_FRAME, 4, 4);
+        blockInfo->setOutputPortType(OUTPUT_IDX_FW_FRAME, PortDataTypeDouble);
 
         return success;
     }
 
-    bool ForwardKinematics::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool ForwardKinematics::initialize(BlockInformation* blockInfo)
     {
-        using namespace yarp::os;
-        if (!WBIModelBlock::initialize(blockInfo, error)) return false;
+        if (!WBBlock::initialize(blockInfo)) return false;
+
+        // INPUT PARAMETERS
+        // ================
 
-        int parentParameters = WBIBlock::numberOfParameters() + 1;
         std::string frame;
-        if (!blockInfo->getStringParameterAtIndex(parentParameters, frame)) {
-            if (error) error->message = "Cannot retrieve string from frame parameter";
+        int parentParameters = WBBlock::numberOfParameters();
+
+        if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
+            Log::getSingleton().error("Cannot retrieve string from frame parameter.");
             return false;
         }
 
-        //here obtain joint list and get the frame
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (!interface) {
-            if (error) error->message = "Cannot retrieve handle to WBI interface";
+        // Check if the frame is valid
+        // ---------------------------
+
+        const auto& model = getRobotInterface()->getKinDynComputations();
+        if (!model) {
+            Log::getSingleton().error("Cannot retrieve handle to WBI model.");
             return false;
         }
-        wbi::IDList frames =  interface->getFrameList();
+
         if (frame != "com") {
-            if (!frames.idToIndex(wbi::ID(frame), m_frameIndex)) {
-                if (error) error->message = "Cannot find " + frame + " in the frame list";
+            m_frameIndex = model->getFrameIndex(frame);
+            if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
+                Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
                 return false;
             }
-        } else {
-            m_frameIndex = wbi::wholeBodyInterface::COM_LINK_ID;
+        }
+        else {
+            m_frameIsCoM = true;
+            m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
         }
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        m_basePose = new double[16];
-        m_frameForwardKinematics = new double[4 * 4];
-        m_basePoseRaw = new double[16];
-        m_configuration = new double[dofs];
-
-        return m_basePose && m_frameForwardKinematics && m_basePoseRaw && m_configuration;
+        return true;
     }
 
-    bool ForwardKinematics::terminate(BlockInformation *blockInfo, wbt::Error *error)
+    bool ForwardKinematics::terminate(BlockInformation* blockInfo)
     {
-        if (m_basePose) {
-            delete [] m_basePose;
-            m_basePose = 0;
-        }
-        if (m_frameForwardKinematics) {
-            delete [] m_frameForwardKinematics;
-            m_frameForwardKinematics = 0;
-        }
-        if (m_basePoseRaw) {
-            delete [] m_basePoseRaw;
-            m_basePoseRaw = 0;
-        }
-        if (m_configuration) {
-            delete [] m_configuration;
-            m_configuration = 0;
-        }
-        return WBIModelBlock::terminate(blockInfo, error);
+        return WBBlock::terminate(blockInfo);
     }
 
-    bool ForwardKinematics::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool ForwardKinematics::output(BlockInformation* blockInfo)
     {
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (interface) {
-            Signal basePoseRaw = blockInfo->getInputPortSignal(0);
-            Signal configuration = blockInfo->getInputPortSignal(1)
-            ;
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-                m_basePoseRaw[i] = basePoseRaw.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(1); ++i) {
-                m_configuration[i] = configuration.get(i).doubleData();
-            }
+        using namespace iDynTree;
+        using namespace Eigen;
+        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+        typedef Matrix<double, 4, 4, Eigen::RowMajor> Matrix4diDynTree;
+
+        const auto& model = getRobotInterface()->getKinDynComputations();
+
+        if (!model) {
+            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+            return false;
+        }
+
+        // Get the signals and convert them to iDynTree objects
+        // ====================================================
 
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::ColMajor> > basePoseColMajor(m_basePoseRaw);
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::RowMajor> > basePose(m_basePose);
-            basePose = basePoseColMajor;
+        unsigned signalWidth;
 
-            wbi::Frame frame;
-            wbi::frameFromSerialization(basePose.data(), frame);
+        // Base pose
+        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+        fromEigen(robotState.m_world_T_base,
+                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
 
-            wbi::Frame outputFrame;
-            interface->computeH(m_configuration, frame, m_frameIndex, outputFrame);
-            outputFrame.get4x4Matrix(m_frameForwardKinematics);
+        // Joints position
+        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
 
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::RowMajor> > frameRowMajor(m_frameForwardKinematics);
+        // TODO: the other 3 inputs are taken from the previous block's setRobotState().
+        //       How to handle it? What happens if a nullptr is passed?
 
-            Signal output = blockInfo->getOutputPortSignal(0);
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::ColMajor> > frameColMajor((double*)output.getContiguousBuffer(), 4, 4);
-            frameColMajor = frameRowMajor;
-            return true;
+        // Update the robot status
+        // =======================
+        model->setRobotState(robotState.m_world_T_base,
+                             robotState.m_jointsPosition,
+                             robotState.m_baseVelocity,
+                             robotState.m_jointsVelocity,
+                             robotState.m_gravity);
+
+        // Output
+        // ======
+
+        iDynTree::Transform world_H_frame;
+
+        // Compute the transform to the selected frame
+        if (!m_frameIsCoM) {
+            world_H_frame = model->getWorldTransform(m_frameIndex);
+        }
+        else {
+            world_H_frame.setPosition(model->getCenterOfMassPosition());
         }
-        return false;
+
+        // Get the output signal memory location
+        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_FW_FRAME);
+
+        // Allocate objects for row-major -> col-major conversion
+        Map<const Matrix4diDynTree> world_H_frame_RowMajor = toEigen(world_H_frame.asHomogeneousTransform());
+        Map<Matrix4dSimulink> world_H_frame_ColMajor((double*)output.getContiguousBuffer(),
+                               4, 4);
+
+        // Forward the buffer to Simulink transforming it to ColMajor
+        world_H_frame_ColMajor = world_H_frame_RowMajor;
+        return true;
     }
 }

From 881f382909b74732c819d136d2105446ee6940e2 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:17:50 +0000
Subject: [PATCH 19/92] GetLimits refactored

---
 toolbox/include/GetLimits.h |  41 ++++---
 toolbox/src/GetLimits.cpp   | 209 +++++++++++++++++++++++-------------
 2 files changed, 163 insertions(+), 87 deletions(-)

diff --git a/toolbox/include/GetLimits.h b/toolbox/include/GetLimits.h
index 539386a67..81570ee24 100644
--- a/toolbox/include/GetLimits.h
+++ b/toolbox/include/GetLimits.h
@@ -1,30 +1,41 @@
 #ifndef WBT_GETLIMITS_H
 #define WBT_GETLIMITS_H
 
-#include "WBIBlock.h"
+#include "WBBlock.h"
+#include <memory>
 
 namespace wbt {
     class GetLimits;
+    struct Limit;
 }
 
-class wbt::GetLimits : public wbt::WBIBlock {
+struct wbt::Limit
+{
+   std::vector<double> min;
+   std::vector<double> max;
 
-    struct Limit;
-    struct Limit *m_limits;
-    
-public:
-    static std::string ClassName;
-    GetLimits();
+   Limit(unsigned size = 0)
+   : min(size)
+   , max(size)
+   {}
+};
 
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
+class wbt::GetLimits : public wbt::WBBlock
+{
+private:
+    std::unique_ptr<Limit> m_limits;
 
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
+public:
+    static const std::string ClassName;
+    GetLimits() = default;
+    ~GetLimits() override = default;
 
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
-
-#endif /* end of include guard: WBT_GETLIMITS_H */
+#endif /* WBT_GETLIMITS_H */
diff --git a/toolbox/src/GetLimits.cpp b/toolbox/src/GetLimits.cpp
index 8ad4a6093..bc2f55b10 100644
--- a/toolbox/src/GetLimits.cpp
+++ b/toolbox/src/GetLimits.cpp
@@ -1,131 +1,196 @@
 #include "GetLimits.h"
 
-#include "Error.h"
+#include "Log.h"
 #include "BlockInformation.h"
 #include "Signal.h"
-#include "WBInterface.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
+#include "RobotInterface.h"
+#include "iDynTree/KinDynComputations.h"
+#include "iDynTree/Model/Model.h"
+#include <yarp/dev/IControlLimits2.h>
+#include <vector>
+#include <limits>
 
 namespace wbt {
 
-    std::string GetLimits::ClassName = "GetLimits";
-
-    struct GetLimits::Limit {
-        double *min;
-        double *max;
-
-        Limit(unsigned size) : min(0), max(0)
-        {
-            min = new double[size]();
-            max = new double[size]();
-        }
-
-        ~Limit()
-        {
-            if (min) {
-                delete [] min;
-                min = 0;
-            }
-            if (max) {
-                delete [] max;
-                max = 0;
-            }
-        }
-    };
-
-    GetLimits::GetLimits()
-    : m_limits(0) {}
+    const std::string GetLimits::ClassName = "GetLimits";
 
     unsigned GetLimits::numberOfParameters()
     {
-        return WBIBlock::numberOfParameters() + 1;
+        return WBBlock::numberOfParameters() + 1;
     }
 
-    bool GetLimits::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool GetLimits::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
+        // INPUTS
+        // ======
+        //
+        // No inputs
+        //
 
         if (!blockInfo->setNumberOfInputPorts(0)) {
-            if (error) error->message = "Failed to configure the number of input ports";
+            Log::getSingleton().error("Failed to configure the number of input ports.");
             return false;
         }
 
-        // Output port:
-        // - DoFs vector with the information asked
-        if (!blockInfo->setNumberOfOuputPorts(2)) {
-            if (error) error->message = "Failed to configure the number of output ports";
+        // OUTPUTS
+        // =======
+        //
+        // 1) vector with the information asked (1xDoFs)
+        //
+
+        if (!blockInfo->setNumberOfOutputPorts(2)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
             return false;
         }
 
-        bool success = blockInfo->setOutputPortVectorSize(0, dofs); //Min limit
-        success = success && blockInfo->setOutputPortVectorSize(1, dofs); //Max limit
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+        bool success = true;
+        success = success && blockInfo->setOutputPortVectorSize(0, dofs); // Min limit
+        success = success && blockInfo->setOutputPortVectorSize(1, dofs); // Max limit
 
         blockInfo->setOutputPortType(0, PortDataTypeDouble);
         blockInfo->setOutputPortType(1, PortDataTypeDouble);
 
         if (!success) {
-            if (error) error->message = "Failed to configure output ports";
+            Log::getSingleton().error("Failed to configure output ports.");
             return false;
         }
 
-
         return true;
     }
 
-    bool GetLimits::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool GetLimits::initialize(BlockInformation* blockInfo)
     {
         using namespace yarp::os;
-        if (!WBIBlock::initialize(blockInfo, error)) return false;
-
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        wbi::wholeBodyInterface * const interface = WBInterface::sharedInstance().interface();
+        if (!WBBlock::initialize(blockInfo)) return false;
 
-        // Reading the control type
+        // Read the control type
         std::string limitType;
-        if (!blockInfo->getStringParameterAtIndex(WBIBlock::numberOfParameters() + 1, limitType)) {
-            if (error) error->message = "Could not read estimate type parameter";
+        if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1, limitType)) {
+            Log::getSingleton().error("Could not read estimate type parameter.");
             return false;
         }
 
-        bool success = true;
-        if (limitType == "Position") {
-            m_limits = new Limit(dofs);
-            if (m_limits) {
-                success = interface->getJointLimits(m_limits->min, m_limits->max);
+        // Initialize the structure that stores the limits
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+        m_limits.reset(new Limit(dofs));
+
+        // Initializes some buffers
+        double min = 0;
+        double max = 0;
+
+        // From the RemoteControlBoardRemapper
+        // ===================================
+        //
+        // In the next methods, the values are asked using joint index and not string.
+        // The ControlBoardRemapper internally uses the same joints ordering of its
+        // initialization. In this case, it matches 1:1 the joint vector. It is hence
+        // possible using i to point to the correct joint.
+
+        // Get the RemoteControlBoardRemapper and IControlLimits2 interface if needed
+        std::weak_ptr<yarp::dev::IControlLimits2> iControlLimits2;
+        if (limitType == "ControlBoardPosition" || limitType == "ControlBoardVelocity") {
+            // Retain the control board remapper
+            if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
+                Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+                return false;
+            }
+            // Get the interface
+            if (!getRobotInterface()->getInterface(iControlLimits2)) {
+                Log::getSingleton().error("Failed to get IControlLimits2 interface.");
+                return false;
+            }
+        }
+
+        if (limitType == "ControlBoardPosition") {
+            for (auto i = 0; i < dofs; ++i) {
+                if (!iControlLimits2.lock()->getLimits(i, &min, &max)) {
+                    Log::getSingleton().error("Failed to get limits from the interface.");
+                    return false;
+                }
+                m_limits->min[i] = min;
+                m_limits->max[i] = max;
+            }
+        }
+        else if (limitType == "ControlBoardVelocity") {
+            for (auto i = 0; i < dofs; ++i) {
+                if (!iControlLimits2.lock()->getVelLimits(i, &min, &max)) {
+                    Log::getSingleton().error("Failed to get limits from the interface.");
+                    return false;
+                }
+                m_limits->min[i] = min;
+                m_limits->max[i] = max;
             }
-        } else {
-            if (error) error->message = "Limit type not supported";
+        }
+
+        // From the URDF model
+        // ===================
+        //
+        // For the time being, only position limits are supported.
+
+        else if (limitType == "ModelPosition") {
+            iDynTree::IJointConstPtr p_joint;
+            const iDynTree::Model model = getRobotInterface()->getKinDynComputations()->model();
+
+            for (auto i = 0; i < dofs; ++i) {
+                // Get the joint name
+                std::string joint = getConfiguration().getControlledJoints()[i];
+
+                // Get its index
+                iDynTree::LinkIndex jointIndex = model.getLinkIndex(joint);
+
+                // Get the joint from the model
+                p_joint = model.getJoint(jointIndex);
+
+                if (!p_joint->hasPosLimits()) {
+                    Log::getSingleton().warning("Joint " + joint + " has no model limits.");
+                    // TODO: test how these values are interpreted by Simulink
+                    min = -std::numeric_limits<double>::infinity();
+                    max = std::numeric_limits<double>::infinity();
+                }
+                else {
+                    p_joint->getPosLimits(0, min, max);
+                }
+            }
+        }
+        // TODO
+        // else if (limitType == "ModelVelocity") {
+        // }
+        // else if (limitType == "ModelEffort") {
+        // }
+        else {
+            Log::getSingleton().error("Limit type " + limitType + " not recognized.");
             return false;
         }
 
-        return m_limits && success;
+        return true;
     }
 
-    bool GetLimits::terminate(BlockInformation *blockInfo, wbt::Error *error)
+    bool GetLimits::terminate(BlockInformation* blockInfo)
     {
-        if (m_limits) {
-            delete m_limits;
-            m_limits = 0;
+        // Release the RemoteControlBoardRemapper
+        bool ok = true;
+        ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+        if (!ok) {
+            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
         }
-        return WBIBlock::terminate(blockInfo, error);
+
+        return ok && WBBlock::terminate(blockInfo);
     }
 
-    bool GetLimits::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool GetLimits::output(BlockInformation* blockInfo)
     {
         if (!m_limits) return false;
 
         Signal minPort = blockInfo->getOutputPortSignal(0);
         Signal maxPort = blockInfo->getOutputPortSignal(1);
 
-        for (int i = 0; i < blockInfo->getOutputPortWidth(0); ++i) {
-            minPort.set(i, m_limits->min[i]);
-            maxPort.set(i, m_limits->max[i]);
-        }
+        minPort.setBuffer(m_limits->min.data(), getConfiguration().getNumberOfDoFs());
+        maxPort.setBuffer(m_limits->max.data(), getConfiguration().getNumberOfDoFs());
+
         return true;
     }
 }

From fade9bb24c14769233ee31ed8da81f62bfaccd9e Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:19:28 +0000
Subject: [PATCH 20/92] InverseDynamics refactored

---
 toolbox/include/InverseDynamics.h |  51 +++--
 toolbox/src/InverseDynamics.cpp   | 340 +++++++++++++++---------------
 2 files changed, 195 insertions(+), 196 deletions(-)

diff --git a/toolbox/include/InverseDynamics.h b/toolbox/include/InverseDynamics.h
index 58e796131..2b035663c 100644
--- a/toolbox/include/InverseDynamics.h
+++ b/toolbox/include/InverseDynamics.h
@@ -1,41 +1,46 @@
 #ifndef WBT_INVERSEDYNAMICS_H
 #define WBT_INVERSEDYNAMICS_H
 
-#include "WBIModelBlock.h"
+#include "WBBlock.h"
+#include <iDynTree/Core/VectorFixSize.h>
 
 namespace wbt {
     class InverseDynamics;
 }
 
-class wbt::InverseDynamics : public wbt::WBIModelBlock {
+namespace iDynTree {
+    class VectorDynSize;
+    class FreeFloatingGeneralizedTorques;
+}
 
-    double *m_basePose;
-    double *m_torques;
+class wbt::InverseDynamics : public wbt::WBBlock
+{
+private:
+    iDynTree::Vector6*       m_baseAcceleration;
+    iDynTree::VectorDynSize* m_jointsAcceleration;
 
-    bool m_explicitGravity;
+    // Output
+    iDynTree::FreeFloatingGeneralizedTorques* m_torques;
 
-    //input buffers
-    double *m_basePoseRaw;
-    double *m_configuration;
-    double *m_baseVelocity;
-    double *m_jointsVelocity;
-    double *m_baseAcceleration;
-    double *m_jointsAcceleration;
-    double m_gravity[3];
+    static const unsigned INPUT_IDX_BASE_POSE;
+    static const unsigned INPUT_IDX_JOINTCONF;
+    static const unsigned INPUT_IDX_BASE_VEL;
+    static const unsigned INPUT_IDX_JOINT_VEL;
+    static const unsigned INPUT_IDX_BASE_ACC;
+    static const unsigned INPUT_IDX_JOINT_ACC;
+    static const unsigned OUTPUT_IDX_TORQUES;
 
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
     InverseDynamics();
 
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-    
-    
-};
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 
+};
 
-#endif /* end of include guard: WBT_INVERSEDYNAMICS_H */
+#endif /* WBT_INVERSEDYNAMICS_H */
diff --git a/toolbox/src/InverseDynamics.cpp b/toolbox/src/InverseDynamics.cpp
index 45999d7cc..28b8a70c7 100644
--- a/toolbox/src/InverseDynamics.cpp
+++ b/toolbox/src/InverseDynamics.cpp
@@ -1,221 +1,215 @@
 #include "InverseDynamics.h"
 
-#include "Error.h"
+#include "Log.h"
 #include "BlockInformation.h"
 #include "Signal.h"
-#include "WBInterface.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
+#include "RobotInterface.h"
+#include <memory>
+#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/Model/FreeFloatingState.h>
+#include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
-#define PARAM_IDX_1 5
-
+// TODO: Substitute with using
 namespace wbt {
 
-    std::string InverseDynamics::ClassName = "InverseDynamics";
+    const std::string InverseDynamics::ClassName = "InverseDynamics";
+
+    const unsigned InverseDynamics::INPUT_IDX_BASE_POSE = 0;
+    const unsigned InverseDynamics::INPUT_IDX_JOINTCONF = 1;
+    const unsigned InverseDynamics::INPUT_IDX_BASE_VEL  = 2;
+    const unsigned InverseDynamics::INPUT_IDX_JOINT_VEL = 3;
+    const unsigned InverseDynamics::INPUT_IDX_BASE_ACC  = 4;
+    const unsigned InverseDynamics::INPUT_IDX_JOINT_ACC = 5;
+    const unsigned InverseDynamics::OUTPUT_IDX_TORQUES  = 0;
 
     InverseDynamics::InverseDynamics()
-    : m_basePose(0)
-    , m_torques(0)
-    , m_explicitGravity(false)
-    , m_basePoseRaw(0)
-    , m_configuration(0)
-    , m_baseVelocity(0)
-    , m_jointsVelocity(0)
-    , m_baseAcceleration(0)
-    , m_jointsAcceleration(0)
-    {
-        m_gravity[0] = 0;
-        m_gravity[1] = 0;
-        m_gravity[2] = -9.81;
-    }
+    : m_baseAcceleration(nullptr)
+    , m_jointsAcceleration(nullptr)
+    , m_torques(nullptr)
+    {}
 
     unsigned InverseDynamics::numberOfParameters()
     {
-        return WBIBlock::numberOfParameters() + 1;
+        return WBBlock::numberOfParameters();
     }
 
-    bool InverseDynamics::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool InverseDynamics::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
+        // Memory allocation / Saving data not allowed here
+
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+
+        // INPUTS
+        // ======
+        //
+        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+        // 2) Joints position (1xDoFs vector)
+        // 3) Base frame velocity (1x6 vector)
+        // 4) Joints velocity (1xDoFs vector)
+        // 5) Base frame acceleration (1x6 vector)
+        // 6) Joints acceleration (1xDoFs vector)
+        //
+
+        // Number of inputs
+        if (!blockInfo->setNumberOfInputPorts(6)) {
+            Log::getSingleton().error("Failed to configure the number of input ports.");
             return false;
         }
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
+        // Get the DoFs
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        // Specify I/O
-        // Input ports:
-        // - 4x4 matrix (homogenous transformation for the base pose w.r.t. world)
-        // - DoFs vector for the robot (joints) configurations
-
-        m_explicitGravity = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1).booleanData();
-
-        int portNumber = 6;
-        if (m_explicitGravity) portNumber++;
-
-        if (!blockInfo->setNumberOfInputPorts(portNumber)) {
-            if (error) error->message = "Failed to configure the number of input ports";
-            return false;
-        }
+        // Size and type
         bool success = true;
-
-        success = success && blockInfo->setInputPortMatrixSize(0, 4, 4); //base pose
-        success = success && blockInfo->setInputPortVectorSize(1, dofs); //joint configuration
-        success = success && blockInfo->setInputPortVectorSize(2, 6); //base velocity
-        success = success && blockInfo->setInputPortVectorSize(3, dofs); //joints velocitity
-        success = success && blockInfo->setInputPortVectorSize(4, 6); //base acceleration
-        success = success && blockInfo->setInputPortVectorSize(5, dofs); //joints acceleration
-        if (m_explicitGravity)
-            success = success && blockInfo->setInputPortVectorSize(6, 3); //gravity acceleration
-
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
-        blockInfo->setInputPortType(1, PortDataTypeDouble);
-        blockInfo->setInputPortType(2, PortDataTypeDouble);
-        blockInfo->setInputPortType(3, PortDataTypeDouble);
-        blockInfo->setInputPortType(4, PortDataTypeDouble);
-        blockInfo->setInputPortType(5, PortDataTypeDouble);
-
-        if (m_explicitGravity)
-            blockInfo->setInputPortType(6, PortDataTypeDouble);
+        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL,  6);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_ACC,  6);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_ACC, dofs);
+
+        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_BASE_ACC,  PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINT_ACC, PortDataTypeDouble);
 
         if (!success) {
-            if (error) error->message = "Failed to configure input ports";
+            Log::getSingleton().error("Failed to configure input ports.");
             return false;
         }
 
-        // Output port:
-        // - DoFs + 6) vector representing the torques
-        if (!blockInfo->setNumberOfOuputPorts(1)) {
-            if (error) error->message = "Failed to configure the number of output ports";
+        // OUTPUTS
+        // =======
+        //
+        // 1) Vector representing the torques (1x(DoFs+6))
+        //
+
+        // Number of outputs
+        if (!blockInfo->setNumberOfOutputPorts(1)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
             return false;
         }
 
-        success = blockInfo->setOutputPortVectorSize(0, dofs + 6);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+        // Size and type
+        success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_TORQUES, dofs + 6);
+        blockInfo->setOutputPortType(OUTPUT_IDX_TORQUES, PortDataTypeDouble);
 
         return success;
     }
 
-    bool InverseDynamics::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool InverseDynamics::initialize(BlockInformation* blockInfo)
     {
-        using namespace yarp::os;
-        if (!WBIModelBlock::initialize(blockInfo, error)) return false;
-
-        m_explicitGravity = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1).booleanData();
-
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        m_basePose = new double[16];
-        m_torques = new double[6 + dofs];
-        m_basePoseRaw = new double[16];
-        m_configuration = new double[dofs];
-        m_baseVelocity = new double[6];
-        m_jointsVelocity = new double[dofs];
-        m_baseAcceleration = new double[6];
-        m_jointsAcceleration = new double[dofs];
-
-        return m_basePose && m_torques && m_basePoseRaw && m_configuration && m_baseVelocity && m_jointsVelocity && m_baseAcceleration && m_jointsAcceleration;
+        if (!WBBlock::initialize(blockInfo)) return false;
+
+        // OUTPUT / VARIABLES
+        // ==================
+
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+        m_baseAcceleration = new iDynTree::Vector6();
+        m_baseAcceleration->zero();
+        m_jointsAcceleration = new iDynTree::VectorDynSize(dofs);
+        m_jointsAcceleration->zero();
+
+        const auto& model = getRobotInterface()->getKinDynComputations()->model();
+        m_torques = new iDynTree::FreeFloatingGeneralizedTorques(model);
+
+        return m_baseAcceleration && m_jointsAcceleration && m_torques;
     }
 
-    bool InverseDynamics::terminate(BlockInformation *blockInfo, wbt::Error *error)
+    bool InverseDynamics::terminate(BlockInformation* blockInfo)
     {
-        if (m_basePose) {
-            delete [] m_basePose;
-            m_basePose = 0;
-        }
-        if (m_torques) {
-            delete [] m_torques;
-            m_torques = 0;
-        }
-        if (m_basePoseRaw) {
-            delete [] m_basePoseRaw;
-            m_basePoseRaw = 0;
-        }
-        if (m_configuration) {
-            delete [] m_configuration;
-            m_configuration = 0;
-        }
-        if (m_baseVelocity) {
-            delete [] m_baseVelocity;
-            m_baseVelocity = 0;
-        }
-        if (m_jointsVelocity) {
-            delete [] m_jointsVelocity;
-            m_jointsVelocity = 0;
-        }
-
         if (m_baseAcceleration) {
-            delete [] m_baseAcceleration;
-            m_baseAcceleration = 0;
+            delete m_baseAcceleration;
+            m_baseAcceleration = nullptr;
         }
-
         if (m_jointsAcceleration) {
-            delete [] m_jointsAcceleration;
-            m_jointsAcceleration = 0;
+            delete m_jointsAcceleration;
+            m_jointsAcceleration = nullptr;
+        }
+        if (m_torques) {
+            delete m_torques;
+            m_torques = nullptr;
         }
 
-        return WBIModelBlock::terminate(blockInfo, error);
+        return WBBlock::terminate(blockInfo);
     }
 
-    bool InverseDynamics::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool InverseDynamics::output(BlockInformation* blockInfo)
     {
-        //get input
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (interface) {
-
-            Signal basePoseRaw = blockInfo->getInputPortSignal(0);
-            Signal configuration = blockInfo->getInputPortSignal(1);
-            Signal baseVelocity = blockInfo->getInputPortSignal(2);
-            Signal jointsVelocity = blockInfo->getInputPortSignal(3);
-            Signal baseAcceleration = blockInfo->getInputPortSignal(4);
-            Signal jointsAcceleration = blockInfo->getInputPortSignal(5);
-
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-                m_basePoseRaw[i] = basePoseRaw.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(1); ++i) {
-                m_configuration[i] = configuration.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(2); ++i) {
-                m_baseVelocity[i] = baseVelocity.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(3); ++i) {
-                m_jointsVelocity[i] = jointsVelocity.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(4); ++i) {
-                m_baseAcceleration[i] = baseAcceleration.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(5); ++i) {
-                m_jointsAcceleration[i] = jointsAcceleration.get(i).doubleData();
-            }
-
-            if (m_explicitGravity) {
-                Signal gravity = blockInfo->getInputPortSignal(6);
-                for (unsigned i = 0; i < blockInfo->getInputPortWidth(6); ++i) {
-                    m_gravity[i] = gravity.get(i).doubleData();
-                }
-            }
-
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::ColMajor> > basePoseColMajor(m_basePoseRaw);
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::RowMajor> > basePose(m_basePose);
-            basePose = basePoseColMajor;
-
-            wbi::Frame frame;
-            wbi::frameFromSerialization(basePose.data(), frame);
-
-            interface->inverseDynamics(m_configuration,
-                                       frame,
-                                       m_jointsVelocity,
-                                       m_baseVelocity,
-                                       m_jointsAcceleration,
-                                       m_baseAcceleration,
-                                       m_gravity,
-                                       m_torques);
-
-            Signal output = blockInfo->getOutputPortSignal(0);
-            output.setBuffer(m_torques, blockInfo->getOutputPortWidth(0));
-
-            return true;
+        using namespace iDynTree;
+        using namespace Eigen;
+        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+
+        const auto& model = getRobotInterface()->getKinDynComputations();
+
+        if (!model) {
+            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+            return false;
         }
-        return false;
+
+        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+        // ====================================================
+
+        unsigned signalWidth;
+
+        // Base pose
+        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+        fromEigen(robotState.m_world_T_base,
+                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+
+        // Joints position
+        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+
+        // Base velocity
+        Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
+        double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
+        robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
+                                     AngVelocity(m_baseVelocityBuffer+3, 3));
+
+        // Joints velocity
+        Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
+        robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
+
+        // Base acceleration
+        Signal baseAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_ACC);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_ACC);
+        m_baseAcceleration->fillBuffer(baseAccelerationSignal.getStdVector(signalWidth).data());
+
+        // Joints acceleration
+        Signal jointsAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_ACC);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_ACC);
+        m_jointsAcceleration->fillBuffer(jointsAccelerationSignal.getStdVector(signalWidth).data());
+
+        // UPDATE THE ROBOT STATUS
+        // =======================
+        model->setRobotState(robotState.m_world_T_base,
+                             robotState.m_jointsPosition,
+                             robotState.m_baseVelocity,
+                             robotState.m_jointsVelocity,
+                             robotState.m_gravity);
+
+        // OUTPUT
+        // ======
+
+        // Calculate the inverse dynamics (assuming zero external forces)
+        model->inverseDynamics(*m_baseAcceleration,
+                               *m_jointsAcceleration,
+                               LinkNetExternalWrenches(model->getNrOfLinks()), // TODO
+                               *m_torques);
+
+        // Forward the output to Simulink
+        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_TORQUES);
+        output.setBuffer(m_torques->jointTorques().data(),
+                         blockInfo->getOutputPortWidth(OUTPUT_IDX_TORQUES));
+        return true;
     }
 }

From 58eecea9eb6c207136d589d0afe5eb3314220d2f Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:20:13 +0000
Subject: [PATCH 21/92] Jacobian refactored

---
 toolbox/include/Jacobian.h |  44 ++++---
 toolbox/src/Jacobian.cpp   | 251 +++++++++++++++++++++++--------------
 2 files changed, 183 insertions(+), 112 deletions(-)

diff --git a/toolbox/include/Jacobian.h b/toolbox/include/Jacobian.h
index 0c5307a19..b0726e900 100644
--- a/toolbox/include/Jacobian.h
+++ b/toolbox/include/Jacobian.h
@@ -1,36 +1,44 @@
 #ifndef WBT_JACOBIAN_H
 #define WBT_JACOBIAN_H
 
-#include "WBIModelBlock.h"
+#include "WBBlock.h"
+#include <iDynTree/Model/Indices.h>
 
 namespace wbt {
     class Jacobian;
 }
 
-class wbt::Jacobian : public wbt::WBIModelBlock {
+namespace iDynTree {
+    class MatrixDynSize;
+}
+
+class wbt::Jacobian : public wbt::WBBlock
+{
+private:
+    // Support variables
+    iDynTree::MatrixDynSize* m_jacobianCOM;
 
-    double *m_basePose;
-    double *m_jacobian;
+    // Output
+    iDynTree::MatrixDynSize* m_jacobian;
 
-    //input buffers
-    double *m_basePoseRaw;
-    double *m_configuration;
+    // Other variables
+    bool m_frameIsCoM;
+    iDynTree::FrameIndex m_frameIndex;
 
-    int m_frameIndex;
+    static const unsigned INPUT_IDX_BASE_POSE;
+    static const unsigned INPUT_IDX_JOINTCONF;
+    static const unsigned OUTPUT_IDX_FW_FRAME;
 
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
     Jacobian();
 
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
-
-#endif /* end of include guard: WBT_JACOBIAN_H */
+#endif /* WBT_JACOBIAN_H */
diff --git a/toolbox/src/Jacobian.cpp b/toolbox/src/Jacobian.cpp
index eefcc8d1c..8988cf4bc 100644
--- a/toolbox/src/Jacobian.cpp
+++ b/toolbox/src/Jacobian.cpp
@@ -1,161 +1,224 @@
 #include "Jacobian.h"
 
-#include "Error.h"
-#include "WBInterface.h"
+#include "Log.h"
+#include "RobotInterface.h"
 #include "BlockInformation.h"
 #include "Signal.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
+#include <memory>
+#include <iDynTree/KinDynComputations.h>
+#include <iDynTree/Core/EigenHelpers.h>
 #include <Eigen/Core>
 
 namespace wbt {
 
-    std::string Jacobian::ClassName = "Jacobian";
+    const std::string Jacobian::ClassName = "Jacobian";
+
+    const unsigned Jacobian::INPUT_IDX_BASE_POSE = 0;
+    const unsigned Jacobian::INPUT_IDX_JOINTCONF = 1;
+    const unsigned Jacobian::OUTPUT_IDX_FW_FRAME = 0;
 
     Jacobian::Jacobian()
-    : m_basePose(0)
-    , m_jacobian(0)
-    , m_basePoseRaw(0)
-    , m_configuration(0)
-    , m_frameIndex(-1) {}
+    : m_jacobianCOM(nullptr)
+    , m_jacobian(nullptr)
+    , m_frameIsCoM(false)
+    , m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
+    {}
 
     unsigned Jacobian::numberOfParameters()
     {
-        return WBIBlock::numberOfParameters() + 1;
+        return WBBlock::numberOfParameters() + 1;
     }
 
-    bool Jacobian::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool Jacobian::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
+        // Memory allocation / Saving data not allowed here
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // Specify I/O
-        // Input ports:
-        // - 4x4 matrix (homogenous transformation for the base pose w.r.t. world)
-        // - DoFs vector for the robot (joints) configurations
+        // INPUTS
+        // ======
+        //
+        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+        // 2) Joints position (1xDoFs vector)
+        // 3) Base frame velocity (1x6 vector)
+        //
 
+        // Number of inputs
         if (!blockInfo->setNumberOfInputPorts(2)) {
-            if (error) error->message = "Failed to configure the number of input ports";
+            Log::getSingleton().error("Failed to configure the number of input ports.");
             return false;
         }
+
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+        // Size and type
         bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(0, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(1, dofs);
+        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
 
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
-        blockInfo->setInputPortType(1, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
 
         if (!success) {
-            if (error) error->message = "Failed to configure input ports";
+            Log::getSingleton().error("Failed to configure input ports.");
             return false;
         }
 
-        // Output port:
-        // - (6)x(6+dofs) matrix
-        if (!blockInfo->setNumberOfOuputPorts(1)) {
-            if (error) error->message = "Failed to configure the number of output ports";
+        // OUTPUTS
+        // =======
+        //
+        // 1) Matrix representing the Jacobian (6x(DoFs+6))
+        //
+
+        // Number of outputs
+        if (!blockInfo->setNumberOfOutputPorts(1)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
             return false;
         }
 
-        success = blockInfo->setOutputPortMatrixSize(0, 6, 6 + dofs);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+        // Size and type
+        success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_FW_FRAME, 6, 6 + dofs);
+        blockInfo->setOutputPortType(OUTPUT_IDX_FW_FRAME, PortDataTypeDouble);
 
         return success;
     }
 
-    bool Jacobian::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool Jacobian::initialize(BlockInformation* blockInfo)
     {
-        using namespace yarp::os;
-        if (!WBIModelBlock::initialize(blockInfo, error)) return false;
+        if (!WBBlock::initialize(blockInfo)) return false;
+
+        // INPUT PARAMETERS
+        // ================
 
-        int parentParameters = WBIBlock::numberOfParameters() + 1;
-        //robot name
         std::string frame;
-        if (!blockInfo->getStringParameterAtIndex(parentParameters, frame)) {
-            if (error) error->message = "Cannot retrieve string from frame parameter";
+        int parentParameters = WBBlock::numberOfParameters();
+
+        if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
+            Log::getSingleton().error("Cannot retrieve string from frame parameter.");
             return false;
         }
 
-        //here obtain joint list and get the frame
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (!interface) {
-            if (error) error->message = "Cannot retrieve handle to WBI interface";
+        // Check if the frame is valid
+        // ---------------------------
+
+        const auto& model = getRobotInterface()->getKinDynComputations();
+        if (!model) {
+            Log::getSingleton().error("Cannot retrieve handle to KinDynComputations.");
             return false;
         }
-        wbi::IDList frames =  interface->getFrameList();
+
         if (frame != "com") {
-            if (!frames.idToIndex(wbi::ID(frame), m_frameIndex)) {
-                if (error) error->message = "Cannot find " + frame + " in the frame list";
+            m_frameIndex = model->getFrameIndex(frame);
+            if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
+                Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
                 return false;
             }
-        } else {
-            m_frameIndex = wbi::wholeBodyInterface::COM_LINK_ID;
         }
+        else {
+            m_frameIsCoM = true;
+            m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
+        }
+
+        // OUTPUT / VARIABLES
+        // ==================
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        m_basePose = new double[16];
-        m_jacobian = new double[6 * (6 + dofs)];
-        m_basePoseRaw = new double[16];
-        m_configuration = new double[dofs];
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        return m_basePose && m_jacobian && m_basePoseRaw && m_configuration;
+        m_jacobianCOM = new iDynTree::MatrixDynSize(3, 6 + dofs);
+        m_jacobianCOM->zero();
+
+        // Output
+        m_jacobian = new iDynTree::MatrixDynSize(6, 6 + dofs);
+        m_jacobian->zero();
+
+        return m_jacobianCOM && m_jacobian;
     }
 
-    bool Jacobian::terminate(BlockInformation *blockInfo, wbt::Error *error)
+    bool Jacobian::terminate(BlockInformation* blockInfo)
     {
-        if (m_basePose) {
-            delete [] m_basePose;
-            m_basePose = 0;
+        if (m_jacobianCOM) {
+            delete m_jacobianCOM;
+            m_jacobianCOM = nullptr;
         }
         if (m_jacobian) {
-            delete [] m_jacobian;
-            m_jacobian = 0;
-        }
-        if (m_basePoseRaw) {
-            delete [] m_basePoseRaw;
-            m_basePoseRaw = 0;
-        }
-        if (m_configuration) {
-            delete [] m_configuration;
-            m_configuration = 0;
+            delete m_jacobian;
+            m_jacobian = nullptr;
         }
-        return WBIModelBlock::terminate(blockInfo, error);
+
+        return WBBlock::terminate(blockInfo);
     }
 
-    bool Jacobian::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool Jacobian::output(BlockInformation* blockInfo)
     {
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (interface) {
-            Signal basePoseRaw = blockInfo->getInputPortSignal(0);
-            Signal configuration = blockInfo->getInputPortSignal(1);
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-                m_basePoseRaw[i] = basePoseRaw.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(1); ++i) {
-                m_configuration[i] = configuration.get(i).doubleData();
-            }
+        using namespace iDynTree;
+        using namespace Eigen;
+        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+        typedef Matrix<double, Dynamic, Dynamic, ColMajor> MatrixXdSimulink;
+        typedef Matrix<double, Dynamic, Dynamic, Eigen::RowMajor> MatrixXdiDynTree;
+
+        const auto& model = getRobotInterface()->getKinDynComputations();
+
+        if (!model) {
+            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+            return false;
+        }
+
+        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+        // ====================================================
 
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::ColMajor> > basePoseColMajor(m_basePoseRaw);
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::RowMajor> > basePose(m_basePose);
-            basePose = basePoseColMajor;
+        unsigned signalWidth;
 
-            wbi::Frame frame;
-            wbi::frameFromSerialization(basePose.data(), frame);
+        // Base pose
+        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+        fromEigen(robotState.m_world_T_base,
+                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
 
-            unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-            interface->computeJacobian(m_configuration, frame, m_frameIndex, m_jacobian);
+        // Joints position
+        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
 
-            Eigen::Map<Eigen::Matrix<double, 6, Eigen::Dynamic, Eigen::RowMajor> > jacobianRowMajor(m_jacobian, 6, 6 + dofs);
+        // TODO: what about the other inputs of setRobotState?
 
-            Signal output = blockInfo->getOutputPortSignal(0);
-            Eigen::Map<Eigen::Matrix<double, 6, Eigen::Dynamic, Eigen::ColMajor> > jacobianColMajor((double*)output.getContiguousBuffer(), 6, 6 + dofs);
+        // UPDATE THE ROBOT STATUS
+        // =======================
+        model->setRobotState(robotState.m_world_T_base,
+                             robotState.m_jointsPosition,
+                             robotState.m_baseVelocity,
+                             robotState.m_jointsVelocity,
+                             robotState.m_gravity);
 
-            jacobianColMajor = jacobianRowMajor;
-            return true;
+        // OUTPUT
+        // ======
+
+        iDynTree::Transform world_H_frame;
+
+        // Compute the jacobian
+        bool ok = false;
+        if (!m_frameIsCoM) {
+            world_H_frame = model->getWorldTransform(m_frameIndex);
+            ok = model->getFrameFreeFloatingJacobian(m_frameIndex, *m_jacobian);
         }
-        return false;
-    }
+        else {
+            world_H_frame.setPosition(model->getCenterOfMassPosition());
+            ok = model->getCenterOfMassJacobian(*m_jacobianCOM);
+            int cols = m_jacobianCOM->cols();
+            toEigen(*m_jacobian).block(0,0,3,cols) = toEigen(*m_jacobianCOM);
+            toEigen(*m_jacobian).block(3,0,3,cols).setZero();
+        }
+
+        // Get the output signal memory location
+        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_FW_FRAME);
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+        // Allocate objects for row-major -> col-major conversion
+        Map<MatrixXdiDynTree> jacobianRowMajor = toEigen(*m_jacobian);
+        Map<MatrixXdSimulink> jacobianColMajor((double*)output.getContiguousBuffer(),
+                                               6, 6 + dofs);
+
+        // Forward the buffer to Simulink transforming it to ColMajor
+        jacobianColMajor = jacobianRowMajor;
+        return true;
+     }
 }

From 648aef94d8071bcaf6e95d66d65a2336f0d1e23b Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:21:07 +0000
Subject: [PATCH 22/92] MassMatrix refactored

---
 toolbox/include/MassMatrix.h |  34 +++---
 toolbox/src/MassMatrix.cpp   | 198 ++++++++++++++++++++---------------
 2 files changed, 132 insertions(+), 100 deletions(-)

diff --git a/toolbox/include/MassMatrix.h b/toolbox/include/MassMatrix.h
index ea0d58ce0..6529d4504 100644
--- a/toolbox/include/MassMatrix.h
+++ b/toolbox/include/MassMatrix.h
@@ -1,33 +1,35 @@
 #ifndef WBT_MASSMATRIX_H
 #define WBT_MASSMATRIX_H
 
-#include "WBIModelBlock.h"
+#include "WBBlock.h"
 
 namespace wbt {
     class MassMatrix;
 }
 
-class wbt::MassMatrix : public wbt::WBIModelBlock {
+namespace iDynTree {
+    class MatrixDynSize;
+}
 
-    double *m_basePose;
-    double *m_massMatrix;
+class wbt::MassMatrix : public wbt::WBBlock
+{
+private:
+    iDynTree::MatrixDynSize* m_massMatrix;
 
-    //input buffers
-    double *m_basePoseRaw;
-    double *m_configuration;
+    static const unsigned INPUT_IDX_BASE_POSE;
+    static const unsigned INPUT_IDX_JOINTCONF;
+    static const unsigned OUTPUT_IDX_MASS_MAT;
 
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
     MassMatrix();
+    ~MassMatrix() = default;
 
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
-
-#endif /* end of include guard: WBT_MASSMATRIX_H */
+#endif /* WBT_MASSMATRIX_H */
diff --git a/toolbox/src/MassMatrix.cpp b/toolbox/src/MassMatrix.cpp
index 2644213ee..4fcbf7510 100644
--- a/toolbox/src/MassMatrix.cpp
+++ b/toolbox/src/MassMatrix.cpp
@@ -2,130 +2,160 @@
 
 #include "BlockInformation.h"
 #include "Signal.h"
-#include "Error.h"
-#include "WBInterface.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
+#include "Log.h"
+#include "RobotInterface.h"
+#include <memory>
+#include <iDynTree/Core/EigenHelpers.h>
+#include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
+// TODO: remove wbt nesting;
 namespace wbt {
 
-    std::string MassMatrix::ClassName = "MassMatrix";
+    const std::string MassMatrix::ClassName = "MassMatrix";
+
+    const unsigned MassMatrix::INPUT_IDX_BASE_POSE = 0;
+    const unsigned MassMatrix::INPUT_IDX_JOINTCONF = 1;
+    const unsigned MassMatrix::OUTPUT_IDX_MASS_MAT = 0;
 
     MassMatrix::MassMatrix()
-    : m_basePose(0)
-    , m_massMatrix(0)
-    , m_basePoseRaw(0)
-    , m_configuration(0) {}
+    : m_massMatrix(nullptr)
+    {}
 
-    bool MassMatrix::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool MassMatrix::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
+        // Memory allocation / Saving data not allowed here
+
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) {
             return false;
         }
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-
-        // Specify I/O
-        // Input ports:
-        // - 4x4 matrix (homogenous transformation for the base pose w.r.t. world)
-        // - DoFs vector for the robot (joints) configurations
+        // INPUTS
+        // ======
+        //
+        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+        // 2) Joints position (1xDoFs vector)
+        //
 
+        // Number of inputs
         if (!blockInfo->setNumberOfInputPorts(2)) {
-            if (error) error->message = "Failed to configure the number of input ports";
+            Log::getSingleton().error("Failed to configure the number of input ports.");
             return false;
         }
+
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+        // Size and type
         bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(0, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(1, dofs);
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
-        blockInfo->setInputPortType(1, PortDataTypeDouble);
+        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
 
+        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
 
         if (!success) {
-            if (error) error->message = "Failed to configure input ports";
+            Log::getSingleton().error("Failed to configure input ports.");
             return false;
         }
 
-        // Output port:
-        // - (DoFs + 6)x(DoFs + 6) matrix representing the mass matrix
-        if (!blockInfo->setNumberOfOuputPorts(1)) {
-            if (error) error->message = "Failed to configure the number of output ports";
+        // OUTPUTS
+        // =======
+        //
+        // 1) Matrix epresenting the mass matrix (DoFs+6)x(DoFs+6)
+        //
+
+        // Number of outputs
+        if (!blockInfo->setNumberOfOutputPorts(1)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
             return false;
         }
 
-        success = blockInfo->setOutputPortMatrixSize(0, dofs + 6, dofs + 6);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+        // Size and type
+        success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_MASS_MAT, dofs + 6, dofs + 6);
+        blockInfo->setOutputPortType(OUTPUT_IDX_MASS_MAT, PortDataTypeDouble);
 
         return success;
     }
 
-    bool MassMatrix::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool MassMatrix::initialize(BlockInformation* blockInfo)
     {
-        using namespace yarp::os;
-        if (!WBIModelBlock::initialize(blockInfo, error)) return false;
+        if (!WBBlock::initialize(blockInfo)) return false;
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        m_basePose = new double[16];
-        m_massMatrix = new double[(6 + dofs)*(6 + dofs)];
-        m_basePoseRaw = new double[16];
-        m_configuration = new double[dofs];
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        return m_basePose && m_massMatrix && m_basePoseRaw && m_configuration;
+        // Output
+        m_massMatrix = new iDynTree::MatrixDynSize(6 + dofs, 6 + dofs);
+        m_massMatrix->zero();
+
+        return m_massMatrix;
     }
 
-    bool MassMatrix::terminate(BlockInformation *blockInfo, wbt::Error *error)
+    bool MassMatrix::terminate(BlockInformation* blockInfo)
     {
-        if (m_basePose) {
-            delete [] m_basePose;
-            m_basePose = 0;
-        }
         if (m_massMatrix) {
-            delete [] m_massMatrix;
-            m_massMatrix = 0;
-        }
-        if (m_basePoseRaw) {
-            delete [] m_basePoseRaw;
-            m_basePoseRaw = 0;
+            delete m_massMatrix;
+            m_massMatrix = nullptr;
         }
-        if (m_configuration) {
-            delete [] m_configuration;
-            m_configuration = 0;
-        }
-        return WBIModelBlock::terminate(blockInfo, error);
+
+        return WBBlock::terminate(blockInfo);
     }
 
-    bool MassMatrix::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool MassMatrix::output(BlockInformation* blockInfo)
     {
-        //get input
-        wbi::iWholeBodyModel * const interface = WBInterface::sharedInstance().model();
-        if (interface) {
-            Signal basePoseRaw = blockInfo->getInputPortSignal(0);
-            Signal configuration = blockInfo->getInputPortSignal(1);
-
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-                m_basePoseRaw[i] = basePoseRaw.get(i).doubleData();
-            }
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(1); ++i) {
-                m_configuration[i] = configuration.get(i).doubleData();
-            }
-
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::ColMajor> > basePoseColMajor(m_basePoseRaw);
-            Eigen::Map<Eigen::Matrix<double, 4, 4, Eigen::RowMajor> > basePose(m_basePose);
-            basePose = basePoseColMajor;
-
-            wbi::Frame frame;
-            wbi::frameFromSerialization(basePose.data(), frame);
-
-            interface->computeMassMatrix(m_configuration, frame, m_massMatrix);
-            unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-            Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::RowMajor> > massMatrixRowMajor(m_massMatrix, 6 + dofs, 6 + dofs);
-
-            Signal output = blockInfo->getOutputPortSignal(0);
-            Eigen::Map<Eigen::Matrix<double, Eigen::Dynamic, Eigen::Dynamic, Eigen::ColMajor> > massMatrixColMajor((double*)output.getContiguousBuffer(), 6 + dofs, 6 + dofs);
-            massMatrixColMajor = massMatrixRowMajor;
-            return true;
+        using namespace Eigen;
+        using namespace iDynTree;
+        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+        typedef Matrix<double, Dynamic, Dynamic, ColMajor> MatrixXdSimulink;
+        typedef Matrix<double, Dynamic, Dynamic, Eigen::RowMajor> MatrixXdiDynTree;
+
+        const auto& model = getRobotInterface()->getKinDynComputations();
+
+        if (!model) {
+            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+            return false;
         }
-        return false;
+
+        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+        // ====================================================
+
+        unsigned signalWidth;
+
+        // Base pose
+        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+        fromEigen(robotState.m_world_T_base,
+                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+
+        // Joints position
+        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+
+        // UPDATE THE ROBOT STATUS
+        // =======================
+        model->setRobotState(robotState.m_world_T_base,
+                             robotState.m_jointsPosition,
+                             robotState.m_baseVelocity,
+                             robotState.m_jointsVelocity,
+                             robotState.m_gravity);
+
+        // OUTPUT
+        // ======
+
+        // Compute the Mass Matrix
+        model->getFreeFloatingMassMatrix(*m_massMatrix);
+
+        // Get the output signal memory location
+        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_MASS_MAT);
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+        // Allocate objects for row-major -> col-major conversion
+        Map<MatrixXdiDynTree> massMatrixRowMajor = toEigen(*m_massMatrix);
+        Map<MatrixXdSimulink> massMatrixColMajor((double*)output.getContiguousBuffer(),
+                                                 6 + dofs, 6 + dofs);
+
+        // Forward the buffer to Simulink transforming it to ColMajor
+        massMatrixColMajor = massMatrixRowMajor;
+        return true;
     }
 }

From 6953aa23b16fdd2aed19d0ddc32729dc39481118 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:22:20 +0000
Subject: [PATCH 23/92] MinimumJerkTrajectoryGenerator refactored

---
 .../include/MinimumJerkTrajectoryGenerator.h  |  35 ++--
 .../src/MinimumJerkTrajectoryGenerator.cpp    | 159 ++++++++++++------
 2 files changed, 128 insertions(+), 66 deletions(-)

diff --git a/toolbox/include/MinimumJerkTrajectoryGenerator.h b/toolbox/include/MinimumJerkTrajectoryGenerator.h
index ba0415e9f..8bf0f29b7 100644
--- a/toolbox/include/MinimumJerkTrajectoryGenerator.h
+++ b/toolbox/include/MinimumJerkTrajectoryGenerator.h
@@ -22,19 +22,19 @@ namespace yarp {
 
 class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block {
 public:
-    static std::string ClassName;
-    
+    static const std::string ClassName;
+
     MinimumJerkTrajectoryGenerator();
-    
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-    
+
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
+
 private:
 
-    iCub::ctrl::minJerkTrajGen *m_generator;
+    iCub::ctrl::minJerkTrajGen* m_generator;
 
     int m_outputFirstDerivativeIndex;
     int m_outputSecondDerivativeIndex;
@@ -45,9 +45,18 @@ class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block {
     bool m_explicitInitialValue;
     bool m_externalSettlingTime;
     bool m_resetOnSettlingTimeChange;
-    yarp::sig::Vector *m_initialValues;
-    yarp::sig::Vector *m_reference;
-    
+    yarp::sig::Vector* m_initialValues;
+    yarp::sig::Vector* m_reference;
+
+    static const unsigned PARAM_IDX_SAMPLE_TIME;           // Sample Time (double)
+    static const unsigned PARAM_IDX_SETTLING_TIME;         // Settling Time (double)
+    static const unsigned PARAM_IDX_OUTPUT_1ST_DERIVATIVE; // Output first derivative (boolean)
+    static const unsigned PARAM_IDX_OUTPUT_2ND_DERIVATIVE; // Output second derivative (boolean)
+    static const unsigned PARAM_IDX_INITIAL_VALUE;         // Initial signal value as input (boolean)
+    static const unsigned PARAM_IDX_EXT_SETTLINGTIME;      // Control if the settling time comes from
+                                                           // external port or static parameter
+    static const unsigned PARAM_IDX_RESET_CHANGEST;        // True if the block should reset the traj
+                                                           // generator in case settling time changes
 };
 
 #endif /* end of include guard: WBT_MINJERKTRAJGENERATOR_H */
diff --git a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
index 65832b2bd..2760a7624 100644
--- a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
+++ b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
@@ -1,6 +1,6 @@
 #include "MinimumJerkTrajectoryGenerator.h"
 
-#include "Error.h"
+#include "Log.h"
 #include "BlockInformation.h"
 #include "Signal.h"
 
@@ -13,48 +13,76 @@
 
 #include <cmath>
 
-#define PARAM_IDX_1 1 //Sample Time (double)
-#define PARAM_IDX_2 2 //Settling Time (double)
-#define PARAM_IDX_3 3 //Output first derivative (boolean)
-#define PARAM_IDX_4 4 //Output second derivative (boolean)
-#define PARAM_IDX_5 5 //Initial signal value as input (boolean)
-#define PARAM_IDX_6 6 //Control if the settling time comes from external port or static parameter
-#define PARAM_IDX_7 7 //True if the block should reset the traj generator in case settling time changes
-
 namespace wbt {
-    
-    std::string MinimumJerkTrajectoryGenerator::ClassName = "MinimumJerkTrajectoryGenerator";
+
+    const std::string MinimumJerkTrajectoryGenerator::ClassName = "MinimumJerkTrajectoryGenerator";
+
+    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_SAMPLE_TIME   = 1;
+    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_SETTLING_TIME = 2;
+    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_OUTPUT_1ST_DERIVATIVE = 3;
+    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_OUTPUT_2ND_DERIVATIVE = 4;
+    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_INITIAL_VALUE    = 5;
+    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_EXT_SETTLINGTIME = 6;
+    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_RESET_CHANGEST = 7;
 
     MinimumJerkTrajectoryGenerator::MinimumJerkTrajectoryGenerator()
-    : m_generator(0)
+    : m_generator(nullptr)
     , m_outputFirstDerivativeIndex(-1)
     , m_outputSecondDerivativeIndex(-1)
     , m_firstRun(true)
     , m_explicitInitialValue(false)
     , m_externalSettlingTime(false)
     , m_resetOnSettlingTimeChange(false)
-    , m_initialValues(0)
-    , m_reference(0) {}
-    
+    , m_initialValues(nullptr)
+    , m_reference(nullptr)
+    {}
+
     unsigned MinimumJerkTrajectoryGenerator::numberOfParameters() { return 7; }
 
-    bool MinimumJerkTrajectoryGenerator::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool MinimumJerkTrajectoryGenerator::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        bool outputFirstDerivative = blockInfo->getScalarParameterAtIndex(PARAM_IDX_3).booleanData();
-        bool outputSecondDerivative = blockInfo->getScalarParameterAtIndex(PARAM_IDX_4).booleanData();
-        bool explicitInitialValue = blockInfo->getScalarParameterAtIndex(PARAM_IDX_5).booleanData();
-        bool externalSettlingTime = blockInfo->getScalarParameterAtIndex(PARAM_IDX_6).booleanData();
+        // PARAMETERS
+        // ==========
+        //
+        // 1) Sample time (double)
+        // 2) Settling time (double)
+        // 3) Enable the output of 1st derivative (bool)
+        // 4) Enable the output of 2nd derivative (bool)
+        // 5) Enable the input with the initial conditions (bool)
+        // 6) Enable the input with the external settling time (bool)
+        // 7) Reset the trajectory generator when settling time changes (bool)
+        //
+
+        bool outputFirstDerivative;
+        bool outputSecondDerivative;
+        bool explicitInitialValue;
+        bool externalSettlingTime;
+        bool ok = true;
+
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE, outputFirstDerivative);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE, outputSecondDerivative);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, explicitInitialValue);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, externalSettlingTime);
+
+        if (!ok) {
+            Log::getSingleton().error("Failed to get input parameters.");
+            return false;
+        }
 
         int numberOfInputPorts = 1;
-        if (explicitInitialValue)
-            numberOfInputPorts++;
-        if (externalSettlingTime)
-            numberOfInputPorts++;
+        numberOfInputPorts += static_cast<unsigned>(explicitInitialValue);
+        numberOfInputPorts += static_cast<unsigned>(externalSettlingTime);
 
-        // Specify I/O
         // INPUTS
+        // ======
+        //
+        // 1) The reference signal (1xn)
+        // 2) The optional initial conditions
+        // 3) The optional settling time
+        //
+
         if(!blockInfo->setNumberOfInputPorts(numberOfInputPorts)) {
-            if (error) error->message = "Failed to set input port number";
+            Log::getSingleton().error("Failed to set input port number.");
             return false;
         }
 
@@ -69,20 +97,26 @@ namespace wbt {
             portIndex++;
         }
 
-        if (externalSettlingTime)
-        {
+        if (externalSettlingTime) {
             blockInfo->setInputPortVectorSize(portIndex, 1);
             blockInfo->setInputPortType(portIndex, PortDataTypeDouble);
             portIndex++;
         }
 
         // OUTPUTS
+        // =======
+        //
+        // 1) The calculated trajectory
+        // 2) The optional 1st derivative
+        // 3) The optional 2nd derivative
+        //
+
         int numberOfOutputPorts = 1;
-        if (outputFirstDerivative) numberOfOutputPorts++;
-        if (outputSecondDerivative) numberOfOutputPorts++;
+        numberOfOutputPorts += static_cast<unsigned>(outputFirstDerivative);
+        numberOfOutputPorts += static_cast<unsigned>(outputSecondDerivative);
 
-        if (!blockInfo->setNumberOfOuputPorts(numberOfOutputPorts)) {
-            if (error) error->message = "Failed to set output port number";
+        if (!blockInfo->setNumberOfOutputPorts(numberOfOutputPorts)) {
+            Log::getSingleton().error("Failed to set output port number.");
             return false;
         }
 
@@ -94,32 +128,50 @@ namespace wbt {
         return true;
     }
 
-    bool MinimumJerkTrajectoryGenerator::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool MinimumJerkTrajectoryGenerator::initialize(BlockInformation* blockInfo)
     {
-        //Save parameters
-        bool outputFirstDerivative = blockInfo->getScalarParameterAtIndex(PARAM_IDX_3).booleanData();
-        bool outputSecondDerivative = blockInfo->getScalarParameterAtIndex(PARAM_IDX_4).booleanData();
+        // Get the additional parameters
+        bool outputFirstDerivative;
+        bool outputSecondDerivative;
+        bool ok = true;
+
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE,
+                                                        outputFirstDerivative);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE,
+                                                        outputSecondDerivative);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, m_explicitInitialValue);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, m_externalSettlingTime);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_RESET_CHANGEST,
+                                                        m_resetOnSettlingTimeChange);
+
+        if (!ok) {
+            Log::getSingleton().error("Failed to get input parameters.");
+            return false;
+        }
+
+        if (outputFirstDerivative) {
+            m_outputFirstDerivativeIndex = 1;
+        }
 
-        if (outputFirstDerivative) m_outputFirstDerivativeIndex = 1;
         if (outputSecondDerivative) {
             m_outputSecondDerivativeIndex = outputFirstDerivative ? 2 : 1;
         }
 
-        double sampleTime = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1).doubleData();
-        double settlingTime = blockInfo->getScalarParameterAtIndex(PARAM_IDX_2).doubleData();
+        double sampleTime;
+        double settlingTime;
 
-        m_explicitInitialValue = blockInfo->getScalarParameterAtIndex(PARAM_IDX_5).booleanData();
-        m_externalSettlingTime = blockInfo->getScalarParameterAtIndex(PARAM_IDX_6).booleanData();
-        m_resetOnSettlingTimeChange = blockInfo->getScalarParameterAtIndex(PARAM_IDX_7).booleanData();
+        ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_SAMPLE_TIME, sampleTime);
+        ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_SETTLING_TIME, settlingTime);
 
-        unsigned size = blockInfo->getInputPortWidth(0);
+        unsigned signalSize = blockInfo->getInputPortWidth(0);
 
-        m_generator = new iCub::ctrl::minJerkTrajGen(size, sampleTime, settlingTime);
+        m_generator = new iCub::ctrl::minJerkTrajGen(signalSize, sampleTime, settlingTime);
         m_previousSettlingTime = settlingTime;
-        m_initialValues = new yarp::sig::Vector(size);
-        m_reference = new yarp::sig::Vector(size);
+        m_initialValues = new yarp::sig::Vector(signalSize);
+        m_reference = new yarp::sig::Vector(signalSize);
+
         if (!m_generator || !m_initialValues || !m_reference) {
-            if (error) error->message = "Could not allocate memory for trajectory generator";
+            Log::getSingleton().error("Could not allocate memory for trajectory generator.");
             return false;
         }
 
@@ -127,24 +179,24 @@ namespace wbt {
         return true;
     }
 
-    bool MinimumJerkTrajectoryGenerator::terminate(BlockInformation *blockInfo, wbt::Error *error) 
+    bool MinimumJerkTrajectoryGenerator::terminate(BlockInformation* blockInfo)
     {
         if (m_generator) {
             delete m_generator;
-            m_generator = 0;
+            m_generator = nullptr;
         }
         if (m_initialValues) {
             delete m_initialValues;
-            m_initialValues = 0;
+            m_initialValues = nullptr;
         }
         if (m_reference) {
             delete m_reference;
-            m_reference = 0;
+            m_reference = nullptr;
         }
         return true;
     }
-    
-    bool MinimumJerkTrajectoryGenerator::output(BlockInformation *blockInfo, wbt::Error *error) 
+
+    bool MinimumJerkTrajectoryGenerator::output(BlockInformation* blockInfo)
     {
         if (!m_generator) return false;
 
@@ -198,6 +250,7 @@ namespace wbt {
             Signal derivativeOutput = blockInfo->getOutputPortSignal(m_outputFirstDerivativeIndex);
             derivativeOutput.setBuffer(derivative.data(), blockInfo->getOutputPortWidth(m_outputFirstDerivativeIndex));
         }
+
         if (m_outputSecondDerivativeIndex != -1) {
             const yarp::sig::Vector &derivative = m_generator->getAcc();
             Signal derivativeOutput = blockInfo->getOutputPortSignal(m_outputSecondDerivativeIndex);

From c931213cffe5b515603b50151730494488a4a938 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:24:36 +0000
Subject: [PATCH 24/92] RealTimeSyncronizer refactored

---
 toolbox/include/RealTimeSynchronizer.h | 25 ++++++----
 toolbox/src/RealTimeSynchronizer.cpp   | 69 ++++++++++++++++----------
 2 files changed, 58 insertions(+), 36 deletions(-)

diff --git a/toolbox/include/RealTimeSynchronizer.h b/toolbox/include/RealTimeSynchronizer.h
index 3438d727f..5a2bc601d 100644
--- a/toolbox/include/RealTimeSynchronizer.h
+++ b/toolbox/include/RealTimeSynchronizer.h
@@ -7,24 +7,27 @@ namespace wbt {
     class RealTimeSynchronizer;
 }
 
-class wbt::RealTimeSynchronizer : public wbt::Block {
+class wbt::RealTimeSynchronizer : public wbt::Block
+{
 public:
-    static std::string ClassName;
-    
+    static const std::string ClassName;
+
     RealTimeSynchronizer();
-    virtual ~RealTimeSynchronizer();
-    
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-    
+    ~RealTimeSynchronizer() override = default;
+
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
+
 private:
     double m_period;
 
     double m_initialTime;
     unsigned long m_counter;
+
+    static const unsigned PARAM_PERIOD; // Period
 };
 
 #endif /* end of include guard: WBT_REALTIMESYNCHRONIZER_H */
diff --git a/toolbox/src/RealTimeSynchronizer.cpp b/toolbox/src/RealTimeSynchronizer.cpp
index 678350493..752674d44 100644
--- a/toolbox/src/RealTimeSynchronizer.cpp
+++ b/toolbox/src/RealTimeSynchronizer.cpp
@@ -1,69 +1,88 @@
 #include "RealTimeSynchronizer.h"
-#include "Error.h"
+#include "Log.h"
 #include "BlockInformation.h"
 
 #include <yarp/os/Time.h>
 
-#define PARAM_IDX_1 1                           // Period
-
 namespace wbt {
-    
-    std::string RealTimeSynchronizer::ClassName = "RealTimeSynchronizer";
+
+    const std::string RealTimeSynchronizer::ClassName = "RealTimeSynchronizer";
+
+    const unsigned RealTimeSynchronizer::PARAM_PERIOD = 1; // Period
 
     RealTimeSynchronizer::RealTimeSynchronizer()
     : m_period(0.01)
     , m_initialTime(0)
-    , m_counter(0) {}
+    , m_counter(0)
+    {}
 
-    RealTimeSynchronizer::~RealTimeSynchronizer() {}
-    
     unsigned RealTimeSynchronizer::numberOfParameters() { return 1; }
 
-    bool RealTimeSynchronizer::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool RealTimeSynchronizer::configureSizeAndPorts(BlockInformation* blockInfo)
     {
+        // INPUTS
+        // ======
+        //
+        // No inputs
+        //
+
         if (!blockInfo->setNumberOfInputPorts(0)) {
-            if (error) error->message = "Failed to set input port number to 0";
+            Log::getSingleton().error("Failed to set input port number to 0.");
             return false;
         }
-        
-        if (!blockInfo->setNumberOfOuputPorts(0)) {
-            if (error) error->message = "Failed to set output port number";
+
+        // OUTPUTS
+        // =======
+        //
+        // No outputs
+        //
+
+        if (!blockInfo->setNumberOfOutputPorts(0)) {
+            Log::getSingleton().error("Failed to set output port number.");
             return false;
         }
 
         return true;
     }
 
-    bool RealTimeSynchronizer::initialize(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool RealTimeSynchronizer::initialize(BlockInformation* blockInfo)
     {
-        m_period = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1).doubleData();
+        if (!blockInfo->getScalarParameterAtIndex(PARAM_PERIOD, m_period)) {
+            Log::getSingleton().error("Failed to get input parametes.");
+            return false;
+        }
+
+        if (m_period < 0) {
+            Log::getSingleton().error("Period must be greater than 0.");
+            return false;
+        }
+
         m_counter = 0;
-        return m_period > 0;
+        return true;
     }
-    
-    bool RealTimeSynchronizer::terminate(BlockInformation *blockInfo, wbt::Error */*error*/)
+
+    bool RealTimeSynchronizer::terminate(BlockInformation* blockInfo)
     {
         return true;
     }
-    
-    bool RealTimeSynchronizer::output(BlockInformation *blockInfo, wbt::Error */*error*/)
-    {
-        using namespace yarp::os;
 
+    bool RealTimeSynchronizer::output(BlockInformation* blockInfo)
+    {
         if (m_counter == 0) {
             m_initialTime = yarp::os::Time::now();
         }
 
         //read current time
         double currentTime = yarp::os::Time::now() - m_initialTime;
-        double desiredTime = m_counter * m_period;
+        double desiredTime = m_counter* m_period;
 
         double sleepPeriod = desiredTime - currentTime;
 
         //sleep for the remaining time
-        if (sleepPeriod > 0)
+        if (sleepPeriod > 0) {
             yarp::os::Time::delay(sleepPeriod);
-        
+        }
+
         m_counter++;
 
         return true;

From 0bc69bd31e400d7ce8801fb4bec39b025041f669 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 10 Nov 2017 14:39:46 +0000
Subject: [PATCH 25/92] SetLowLevelPID refactored

---
 toolbox/include/SetLowLevelPID.h |  70 +++---
 toolbox/include/base/toolbox.h   |   4 +-
 toolbox/src/SetLowLevelPID.cpp   | 373 ++++++++++++++-----------------
 toolbox/src/base/factory.cpp     |   7 +-
 4 files changed, 199 insertions(+), 255 deletions(-)

diff --git a/toolbox/include/SetLowLevelPID.h b/toolbox/include/SetLowLevelPID.h
index e0d154a27..ff781a885 100644
--- a/toolbox/include/SetLowLevelPID.h
+++ b/toolbox/include/SetLowLevelPID.h
@@ -1,65 +1,49 @@
 #ifndef WBT_SETLOWLEVELPID_H_
 #define WBT_SETLOWLEVELPID_H_
 
-#include "WBIBlock.h"
-#include <wbi/wbiConstants.h>
-#include <map>
+#include "WBBlock.h"
+#include <unordered_map>
+#include <yarp/dev/IPidControl.h>
 
 namespace wbt {
     class SetLowLevelPID;
-}
-
-namespace wbi {
-    class wholeBodyInterface;
-    class iWholeBodyActuators;
-}
-
-namespace yarpWbi {
-    class PIDList;
+    enum PidDataIndex {
+        PGAIN = 0,
+        IGAIN = 1,
+        DGAIN = 2
+    };
+    typedef std::tuple<double, double, double> PidData;
 }
 
 namespace yarp {
-    namespace os {
-        class Value;
+    namespace dev {
+        class Pid;
     }
 }
 
-typedef std::map<std::string, yarpWbi::PIDList> PidMap;
-
-class wbt::SetLowLevelPID : public wbt::WBIBlock {
+class wbt::SetLowLevelPID : public wbt::WBBlock
+{
+private:
+    std::vector<yarp::dev::Pid> m_appliedPidValues;
+    std::vector<yarp::dev::Pid> m_defaultPidValues;
+    std::unordered_map<std::string, PidData> m_pidJointsFromParameters;
 
-    bool m_firstRun;
-    PidMap m_pids;
-    int m_lastGainSetIndex;
-    wbi::ControlMode m_controlMode;
+    yarp::dev::PidControlTypeEnum m_controlType;
 
-    bool loadLowLevelGainsFromFile(std::string filename,
-                                   const yarpWbi::PIDList &originalList,
-                                   wbi::wholeBodyInterface& interface,
-                                   yarpWbi::PIDList &loadedPIDs);
-
-    bool loadGainsFromValue(const yarp::os::Value &gains,
-                            PidMap &pidMap,
-                            wbi::wholeBodyInterface& interface);
-
-    bool setCurrentGains(const PidMap &pidMap,
-                         std::string key,
-                         wbi::iWholeBodyActuators& actuators);
+    bool readWBTPidConfigObject(BlockInformation* blockInfo);
 
 public:
-    static std::string ClassName;
-    SetLowLevelPID();
+    static const std::string ClassName;
 
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
+    SetLowLevelPID() = default;
+    ~SetLowLevelPID() override = default;
 
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
-
-
 #endif /* end of include guard: WBT_SETLOWLEVELPID_H_ */
diff --git a/toolbox/include/base/toolbox.h b/toolbox/include/base/toolbox.h
index a1ff7505f..71a034c28 100644
--- a/toolbox/include/base/toolbox.h
+++ b/toolbox/include/base/toolbox.h
@@ -16,13 +16,11 @@
 #include "DotJNu.h"
 #include "GetLimits.h"
 #include "CentroidalMomentum.h"
+#include "SetLowLevelPID.h"
 #ifdef WBT_USES_ICUB
 #include "MinimumJerkTrajectoryGenerator.h"
 #endif
 #ifdef WBT_USES_IPOPT
 #include "InverseKinematics.h"
-#endif
 #include "RemoteInverseKinematics.h"
-#ifdef WBT_USES_CODYCO_COMMONS
-#include "SetLowLevelPID.h"
 #endif
diff --git a/toolbox/src/SetLowLevelPID.cpp b/toolbox/src/SetLowLevelPID.cpp
index b772cb742..9448b4eb0 100644
--- a/toolbox/src/SetLowLevelPID.cpp
+++ b/toolbox/src/SetLowLevelPID.cpp
@@ -1,275 +1,240 @@
 #include "SetLowLevelPID.h"
 
-#include "Error.h"
-#include "WBInterface.h"
+#include "Log.h"
+#include "RobotInterface.h"
 #include "BlockInformation.h"
-#include <yarpWholeBodyInterface/yarpWholeBodyInterface.h>
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <yarpWholeBodyInterface/PIDList.h>
-#include <wbi/wholeBodyInterface.h>
-#include <yarp/os/ResourceFinder.h>
-#include <map>
+#include <yarp/dev/ControlBoardPid.h>
+#include <algorithm>
 
 namespace wbt {
 
-    static const std::string TorquePIDInitialKey = "__ORIGINAL_PIDs__";
-    static const std::string TorquePIDDefaultKey = "__DEFAULT_PIDs__";
+    const std::string SetLowLevelPID::ClassName = "SetLowLevelPID";
 
-#pragma mark - SetLowLevelPID class implementation
-
-    std::string SetLowLevelPID::ClassName = "SetLowLevelPID";
+    unsigned SetLowLevelPID::numberOfParameters()
+    {
+        return WBBlock::numberOfParameters()
+        + 1  // WBTPIDConfig object
+        + 1; // Control type
+    }
 
-    SetLowLevelPID::SetLowLevelPID()
-    : m_firstRun(true)
-    , m_lastGainSetIndex(-1)
-    , m_controlMode(wbi::CTRL_MODE_TORQUE) {}
+    bool SetLowLevelPID::configureSizeAndPorts(BlockInformation* blockInfo)
+    {
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
+        // INPUTS
+        // ======
+        //
+        // No inputs
+        //
 
-    bool SetLowLevelPID::loadLowLevelGainsFromFile(std::string filename,
-                                                   const yarpWbi::PIDList &originalList,
-                                                   wbi::wholeBodyInterface& interface,
-                                                   yarpWbi::PIDList &loadedPIDs)
-    {
-        //List of list. Each element has a key: joint name, and a list of pairs: kp, kd, ki and its respective value
-        using namespace yarp::os;
-        yarp::os::ResourceFinder resourceFinder = yarp::os::ResourceFinder::getResourceFinderSingleton();
-        Property file;
-        std::string fileName = resourceFinder.findFileByName(filename);
-        if (fileName.empty()) return false;
-        file.fromConfigFile(fileName);
-
-        Bottle externalList;
-        externalList.fromString(file.toString());
-
-        bool result = true;
-        wbi::IDList jointList = interface.getJointList();
-        for (int i = 0; i < externalList.size(); ++i) {
-            if (!externalList.get(i).isList()) continue;
-            Bottle *jointConfig = externalList.get(i).asList();
-            if (jointConfig->size() < 2 || !jointConfig->get(0).isString()) continue;
-            wbi::ID jointID(jointConfig->get(0).asString());
-            int jointIndex = -1;
-            if (!jointList.idToIndex(jointID, jointIndex)) continue;
-            if (jointIndex < 0 || jointIndex >= jointList.size()) {
-                yWarning("Specified joint %s index is outside joint list size", jointID.toString().c_str());
-                continue;
-            }
+        if (!blockInfo->setNumberOfInputPorts(0)) {
+            Log::getSingleton().error("Failed to configure the number of input ports.");
+            return false;
+        }
 
-            loadedPIDs.pidList()[jointIndex] = originalList.pidList()[jointIndex];
-            loadedPIDs.motorParametersList()[jointIndex] = originalList.motorParametersList()[jointIndex];
+        // OUTPUTS
+        // =======
+        //
+        // No outputs
+        //
 
-            result = result && yarpWbi::pidFromBottleDescription(*jointConfig, loadedPIDs.pidList()[jointIndex]);
-            if (m_controlMode == wbi::CTRL_MODE_TORQUE) {
-                result = result && yarpWbi::motorTorqueParametersFromBottleDescription(*jointConfig, loadedPIDs.motorParametersList()[jointIndex]);
-            }
+        if (!blockInfo->setNumberOfOutputPorts(0)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
+            return false;
         }
-        return result;
+
+        return true;
     }
 
-    bool SetLowLevelPID::loadGainsFromValue(const yarp::os::Value &gains,
-                                            PidMap &pidMap,
-                                            wbi::wholeBodyInterface& interface)
+    bool SetLowLevelPID::readWBTPidConfigObject(BlockInformation* blockInfo)
     {
-        pidMap.clear();
-
-        yarpWbi::yarpWholeBodyInterface *yarpInterface = dynamic_cast<yarpWbi::yarpWholeBodyInterface *>(&interface);
-        if (!yarpInterface) {
+        AnyStruct s;
+        if (!blockInfo->getStructAtIndex(WBBlock::numberOfParameters() + 1, s)) {
+            Log::getSingleton().error("Failed to retrieve the struct with parameters.");
             return false;
         }
 
-        //Load original gains from controlboards and save them to the original key.
-        yarpWbi::PIDList originalGains(interface.getDoFs());
-        yarpWbi::yarpWholeBodyActuators *actuators = yarpInterface->wholeBodyActuator();
-        if (!actuators) {
+        // Check the existence of all the fields
+        try {
+            s.at("P");
+            s.at("I");
+            s.at("D");
+            s.at("jointList");
+        }
+        catch (const std::out_of_range& e) {
+            Log::getSingleton().error("Cannot retrieve one or more parameter from parameter's struct.");
             return false;
         }
-        //TODO: should be made not limited to torque
-        actuators->getPIDGains(originalGains.pidList(), wbi::CTRL_MODE_TORQUE);
-        actuators->getMotorTorqueParameters(originalGains.motorParametersList());
-        pidMap.insert(PidMap::value_type(TorquePIDInitialKey, originalGains));
-
-        //Now load additional gains
-        bool result = true;
-        if (gains.isString()) {
-            yarpWbi::PIDList pids(interface.getDoFs());
-            result = loadLowLevelGainsFromFile(gains.asString(), originalGains, interface, pids);
-            pidMap.insert(PidMap::value_type(TorquePIDDefaultKey, pids));
-        } else if (gains.isList()) {
-            using namespace yarp::os;
-            Bottle *list = gains.asList();
-
-            //list of files. gains will be saved as integer-values
-            for (int i = 0; i < list->size(); ++i) {
-                if (!list->get(i).isString()) continue;
-                std::string filename = list->get(i).asString();
-                yarpWbi::PIDList pids(interface.getDoFs());
-                result = loadLowLevelGainsFromFile(filename, originalGains, interface, pids);
-
-                if (result) {
-                    pidMap.insert(PidMap::value_type(yarpWbi::stringFromInt(i + 1), pids));
-                }
-            }
+
+        // Proportional gains
+        std::vector<double> Pvector;
+        if (!s["P"]->asVectorDouble(Pvector)) {
+            Log::getSingleton().error("Cannot retrieve vector from P parameter.");
+            return false;
         }
-        return result;
-    }
 
-    //TODO: for performance it is probably better to change the map so that the index is an integer
-    //i.e. a non continuous vector
-    bool SetLowLevelPID::setCurrentGains(const PidMap &pidMap,
-                                         std::string key,
-                                         wbi::iWholeBodyActuators& actuators)
-    {
-        yarpWbi::yarpWholeBodyActuators *yarpActuators = static_cast<yarpWbi::yarpWholeBodyActuators *>(&actuators);
-        if (!yarpActuators) return false;
+        // Integral gains
+        std::vector<double> Ivector;
+        if (!s["I"]->asVectorDouble(Ivector)) {
+            Log::getSingleton().error("Cannot retrieve vector from I parameter.");
+            return false;
+        }
 
-        PidMap::const_iterator found = pidMap.find(key);
-        //Treat one exception: pidMap with size == 2, the default can be set to either the string or the num 1
-        if (found == pidMap.end() && key == TorquePIDDefaultKey && pidMap.size() == 2) {
-            found = pidMap.find("1");
+        // Derivative gains
+        std::vector<double> Dvector;
+        if (!s["D"]->asVectorDouble(Dvector)) {
+            Log::getSingleton().error("Cannot retrieve vector from D parameter.");
+            return false;
         }
 
-        if (found == pidMap.end()) return false;
-        bool result = yarpActuators->setPIDGains(found->second.pidList(), m_controlMode); //to be made generic (torque, position, etc)
-        if (m_controlMode == wbi::CTRL_MODE_TORQUE) {
-            result = result && yarpActuators->setMotorTorqueParameters(found->second.motorParametersList());
+        // Considered joint names
+        AnyCell jointPidsCell;
+        if (!s["jointList"]->asAnyCell(jointPidsCell)) {
+            Log::getSingleton().error("Cannot retrieve string from jointList parameter.");
+            return false;
         }
-        return result;
-    }
 
-#pragma mark - overloaded methods
+        // From AnyCell to vector<string>
+        std::vector<std::string> jointNamesFromParameters;
+        for (auto cell: jointPidsCell) {
+            std::string joint;
+            if (!cell->asString(joint)) {
+                Log::getSingleton().error("Failed to convert jointList from cell to strings.");
+                return false;
+            }
+            jointNamesFromParameters.push_back(joint);
+        }
 
-    unsigned SetLowLevelPID::numberOfParameters()
-    {
-        return WBIBlock::numberOfParameters()
-        + 1 // pid parameters file
-        + 1;// control method
-    }
+        assert(Pvector.size() == Ivector.size() == Dvector.size() == jointNamesFromParameters.size());
 
-    bool SetLowLevelPID::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
+        // Store this data into a private member map
+        for (unsigned i = 0; i < jointNamesFromParameters.size(); ++i) {
+            // Check the processed joint is actually a controlledJoint
+            const auto& controlledJoints = getConfiguration().getControlledJoints();
+            auto findElement = std::find(std::begin(controlledJoints),
+                                         std::end(controlledJoints),
+                                         jointNamesFromParameters[i]);
+            if (findElement != std::end(controlledJoints)) {
+                m_pidJointsFromParameters[jointNamesFromParameters[i]] = {Pvector[i], Ivector[i], Dvector[i]};
+            }
+            else {
+                Log::getSingleton().warning("Attempted to set PID of joint " + jointNamesFromParameters[i] +
+                                            " non currently controlled. Skipping it.");
+            }
 
-        // Specify I/O
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            if (error) error->message = "Failed to configure the number of input ports";
-            return false;
         }
 
-        // Output port:
-        if (!blockInfo->setNumberOfOuputPorts(0)) {
-            if (error) error->message = "Failed to configure the number of output ports";
-            return false;
+        if (m_pidJointsFromParameters.size() != jointNamesFromParameters.size()) {
+            Log::getSingleton().warning("PID have been passed only for a subset of the controlled joints.");
         }
 
         return true;
     }
 
-    bool SetLowLevelPID::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool SetLowLevelPID::initialize(BlockInformation* blockInfo)
     {
-        using namespace yarp::os;
-        if (!WBIBlock::initialize(blockInfo, error)) return false;
+        if (!WBBlock::initialize(blockInfo)) return false;
 
         // Reading the control type
         std::string controlType;
-        if (!blockInfo->getStringParameterAtIndex(WBIBlock::numberOfParameters() + 2, controlType)) {
-            if (error) error->message = "Could not read control type parameter";
+        if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 2, controlType)) {
+            Log::getSingleton().error("Could not read control type parameter.");
             return false;
         }
 
-        m_controlMode = wbi::CTRL_MODE_UNKNOWN;
         if (controlType == "Position") {
-            m_controlMode = wbi::CTRL_MODE_POS;
-        } else if (controlType == "Torque") {
-            m_controlMode = wbi::CTRL_MODE_TORQUE;
-        } else {
-            if (error) error->message = "Control Mode not supported";
+            m_controlType = yarp::dev::VOCAB_PIDTYPE_POSITION;
+        }
+        else if (controlType == "Torque") {
+            m_controlType = yarp::dev::VOCAB_PIDTYPE_TORQUE;
+        }
+        else {
+            Log::getSingleton().error("Control type not recognized.");
             return false;
         }
 
+        // Reading the WBTPIDConfig matlab class
+        if (!readWBTPidConfigObject(blockInfo)) {
+            Log::getSingleton().error("Failed to parse the WBTPIDConfig object.");
+            return 1;
+        }
 
-        // Reading the PID specification parameter
-        std::string pidParameter;
-        if (!blockInfo->getStringParameterAtIndex(WBIBlock::numberOfParameters() + 1, pidParameter)) {
-            if (error) error->message = "Could not read PID file specification parameter";
+        // Retain the RemoteControlBoardRemapper
+        if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
+            Log::getSingleton().error("Failed to retain the control board remapper.");
             return false;
         }
 
-        Value value;
-        value.fromString(pidParameter.c_str());
-        m_pids.clear();
+        const unsigned& dofs = getConfiguration().getNumberOfDoFs();
 
-        yarpWbi::yarpWholeBodyInterface * const interface = dynamic_cast<yarpWbi::yarpWholeBodyInterface * const>(WBInterface::sharedInstance().interface());
-        if (!interface) {
-            if (error) error->message = "This block currently work only with YARP-WBI implementation";
+        // Initialize the vector size to the number of dofs
+        m_defaultPidValues.resize(dofs);
+
+        // Get the interface
+        std::weak_ptr<yarp::dev::IPidControl> iPidControl;
+        if (!getRobotInterface()->getInterface(iPidControl)) {
+            Log::getSingleton().error("Failed to get IPidControl interface.");
             return false;
         }
-        if (!loadGainsFromValue(value, m_pids, *interface)) {
-            m_pids.clear();
-            if (error) error->message = "Error while loading PIDs configuration";
-            yError("Error while loading PIDs configuration");
+
+        // Store the default gains
+        if (!iPidControl.lock()->getPids(m_controlType, m_defaultPidValues.data())) {
+            Log::getSingleton().error("Failed to get default data from IPidControl.");
             return false;
-        } else {
-            yInfo("Loaded PIDs configuration");
         }
-        m_lastGainSetIndex = -1;
 
-        m_firstRun = true;
-        return true;
-    }
+        // Initialize the vector of the applied pid gains with the default gains
+        m_appliedPidValues = m_defaultPidValues;
 
-    bool SetLowLevelPID::terminate(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        //static_cast as the dynamic has been done in the initialize
-        //and the pointer should not change
-        yarpWbi::yarpWholeBodyInterface * const interface = static_cast<yarpWbi::yarpWholeBodyInterface * const>(WBInterface::sharedInstance().interface());
-
-        if (interface) {
-            yarpWbi::yarpWholeBodyActuators *actuators = interface->wholeBodyActuator();
-            if (actuators && m_pids.size() > 1) {
-                setCurrentGains(m_pids, TorquePIDInitialKey, *actuators);
+        // Override the PID with the gains specified as block parameters
+        for (unsigned i = 0; i < dofs; ++i) {
+            const std::string jointName = getConfiguration().getControlledJoints()[i];
+            // If the pid has been passed, set the new gains
+            if (m_pidJointsFromParameters.find(jointName) != m_pidJointsFromParameters.end()) {
+                PidData gains = m_pidJointsFromParameters[jointName];
+                m_appliedPidValues[i].setKp(std::get<PGAIN>(gains));
+                m_appliedPidValues[i].setKi(std::get<IGAIN>(gains));
+                m_appliedPidValues[i].setKd(std::get<DGAIN>(gains));
             }
         }
 
-        m_pids.clear();
-        m_lastGainSetIndex = -1;
+        // Apply the new pid gains
+        if (!iPidControl.lock()->setPids(m_controlType, m_appliedPidValues.data())) {
+            Log::getSingleton().error("Failed to set PID values.");
+            return false;
+        }
 
-        return WBIBlock::terminate(blockInfo, error);
+        return true;
     }
 
-    bool SetLowLevelPID::output(BlockInformation *blockInfo, wbt::Error *error)
+    bool SetLowLevelPID::terminate(BlockInformation* blockInfo)
     {
-        //static_cast as the dynamic has been done in the initialize
-        //and the pointer should not change
-        yarpWbi::yarpWholeBodyInterface * const interface = static_cast<yarpWbi::yarpWholeBodyInterface * const>(WBInterface::sharedInstance().interface());
-        if (interface) {
-            if (m_firstRun) {
-                m_firstRun = false;
-
-                yarpWbi::yarpWholeBodyActuators *actuators = interface->wholeBodyActuator();
-                if (!actuators) {
-                    if (error) error->message = "Failed to retrieve the interface to the actuators";
-                    return false;
-                }
-
-                //First case: only one element
-                if (m_lastGainSetIndex == -1 && m_pids.size() == 2) {
-                    //just switch to the only existing set
-                    setCurrentGains(m_pids, TorquePIDDefaultKey, *actuators);
-                    m_lastGainSetIndex = 0;
-                } else {
-//                    InputPtrsType      u     = ssGetInputPortSignalPtrs(S, 0);
-//                    InputInt8PtrsType  uPtrs = (InputInt8PtrsType)u;
-//                    if (*uPtrs[0] != lastGainIndex) {
-//                        wbitoolbox::setCurrentGains(*pids, *uPtrs[0], *((yarpWbi::yarpWholeBodyInterface*)robot->wbInterface));
-//                        info[0] = *uPtrs[0];
-//                    }
-                }
+        bool ok = true;
 
-            }
-            return true;
+        // Get the IPidControl interface
+        std::weak_ptr<yarp::dev::IPidControl> iPidControl;
+        ok = ok & getRobotInterface()->getInterface(iPidControl);
+        if (!ok) {
+            Log::getSingleton().error("Failed to get IPidControl interface.");
+        }
+
+        // Reset default pid gains
+        ok = ok & iPidControl.lock()->setPids(m_controlType, m_defaultPidValues.data());
+        if (!ok) {
+            Log::getSingleton().error("Failed to set default PID values.");
         }
-        return false;
+
+        // Release the RemoteControlBoardRemapper
+        ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+        if (!ok) {
+            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
+        }
+
+        return ok && WBBlock::terminate(blockInfo);
+    }
+
+    bool SetLowLevelPID::output(BlockInformation* blockInfo)
+    {
+        return true;
     }
 }
diff --git a/toolbox/src/base/factory.cpp b/toolbox/src/base/factory.cpp
index 69a962e08..dcbe75d60 100644
--- a/toolbox/src/base/factory.cpp
+++ b/toolbox/src/base/factory.cpp
@@ -34,6 +34,8 @@ wbt::Block* wbt::Block::instantiateBlockWithClassName(std::string blockClassName
         block = new wbt::GetLimits();
     } else if (blockClassName == wbt::CentroidalMomentum::ClassName) {
         block = new wbt::CentroidalMomentum();
+    } else if (blockClassName == wbt::SetLowLevelPID::ClassName) {
+        block = new wbt::SetLowLevelPID();
     }
 #ifdef WBT_USES_ICUB
     else if (blockClassName == wbt::MinimumJerkTrajectoryGenerator::ClassName) {
@@ -48,11 +50,6 @@ wbt::Block* wbt::Block::instantiateBlockWithClassName(std::string blockClassName
     else if (blockClassName == wbt::RemoteInverseKinematics::ClassName) {
         block = new wbt::RemoteInverseKinematics();
     }
-#ifdef WBT_USES_CODYCO_COMMONS
-    else if (blockClassName == wbt::SetLowLevelPID::ClassName) {
-        block = new wbt::SetLowLevelPID();
-    }
-#endif
 
     
     return block;

From 0eada49c511af56815b6593eeb3b2cab9254b990 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:37:51 +0000
Subject: [PATCH 26/92] SetReferences refactored

---
 toolbox/include/SetReferences.h |  32 ++--
 toolbox/src/SetReferences.cpp   | 328 +++++++++++++++++++-------------
 2 files changed, 212 insertions(+), 148 deletions(-)

diff --git a/toolbox/include/SetReferences.h b/toolbox/include/SetReferences.h
index ca3e1465f..c7c4c2ed8 100644
--- a/toolbox/include/SetReferences.h
+++ b/toolbox/include/SetReferences.h
@@ -1,36 +1,32 @@
 #ifndef WBT_SETREFERENCES_H
 #define WBT_SETREFERENCES_H
 
-#include "WBIBlock.h"
-#include <wbi/wbiConstants.h>
+#include "WBBlock.h"
 #include <vector>
 
 namespace wbt {
     class SetReferences;
 }
 
-class wbt::SetReferences : public wbt::WBIBlock {
-
-    double *m_references;
-    wbi::ControlMode m_controlMode;
-    bool m_fullControl;
-    std::vector<int> m_controlledJoints;
+class wbt::SetReferences : public wbt::WBBlock
+{
+private:
+    std::vector<int> m_controlModes;
     bool m_resetControlMode;
+    static void rad2deg(std::vector<double>& v);
 
 public:
-    static std::string ClassName;
-    SetReferences();
-
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
+    static const std::string ClassName;
 
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initializeInitialConditions(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
+    SetReferences();
 
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
+    bool initialize(BlockInformation* blockInfo) override;
+    bool initializeInitialConditions(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
-
 #endif /* end of include guard: WBT_SETREFERENCES_H */
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 397bd6020..3858a55a5 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -1,206 +1,274 @@
 #include "SetReferences.h"
 
-#include "Error.h"
-#include "WBInterface.h"
+#include "Log.h"
 #include "BlockInformation.h"
 #include "Signal.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
+#include "RobotInterface.h"
+#include <yarp/dev/ControlBoardInterfaces.h>
 
-#include <iostream>
+#define _USE_MATH_DEFINES
+#include <cmath>
 
 namespace wbt {
 
-    std::string SetReferences::ClassName = "SetReferences";
+    const std::string SetReferences::ClassName = "SetReferences";
 
     SetReferences::SetReferences()
-    : m_references(0)
-    , m_controlMode(wbi::CTRL_MODE_UNKNOWN)
-    , m_fullControl(true)
-    , m_resetControlMode(true) {}
+    : m_resetControlMode(true)
+    {}
+
+    void rad2deg(std::vector<double>& v)
+    {
+        const double rad2deg = 180.0 / (2 * M_PI);
+        for (auto& element : v) {
+            element *= rad2deg;
+        }
+    }
 
     unsigned SetReferences::numberOfParameters()
     {
-        // 1 - Control Type
-        // 2 - Full/Sublist type
-        // 3 - (only if sublist) controlled joints
-        return WBIBlock::numberOfParameters() + 3;
+        return WBBlock::numberOfParameters() + 1;
     }
 
-    bool SetReferences::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool SetReferences::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
+        // Memory allocation / Saving data not allowed here
 
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // In Toolbox mask the options are the following:
-        // - 1 => full control
-        // - 2 => sublist control
-        m_fullControl = blockInfo->getScalarParameterAtIndex(WBIBlock::numberOfParameters() + 2).int32Data() == 1;
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        if (!m_fullControl) {
-            //sublist
-            std::string controlledList;
-            if (!blockInfo->getStringParameterAtIndex(WBIBlock::numberOfParameters() + 3, controlledList)) {
-                if (error) error->message = "Could not read control type parameter";
-                return false;
-            }
-            const yarp::os::Property * controlledListProperty = WBInterface::sharedInstance().currentConfiguration();
+        // INPUTS
+        // ======
+        //
+        // 1) Joint refereces (1xDoFs vector)
+        //
 
-            wbi::IDList idList;
-            WBInterface::wbdIDListFromConfigPropAndList(*controlledListProperty,
-                                                        controlledList, idList);
-            dofs = idList.size();
-        }
-
-        // Specify I/O
+        // Number of inputs
         if (!blockInfo->setNumberOfInputPorts(1)) {
-            if (error) error->message = "Failed to configure the number of input ports";
+            Log::getSingleton().error("Failed to configure the number of input ports.");
             return false;
         }
 
+        // Size and type
         bool success = blockInfo->setInputPortVectorSize(0, dofs);
         blockInfo->setInputPortType(0, PortDataTypeDouble);
 
         if (!success) {
-            if (error) error->message = "Failed to configure input ports";
+            Log::getSingleton().error("Failed to configure input ports.");
             return false;
         }
 
-        // Output port:
-        if (!blockInfo->setNumberOfOuputPorts(0)) {
-            if (error) error->message = "Failed to configure the number of output ports";
+        // OUTPUTS
+        // =======
+        //
+        // No outputs
+        //
+
+        if (!blockInfo->setNumberOfOutputPorts(0)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
             return false;
         }
 
         return true;
     }
 
-    bool SetReferences::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool SetReferences::initialize(BlockInformation* blockInfo)
     {
-        using namespace yarp::os;
-        if (!WBIBlock::initialize(blockInfo, error)) return false;
+        if (!WBBlock::initialize(blockInfo)) return false;
 
         // Reading the control type
         std::string controlType;
-        if (!blockInfo->getStringParameterAtIndex(WBIBlock::numberOfParameters() + 1, controlType)) {
-            if (error) error->message = "Could not read control type parameter";
+        if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1,
+                                                  controlType)) {
+            Log::getSingleton().error("Could not read control type parameter.");
             return false;
         }
 
-        m_controlMode = wbi::CTRL_MODE_UNKNOWN;
+        // Initialize the std::vectors
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+        m_controlModes.assign(dofs, VOCAB_CM_UNKNOWN);
+
+        // IControlMode.h
         if (controlType == "Position") {
-            m_controlMode = wbi::CTRL_MODE_POS;
-        } else if (controlType == "Position Direct") {
-            m_controlMode = wbi::CTRL_MODE_DIRECT_POSITION;
-        } else if (controlType == "Velocity") {
-            m_controlMode = wbi::CTRL_MODE_VEL;
-        } else if (controlType == "Torque") {
-            m_controlMode = wbi::CTRL_MODE_TORQUE;
-        } else if (controlType == "Open Loop") {
-            m_controlMode = wbi::CTRL_MODE_MOTOR_PWM;
-        } else {
-            if (error) error->message = "Control Mode not supported";
+            m_controlModes.assign(dofs, VOCAB_CM_POSITION);
+        }
+        else if (controlType == "Position Direct") {
+            m_controlModes.assign(dofs, VOCAB_CM_POSITION_DIRECT);
+        }
+        else if (controlType == "Velocity") {
+            m_controlModes.assign(dofs, VOCAB_CM_VELOCITY);
+        }
+        else if (controlType == "Torque") {
+            m_controlModes.assign(dofs, VOCAB_CM_TORQUE);
+        }
+        else if (controlType == "PWM") {
+            m_controlModes.assign(dofs, VOCAB_CM_PWM);
+        }
+        else if (controlType == "Current") {
+            m_controlModes.assign(dofs, VOCAB_CM_CURRENT);
+        }
+        else {
+            Log::getSingleton().error("Control Mode not supported.");
             return false;
         }
 
-        //Read if full or sublist control
-        m_fullControl = blockInfo->getScalarParameterAtIndex(WBIBlock::numberOfParameters() + 2).booleanData();
-
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        if (!m_fullControl) {
-            //sublist
-            std::string controlledList;
-            if (!blockInfo->getStringParameterAtIndex(WBIBlock::numberOfParameters() + 3, controlledList)) {
-                if (error) error->message = "Could not read control type parameter";
-                return false;
-            }
-            const yarp::os::Property * controlledListProperty = WBInterface::sharedInstance().currentConfiguration();
-
-            wbi::IDList idList;
-            bool result = WBInterface::wbdIDListFromConfigPropAndList(*controlledListProperty,
-                                                                      controlledList, idList);
-            wbi::IDList fullList = WBInterface::sharedInstance().interface()->getJointList();
-            m_controlledJoints.clear();
-            m_controlledJoints.reserve(idList.size());
-            if (result) {
-                for (int i = 0; i < idList.size(); i++) {
-                    int index;
-                    if (fullList.idToIndex(idList.at(i), index))
-                        m_controlledJoints.push_back(index);
-                    else
-                        std::cerr << "Joint " << idList.at(i).toString() << " not found\n";
-                }
-            }
-            dofs = idList.size();
+        // Retain the ControlBoardRemapper
+        if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
+            Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+            return false;
         }
-        m_references = new double[dofs];
 
         m_resetControlMode = true;
-        return m_references;
+        return true;
     }
 
-    bool SetReferences::terminate(BlockInformation *blockInfo, wbt::Error *error)
+    bool SetReferences::terminate(BlockInformation* blockInfo)
     {
-        wbi::wholeBodyInterface * const interface = WBInterface::sharedInstance().interface();
-        if (interface) {
-            if (m_fullControl) {
-                interface->setControlMode(wbi::CTRL_MODE_POS);
-            } else {
-                for (int i = 0; i < m_controlledJoints.size(); i++) {
-                    interface->setControlMode(wbi::CTRL_MODE_POS, 0, m_controlledJoints[i]);
-                }
-            }
+        using namespace yarp::dev;
+        bool ok = true;
+
+        // Get the interface
+        std::weak_ptr<IControlMode2> icmd2;
+        ok = ok & getRobotInterface()->getInterface(icmd2);
+        if (!ok) {
+            Log::getSingleton().error("Failed to get the IControlMode2 interface.");
         }
-        if (m_references) {
-            delete [] m_references;
-            m_references = 0;
+
+        // Set  all the controlledJoints VOCAB_CM_POSITION
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+        m_controlModes.assign(dofs, VOCAB_CM_POSITION);
+
+        ok = ok & icmd2.lock()->setControlModes(m_controlModes.data());
+        if (!ok) {
+            Log::getSingleton().error("Failed to set control mode.");
+        }
+
+        // Release the RemoteControlBoardRemapper
+        ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+        if (!ok) {
+            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
         }
-        return WBIBlock::terminate(blockInfo, error);
+
+        return ok && WBBlock::terminate(blockInfo);
     }
 
-    bool SetReferences::initializeInitialConditions(BlockInformation */*blockInfo*/, wbt::Error */*error*/)
+    bool SetReferences::initializeInitialConditions(BlockInformation* /*blockInfo*/)
     {
-        //Simply reset the variable m_resetControlMode
-        //It will be read at the first cycle of output
+        // Simply reset the variable m_resetControlMode.
+        // It will be read at the first cycle of output.
         m_resetControlMode = true;
         return true;
     }
 
-    bool SetReferences::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool SetReferences::output(BlockInformation* blockInfo)
     {
-        //get input
-        wbi::wholeBodyInterface * const interface = WBInterface::sharedInstance().interface();
-        if (!interface) return false;
-
-        Signal references = blockInfo->getInputPortSignal(0);
-        for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-            m_references[i] = references.get(i).doubleData();
-        }
+        using namespace yarp::dev;
 
+        // Set the control mode at the first run
         if (m_resetControlMode) {
             m_resetControlMode = false;
+            // Get the interface
+            std::weak_ptr<IControlMode2> icmd2;
+            if (!getRobotInterface()->getInterface(icmd2)) {
+                Log::getSingleton().error("Failed to get the IControlMode2 interface.");
+                return false;
+            }
+            // Set the control mode to all the controlledJoints
+            if (!icmd2.lock()->setControlModes(m_controlModes.data())) {
+                Log::getSingleton().error("Failed to set control mode.");
+                return false;
+            }
+        }
+
+        // Get the signal
+        Signal references = blockInfo->getInputPortSignal(0);
+        unsigned signalWidth = blockInfo->getInputPortWidth(0);
+        std::vector<double> referencesVector = references.getStdVector(signalWidth);
 
-            //now switch control mode
-            if (m_fullControl) {
-                interface->setControlMode(m_controlMode, m_references);
-            } else {
-                for (int i = 0; i < m_controlledJoints.size(); i++) {
-                    interface->setControlMode(m_controlMode, &m_references[i], m_controlledJoints[i]);
+        bool ok = false;
+        // TODO: here only the first element is checked
+        switch (m_controlModes.front()) {
+            case VOCAB_CM_UNKNOWN:
+                Log::getSingleton().error("Control mode has not been successfully set.");
+                return false;
+                break;
+            case VOCAB_CM_POSITION: {
+                // Get the interface
+                std::weak_ptr<IPositionControl> interface;
+                if (!getRobotInterface()->getInterface(interface)) {
+                    Log::getSingleton().error("Failed to get IPositionControl interface.");
+                    return false;
+                }
+                // Convert from rad to deg
+                rad2deg(referencesVector);
+                // Set the references
+                ok = interface.lock()->positionMove(referencesVector.data());
+                break;
+            }
+            case VOCAB_CM_POSITION_DIRECT: {
+                // Get the interface
+                std::weak_ptr<IPositionDirect> interface;
+                if (!getRobotInterface()->getInterface(interface)) {
+                    Log::getSingleton().error("Failed to get IPositionDirect interface.");
+                    return false;
+                }
+                // Convert from rad to deg
+                rad2deg(referencesVector);
+                // Set the references
+                ok = interface.lock()->setPositions(referencesVector.data());
+                break;
+            }
+            case VOCAB_CM_VELOCITY: {
+                // Get the interface
+                std::weak_ptr<IVelocityControl> interface;
+                if (!getRobotInterface()->getInterface(interface)) {
+                    Log::getSingleton().error("Failed to get IVelocityControl interface.");
+                    return false;
+                }
+                // Convert from rad to deg
+                rad2deg(referencesVector);
+                // Set the references
+                ok = interface.lock()->velocityMove(referencesVector.data());
+                break;
+            }
+            case VOCAB_CM_TORQUE: {
+                // Get the interface
+                std::weak_ptr<ITorqueControl> interface;
+                if (!getRobotInterface()->getInterface(interface)) {
+                    Log::getSingleton().error("Failed to get ITorqueControl interface.");
+                    return false;
                 }
+                ok = interface.lock()->setRefTorques(referencesVector.data());
+                break;
+            }
+            case VOCAB_CM_PWM: {
+                // Get the interface
+                std::weak_ptr<IPWMControl> interface;
+                if (!getRobotInterface()->getInterface(interface)) {
+                    Log::getSingleton().error("Failed to get IPWMControl interface.");
+                    return false;
+                }
+                ok = interface.lock()->setRefDutyCycles(referencesVector.data());
+                break;
+            }
+            case VOCAB_CM_CURRENT: {
+                // Get the interface
+                std::weak_ptr<ICurrentControl> interface;
+                if (!getRobotInterface()->getInterface(interface)) {
+                    Log::getSingleton().error("Failed to get ICurrentControl interface.");
+                    return false;
+                }
+                ok = interface.lock()->setRefCurrents(referencesVector.data());
+                break;
             }
-            return true;
         }
 
-        if (m_fullControl) {
-            interface->setControlReference(m_references);
-        } else {
-            for (int i = 0; i < m_controlledJoints.size(); i++) {
-                interface->setControlReference(&m_references[i], m_controlledJoints[i]);
-            }
+        if (!ok) {
+            Log::getSingleton().error("Failed to set references.");
+            return false;
         }
+
         return true;
     }
 }

From 520266f1097cdadf4f25ad21c5755a2ed30e23e7 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:39:05 +0000
Subject: [PATCH 27/92] SimulatorSynchronizer refactored

---
 toolbox/include/SimulatorSynchronizer.h | 26 +++++----
 toolbox/src/SimulatorSynchronizer.cpp   | 78 +++++++++++++++----------
 2 files changed, 61 insertions(+), 43 deletions(-)

diff --git a/toolbox/include/SimulatorSynchronizer.h b/toolbox/include/SimulatorSynchronizer.h
index 863fc6067..aa5c3eced 100644
--- a/toolbox/include/SimulatorSynchronizer.h
+++ b/toolbox/include/SimulatorSynchronizer.h
@@ -7,27 +7,31 @@ namespace wbt {
     class SimulatorSynchronizer;
 }
 
-class wbt::SimulatorSynchronizer : public wbt::Block {
+class wbt::SimulatorSynchronizer : public wbt::Block
+{
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
 
     SimulatorSynchronizer();
-    virtual ~SimulatorSynchronizer();
+    ~SimulatorSynchronizer() override = default;
 
-    virtual unsigned numberOfParameters();
-    virtual std::vector<std::string> additionalBlockOptions();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
+    unsigned numberOfParameters() override;
+    std::vector<std::string> additionalBlockOptions() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 
 private:
-
     double m_period;
     bool m_firstRun;
 
     struct RPCData;
-    RPCData *m_rpcData;
+    RPCData* m_rpcData;
+
+    static const unsigned PARAM_PERIOD;     // Period
+    static const unsigned PARAM_GZCLK_PORT; // Gazebo clock port
+    static const unsigned PARAM_RPC_PORT;   // RPC client port name
 };
 
 #endif /* end of include guard: WBT_SIMULATORSYNCHRONIZER_H */
diff --git a/toolbox/src/SimulatorSynchronizer.cpp b/toolbox/src/SimulatorSynchronizer.cpp
index 6ed88c3e4..741a48ad6 100644
--- a/toolbox/src/SimulatorSynchronizer.cpp
+++ b/toolbox/src/SimulatorSynchronizer.cpp
@@ -1,17 +1,12 @@
 #include "SimulatorSynchronizer.h"
-#include "Error.h"
+#include "Log.h"
 #include "BlockInformation.h"
+#include "thrift/ClockServer.h"
 
 #include <yarp/os/Network.h>
 #include <yarp/os/Port.h>
-#include <thrift/ClockServer.h>
 #include <cmath>
 
-#define PARAM_IDX_1 1                           // Period
-#define PARAM_IDX_2 2                           // Gazebo clock port
-#define PARAM_IDX_3 3                           // RPC client port name
-
-
 namespace wbt {
 
     struct SimulatorSynchronizer::RPCData
@@ -26,16 +21,19 @@ namespace wbt {
         yarp::os::Port clientPort;
         gazebo::ClockServer clockServer;
     };
-    
-    std::string SimulatorSynchronizer::ClassName = "SimulatorSynchronizer";
+
+    const std::string SimulatorSynchronizer::ClassName = "SimulatorSynchronizer";
+
+    const unsigned SimulatorSynchronizer::PARAM_PERIOD     = 1;
+    const unsigned SimulatorSynchronizer::PARAM_GZCLK_PORT = 2;
+    const unsigned SimulatorSynchronizer::PARAM_RPC_PORT   = 3;
 
     SimulatorSynchronizer::SimulatorSynchronizer()
     : m_period(0.01)
     , m_firstRun(true)
-    , m_rpcData(0) {}
+    , m_rpcData(0)
+    {}
 
-    SimulatorSynchronizer::~SimulatorSynchronizer() {}
-    
     unsigned SimulatorSynchronizer::numberOfParameters() { return 3; }
 
     std::vector<std::string> SimulatorSynchronizer::additionalBlockOptions()
@@ -43,43 +41,57 @@ namespace wbt {
         return std::vector<std::string>(1, wbt::BlockOptionPrioritizeOrder);
     }
 
-    bool SimulatorSynchronizer::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool SimulatorSynchronizer::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        // Specify I/O
         // INPUTS
+        // ======
+        //
+        // No inputs
+        //
+
         if (!blockInfo->setNumberOfInputPorts(0)) {
-            if (error) error->message = "Failed to set input port number to 0";
+            Log::getSingleton().error("Failed to set input port number to 0.");
             return false;
         }
 
-        if (!blockInfo->setNumberOfOuputPorts(0)) {
-            if (error) error->message = "Failed to set output port number";
+        // OUTPUT
+        // ======
+        //
+        // No outputs
+        //
+
+        if (!blockInfo->setNumberOfOutputPorts(0)) {
+            Log::getSingleton().error("Failed to set output port number.");
             return false;
         }
 
         return true;
     }
 
-    bool SimulatorSynchronizer::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool SimulatorSynchronizer::initialize(BlockInformation* blockInfo)
     {
-        m_period = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1).doubleData();
         std::string serverPortName;
         std::string clientPortName;
 
-        if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_2, serverPortName) || !blockInfo->getStringParameterAtIndex(PARAM_IDX_3, clientPortName)) {
-            if (error) error->message = "Error reading RPC parameters";
+        bool ok = true;
+        ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_PERIOD, m_period);
+        ok = ok & blockInfo->getStringParameterAtIndex(PARAM_GZCLK_PORT, serverPortName);
+        ok = ok & blockInfo->getStringParameterAtIndex(PARAM_RPC_PORT, clientPortName);
+
+        if (!ok) {
+            Log::getSingleton().error("Error reading RPC parameters.");
             return false;
         }
 
         yarp::os::Network::init();
         if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork()) {
-            if (error) error->message = "Error initializing Yarp network";
+            Log::getSingleton().error("Error initializing Yarp network.");
             return false;
         }
 
         m_rpcData = new struct RPCData();
         if (!m_rpcData) {
-            if (error) error->message = "Error creating RPC data structure";
+            Log::getSingleton().error("Error creating RPC data structure.");
             return false;
         }
 
@@ -90,32 +102,34 @@ namespace wbt {
 
         return true;
     }
-    
-    bool SimulatorSynchronizer::terminate(BlockInformation */*S*/, wbt::Error *error)
+
+    bool SimulatorSynchronizer::terminate(BlockInformation* /*S*/)
     {
         if (m_rpcData) {
             if (m_rpcData->clientPort.isOpen()) {
                 m_rpcData->clockServer.continueSimulation();
-                if (!yarp::os::Network::disconnect(m_rpcData->configuration.clientPortName, m_rpcData->configuration.serverPortName)) {
-                    if (error) error->message = "Error disconnecting from simulator clock server";
+                if (!yarp::os::Network::disconnect(m_rpcData->configuration.clientPortName,
+                                                   m_rpcData->configuration.serverPortName)) {
+                    Log::getSingleton().error("Error disconnecting from simulator clock server.");
                 }
                 m_rpcData->clientPort.close();
             }
             delete m_rpcData;
-            m_rpcData = 0;
+            m_rpcData = nullptr;
         }
         yarp::os::Network::fini();
         return true;
     }
 
-    bool SimulatorSynchronizer::output(BlockInformation */*S*/, wbt::Error *error)
+    bool SimulatorSynchronizer::output(BlockInformation* /*S*/)
     {
         if (m_firstRun) {
             m_firstRun = false;
 
-            if (!m_rpcData->clientPort.open(m_rpcData->configuration.clientPortName)
-                || !yarp::os::Network::connect(m_rpcData->configuration.clientPortName, m_rpcData->configuration.serverPortName)) {
-                if (error) error->message = "Error connecting to simulator clock server";
+            if (!m_rpcData->clientPort.open(m_rpcData->configuration.clientPortName) ||
+                !yarp::os::Network::connect(m_rpcData->configuration.clientPortName,
+                                            m_rpcData->configuration.serverPortName)) {
+                Log::getSingleton().error("Error connecting to simulator clock server.");
                 return false;
             }
 

From d23242cbfa8c7c63aa357186984d48a3d7c71731 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:39:44 +0000
Subject: [PATCH 28/92] YarpClock refactored

---
 toolbox/include/YarpClock.h | 16 ++++++++--------
 toolbox/src/YarpClock.cpp   | 36 +++++++++++++++++++++++-------------
 2 files changed, 31 insertions(+), 21 deletions(-)

diff --git a/toolbox/include/YarpClock.h b/toolbox/include/YarpClock.h
index 9d0e551e5..000229579 100644
--- a/toolbox/include/YarpClock.h
+++ b/toolbox/include/YarpClock.h
@@ -7,16 +7,16 @@ namespace wbt {
     class YarpClock;
 }
 
-class wbt::YarpClock : public wbt::Block {
+class wbt::YarpClock : public wbt::Block
+{
 public:
-    static std::string ClassName;
-
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
+    static const std::string ClassName;
 
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
 };
 
 #endif /* end of include guard: WBT_YARPCLOCK_H */
diff --git a/toolbox/src/YarpClock.cpp b/toolbox/src/YarpClock.cpp
index f20ba9b5b..b504287df 100644
--- a/toolbox/src/YarpClock.cpp
+++ b/toolbox/src/YarpClock.cpp
@@ -1,6 +1,6 @@
 #include "YarpClock.h"
 
-#include "Error.h"
+#include "Log.h"
 #include "BlockInformation.h"
 #include "Signal.h"
 
@@ -9,22 +9,31 @@
 
 namespace wbt {
 
-    std::string YarpClock::ClassName = "YarpClock";
+    const std::string YarpClock::ClassName = "YarpClock";
 
     unsigned YarpClock::numberOfParameters() { return 0; }
 
-    bool YarpClock::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool YarpClock::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        // Specify I/O
         // INPUTS
+        // ======
+        //
+        // No inputs
+        //
+
         if (!blockInfo->setNumberOfInputPorts(0)) {
-            if (error) error->message = "Failed to set input port number to 0";
+            Log::getSingleton().error("Failed to set input port number to 0.");
             return false;
         }
 
-        // OUTPUTS
-        if (!blockInfo->setNumberOfOuputPorts(1)) {
-            if (error) error->message = "Failed to set output port number";
+        // OUTPUT
+        // ======
+        //
+        // 1) The yarp time. In short, it streams yarp::os::Time::now().
+        //
+
+        if (!blockInfo->setNumberOfOutputPorts(1)) {
+            Log::getSingleton().error("Failed to set output port number.");
             return false;
         }
 
@@ -34,24 +43,25 @@ namespace wbt {
         return true;
     }
 
-    bool YarpClock::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool YarpClock::initialize(BlockInformation* blockInfo)
     {
         yarp::os::Network::init();
 
-        if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork(5.0)){
-            if (error) error->message = "YARP server wasn't found active!! \n";
+        if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork(5.0)) {
+            Log::getSingleton().error("YARP server wasn't found active!!");
             return false;
         }
 
         return true;
     }
-    bool YarpClock::terminate(BlockInformation */*S*/, wbt::Error */*error*/)
+
+    bool YarpClock::terminate(BlockInformation* /*S*/)
     {
         yarp::os::Network::fini();
         return true;
     }
 
-    bool YarpClock::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+    bool YarpClock::output(BlockInformation* blockInfo)
     {
         Signal signal = blockInfo->getOutputPortSignal(0);
         signal.set(0, yarp::os::Time::now());

From 525a62002670342302f73103d234d5e904551e3b Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:41:26 +0000
Subject: [PATCH 29/92] YarpRead refactored

---
 toolbox/include/YarpRead.h |  32 +++++----
 toolbox/src/YarpRead.cpp   | 133 ++++++++++++++++++++++++-------------
 2 files changed, 108 insertions(+), 57 deletions(-)

diff --git a/toolbox/include/YarpRead.h b/toolbox/include/YarpRead.h
index 14edd2564..bc79bcb61 100644
--- a/toolbox/include/YarpRead.h
+++ b/toolbox/include/YarpRead.h
@@ -17,25 +17,33 @@ namespace yarp {
     }
 }
 
-class wbt::YarpRead : public wbt::Block {
+class wbt::YarpRead : public wbt::Block
+{
 public:
-    static std::string ClassName;
-    
+    static const std::string ClassName;
+
     YarpRead();
-    
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-    
+
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
+
 private:
     bool m_autoconnect;
     bool m_blocking;
     bool m_shouldReadTimestamp;
     bool m_errorOnMissingPort;
-    
-    yarp::os::BufferedPort<yarp::sig::Vector> *m_port;
+
+    yarp::os::BufferedPort<yarp::sig::Vector>* m_port;
+
+    static const unsigned PARAM_IDX_PORTNAME; // port name
+    static const unsigned PARAM_IDX_PORTSIZE; // Size of the port you're reading
+    static const unsigned PARAM_IDX_WAITDATA; // boolean for blocking reading
+    static const unsigned PARAM_IDX_READ_TS;  // boolean to stream timestamp
+    static const unsigned PARAM_IDX_AUTOCONNECT; // Autoconnect boolean
+    static const unsigned PARAM_IDX_ERR_NO_PORT; // Error on missing port if autoconnect is on boolean
 };
 
 #endif /* end of include guard: WBT_YARPREAD_H */
diff --git a/toolbox/src/YarpRead.cpp b/toolbox/src/YarpRead.cpp
index 82fa279f4..5542b9a42 100644
--- a/toolbox/src/YarpRead.cpp
+++ b/toolbox/src/YarpRead.cpp
@@ -1,6 +1,6 @@
 #include "YarpRead.h"
 
-#include "Error.h"
+#include "Log.h"
 #include "BlockInformation.h"
 #include "Signal.h"
 
@@ -12,55 +12,79 @@
 #include <algorithm>
 #include <iostream>
 
-#define PARAM_IDX_1 1                           // port name
-#define PARAM_IDX_2 2                           // Size of the port you're reading
-#define PARAM_IDX_3 3                           // boolean for blocking reading
-#define PARAM_IDX_4 4                           // boolean to stream timestamp
-#define PARAM_IDX_5 5                           // Autoconnect boolean
-#define PARAM_IDX_6 6                           // Error on missing port if autoconnect is on boolean
-
 namespace wbt {
-    
-    std::string YarpRead::ClassName = "YarpRead";
+
+    const std::string YarpRead::ClassName = "YarpRead";
+
+    const unsigned YarpRead::PARAM_IDX_PORTNAME    = 1; // port name
+    const unsigned YarpRead::PARAM_IDX_PORTSIZE    = 2; // Size of the port you're reading
+    const unsigned YarpRead::PARAM_IDX_WAITDATA    = 3; // boolean for blocking reading
+    const unsigned YarpRead::PARAM_IDX_READ_TS     = 4; // boolean to stream timestamp
+    const unsigned YarpRead::PARAM_IDX_AUTOCONNECT = 5; // Autoconnect boolean
+    const unsigned YarpRead::PARAM_IDX_ERR_NO_PORT = 6; // Error on missing port if autoconnect is on boolean
 
     YarpRead::YarpRead()
     : m_autoconnect(false)
     , m_blocking(false)
     , m_shouldReadTimestamp(false)
     , m_errorOnMissingPort(true)
-    , m_port(0) {}
+    , m_port(0)
+    {}
 
     unsigned YarpRead::numberOfParameters() { return 6; }
 
-    bool YarpRead::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool YarpRead::configureSizeAndPorts(BlockInformation* blockInfo)
     {
-        // Specify I/O
         // INPUTS
+        // ======
+        //
+        // No inputs
+        //
+
         if (!blockInfo->setNumberOfInputPorts(0)) {
-            if (error) error->message = "Failed to set input port number to 0";
+            Log::getSingleton().error("Failed to set input port number to 0.");
             return false;
         }
-        
+
         // OUTPUTS
-        bool shouldReadTimestamp = blockInfo->getScalarParameterAtIndex(PARAM_IDX_4).booleanData();
-        int signalSize = blockInfo->getScalarParameterAtIndex(PARAM_IDX_2).int32Data();
-        bool autoconnect = blockInfo->getScalarParameterAtIndex(PARAM_IDX_5).booleanData();
+        // =======
+        //
+        // 1) Vector with the data read from the port (1 x signalSize)
+        // 2) Optional: Timestamp read from the port
+        // 3) Optional: If autoconnect is disabled, this output becomes 1 when data starts arriving
+        //              (and hence it means that the user connected manually the port)
+        //
+
+        bool shouldReadTimestamp;
+        bool autoconnect;
+        double signalSize;
+
+        bool ok = false;
+
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, shouldReadTimestamp);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, autoconnect);
+        ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_PORTSIZE, signalSize);
+
+        if (!ok) {
+            Log::getSingleton().error("Failed to read input parameters.");
+            return false;
+        }
 
         if (signalSize < 0) {
-            if (error) error->message = "Signal size must be non negative";
+            Log::getSingleton().error("Signal size must be non negative.");
             return false;
         }
 
         int numberOfOutputPorts = 1;
-        if (shouldReadTimestamp) numberOfOutputPorts++; //timestamp is the second port
-        if (!autoconnect) numberOfOutputPorts++; //!autoconnect => additional port with 1/0 depending on the connection status
+        numberOfOutputPorts += static_cast<unsigned>(shouldReadTimestamp); //timestamp is the second port
+        numberOfOutputPorts += static_cast<unsigned>(!autoconnect); //!autoconnect => additional port with 1/0 depending on the connection status
 
-        if (!blockInfo->setNumberOfOuputPorts(numberOfOutputPorts)) {
-            if (error) error->message = "Failed to set output port number";
+        if (!blockInfo->setNumberOfOutputPorts(numberOfOutputPorts)) {
+            Log::getSingleton().error("Failed to set output port number.");
             return false;
         }
 
-        blockInfo->setOutputPortVectorSize(0, signalSize);
+        blockInfo->setOutputPortVectorSize(0, static_cast<int>(signalSize));
         blockInfo->setOutputPortType(0, PortDataTypeDouble);
 
         int portIndex = 1;
@@ -77,76 +101,92 @@ namespace wbt {
         return true;
     }
 
-    bool YarpRead::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool YarpRead::initialize(BlockInformation* blockInfo)
     {
         using namespace yarp::os;
         using namespace yarp::sig;
 
         Network::init();
 
-        if (!Network::initialized() || !Network::checkNetwork(5.0)){
-            if (error) error->message = "YARP server wasn't found active!! \n";
+        if (!Network::initialized() || !Network::checkNetwork(5.0)) {
+            Log::getSingleton().error("YARP server wasn't found active!!");
             return false;
         }
 
-        m_shouldReadTimestamp = blockInfo->getScalarParameterAtIndex(PARAM_IDX_4).booleanData();
-        m_autoconnect = blockInfo->getScalarParameterAtIndex(PARAM_IDX_5).booleanData();
-        m_blocking = blockInfo->getScalarParameterAtIndex(PARAM_IDX_3).booleanData();
-        m_errorOnMissingPort = blockInfo->getScalarParameterAtIndex(PARAM_IDX_6).booleanData();
+        bool ok = true;
+
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, m_shouldReadTimestamp);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_WAITDATA, m_blocking);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT, m_errorOnMissingPort);
+
+        if (!ok) {
+            Log::getSingleton().error("Failed to read input parameters.");
+            return false;
+        }
 
         std::string portName;
-        if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_1, portName)) {
-            if (error) error->message = "Cannot retrieve string from port name parameter";
+        if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_PORTNAME, portName)) {
+            Log::getSingleton().error("Cannot retrieve string from port name parameter.");
             return false;
         }
 
         std::string sourcePortName;
         std::string destinationPortName;
 
+        // Autoconnect: the block opens a temporary input port ..., and it connects to an existing
+        //              port portName (which is streaming data).
         if (m_autoconnect) {
             sourcePortName = portName;
             destinationPortName = "...";
-        } else {
+        }
+        // Manual connection: the block opens an input port portName, and waits a manual connection to an
+        //                    output port.
+        else {
             destinationPortName = portName;
         }
 
         m_port = new BufferedPort<Vector>();
 
         if (!m_port || !m_port->open(destinationPortName)) {
-            if (error) error->message = "Error while opening yarp port";
+            Log::getSingleton().error("Error while opening yarp port.");
             return false;
         }
 
         if (m_autoconnect) {
             if (!Network::connect(sourcePortName, m_port->getName())) {
-                std::cerr << "Failed to connect " << sourcePortName << " to " << m_port->getName() << "\n";
+                Log::getSingleton().warning("Failed to connect " +
+                                            sourcePortName +
+                                            " to "
+                                            + m_port->getName());
                 if (m_errorOnMissingPort) {
-                    if (error) error->message = "ERROR connecting ports";
+                    Log::getSingleton().error("Failed connecting ports.");
                     return false;
                 }
             }
         }
         return true;
     }
-    bool YarpRead::terminate(BlockInformation */*S*/, wbt::Error */*error*/)
+
+    bool YarpRead::terminate(BlockInformation* /*blockInfo*/)
     {
         if (m_port) {
             m_port->close();
             delete m_port;
-            m_port = 0;
+            m_port = nullptr;
         }
         yarp::os::Network::fini();
         return true;
     }
-    
-    bool YarpRead::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+
+    bool YarpRead::output(BlockInformation* blockInfo)
     {
         int timeStampPortIndex = 1;
         int connectionStatusPortIndex = 1;
 
-        yarp::sig::Vector *v = m_port->read(m_blocking); // Read from the port.  Waits until data arrives.
-        if (v)
-        {
+        yarp::sig::Vector* v = m_port->read(m_blocking); // Read from the port.  Waits until data arrives.
+
+        if (v) {
             if (m_shouldReadTimestamp) {
                 connectionStatusPortIndex++;
                 yarp::os::Stamp timestamp;
@@ -155,9 +195,11 @@ namespace wbt {
                 Signal pY1 = blockInfo->getOutputPortSignal(timeStampPortIndex);
                 pY1.set(0, timestamp.getCount());
                 pY1.set(1, timestamp.getTime());
-
             }
+
             Signal signal = blockInfo->getOutputPortSignal(0);
+
+            // Crop the buffer if it exceeds the OutputPortWidth.
             signal.setBuffer(v->data(), std::min(blockInfo->getOutputPortWidth(0), (unsigned)v->size()));
 
             if (!m_autoconnect) {
@@ -170,6 +212,7 @@ namespace wbt {
                 //we set the port to zero again
             }
         }
+
         return true;
     }
 }

From 3ff628603e27845fd832bb04af6d1ec379c7b90e Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:43:00 +0000
Subject: [PATCH 30/92] YarpWrite refactored

---
 toolbox/include/YarpWrite.h | 27 ++++++-----
 toolbox/src/YarpWrite.cpp   | 93 +++++++++++++++++++++++++------------
 2 files changed, 79 insertions(+), 41 deletions(-)

diff --git a/toolbox/include/YarpWrite.h b/toolbox/include/YarpWrite.h
index b7ea198ce..807b774cd 100644
--- a/toolbox/include/YarpWrite.h
+++ b/toolbox/include/YarpWrite.h
@@ -17,24 +17,29 @@ namespace yarp {
     }
 }
 
-class wbt::YarpWrite : public wbt::Block {
+class wbt::YarpWrite : public wbt::Block
+{
 public:
-    static std::string ClassName;
-    
+    static const std::string ClassName;
+
     YarpWrite();
-    
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-    
+
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
+
 private:
     bool m_autoconnect;
     bool m_errorOnMissingPort;
 
     std::string m_destinationPortName;
-    yarp::os::BufferedPort<yarp::sig::Vector> *m_port;
+    yarp::os::BufferedPort<yarp::sig::Vector>* m_port;
+
+    static const unsigned PARAM_IDX_PORTNAME;    // Port name
+    static const unsigned PARAM_IDX_AUTOCONNECT; // Autoconnect boolean
+    static const unsigned PARAM_IDX_ERR_NO_PORT; // Error on missing port if autoconnect is true
 };
 
 #endif /* end of include guard: WBT_YARPWRITE_H */
diff --git a/toolbox/src/YarpWrite.cpp b/toolbox/src/YarpWrite.cpp
index a6f920c04..f557eccbb 100644
--- a/toolbox/src/YarpWrite.cpp
+++ b/toolbox/src/YarpWrite.cpp
@@ -1,6 +1,6 @@
 #include "YarpWrite.h"
 
-#include "Error.h"
+#include "Log.h"
 #include "BlockInformation.h"
 #include "Signal.h"
 
@@ -9,39 +9,53 @@
 #include <yarp/os/Stamp.h>
 #include <yarp/sig/Vector.h>
 
-#define PARAM_IDX_1 1                           // port name
-#define PARAM_IDX_2 2                           // Autoconnect boolean
-#define PARAM_IDX_3 3                           // Error on missing port if autoconnect is on boolean
-
 namespace wbt {
-    
-    std::string YarpWrite::ClassName = "YarpWrite";
+
+    const std::string YarpWrite::ClassName = "YarpWrite";
+
+    const unsigned YarpWrite::PARAM_IDX_PORTNAME    = 1; // Port name
+    const unsigned YarpWrite::PARAM_IDX_AUTOCONNECT = 2; // Autoconnect boolean
+    const unsigned YarpWrite::PARAM_IDX_ERR_NO_PORT = 3; // Error on missing port if autoconnect is true
 
     YarpWrite::YarpWrite()
     : m_autoconnect(false)
     , m_errorOnMissingPort(true)
     , m_destinationPortName("")
-    , m_port(0) {}
-    
+    , m_port(nullptr)
+    {}
+
     unsigned YarpWrite::numberOfParameters() { return 3; }
 
-    bool YarpWrite::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
+    bool YarpWrite::configureSizeAndPorts(BlockInformation* blockInfo)
     {
+        // INPUT
+        // =====
+        //
+        // 1) The signal to stream to the specified yarp port
+        //
+
         if (!blockInfo->setNumberOfInputPorts(1)) {
-            if (error) error->message = "Failed to set input port number to 0";
+            Log::getSingleton().error("Failed to set input port number to 0.");
             return false;
         }
         blockInfo->setInputPortVectorSize(0, -1);
         blockInfo->setInputPortType(0, PortDataTypeDouble);
 
-        if (!blockInfo->setNumberOfOuputPorts(0)) {
-            if (error) error->message = "Failed to set output port number";
+        // OUTPUT
+        // ======
+        //
+        // No outputs
+        //
+
+        if (!blockInfo->setNumberOfOutputPorts(0)) {
+            Log::getSingleton().error("Failed to set output port number.");
             return false;
         }
+
         return true;
     }
 
-    bool YarpWrite::initialize(BlockInformation *blockInfo, wbt::Error *error)
+    bool YarpWrite::initialize(BlockInformation* blockInfo)
     {
         using namespace yarp::os;
         using namespace yarp::sig;
@@ -49,70 +63,89 @@ namespace wbt {
         Network::init();
 
         if (!Network::initialized() || !Network::checkNetwork(5.0)){
-            if (error) error->message = "YARP server wasn't found active!! \n";
+            Log::getSingleton().error("YARP server wasn't found active!!");
             return false;
         }
 
-        m_autoconnect = blockInfo->getScalarParameterAtIndex(PARAM_IDX_2).booleanData();
-        m_errorOnMissingPort = blockInfo->getScalarParameterAtIndex(PARAM_IDX_3).booleanData();
+        bool ok = true;
+
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
+        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT,
+                                                        m_errorOnMissingPort);
+
+        if (!ok) {
+            Log::getSingleton().error("Failed to read input parameters.");
+            return false;
+        }
 
         std::string portParameter;
-        if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_1, portParameter)) {
-            if (error) error->message = "Error reading port name parameter";
+        if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_PORTNAME, portParameter)) {
+            Log::getSingleton().error("Error reading port name parameter.");
             return false;
         }
 
         std::string sourcePortName;
 
+        // Autoconnect: the block opens a temporary output port ..., and it connects to an existing
+        //              port portName (which will receive data).
         if (m_autoconnect) {
             sourcePortName = "...";
             m_destinationPortName = portParameter;
-        } else {
+        }
+        // Manual connection: the block opens an output port portName, and waits a manual connection to an
+        //                    input port.
+        else {
             sourcePortName = portParameter;
         }
 
         m_port = new BufferedPort<Vector>();
 
         if (!m_port || !m_port->open(sourcePortName)) {
-            if (error) error->message = "Error while opening yarp port";
+            Log::getSingleton().error("Error while opening yarp port.");
             return false;
         }
 
         if (m_autoconnect) {
             if (!Network::connect(m_port->getName(), m_destinationPortName)) {
+                Log::getSingleton().warning("Failed to connect " +
+                                            m_port->getName() +
+                                            " to " +
+                                            m_destinationPortName);
                 if (m_errorOnMissingPort) {
-                    if (error) error->message ="Failed to connect " + m_port->getName() + " to " + m_destinationPortName;
+                    Log::getSingleton().error("Failed connecting ports.");
                     return false;
                 }
             }
         }
 
-        //prepare the first object allocation
-        yarp::sig::Vector &outputVector = m_port->prepare();
+        // Initialize the size of the internal buffer handled by m_port
+        yarp::sig::Vector& outputVector = m_port->prepare();
         outputVector.resize(blockInfo->getInputPortWidth(0));
         return true;
     }
 
-    bool YarpWrite::terminate(BlockInformation */*S*/, wbt::Error */*error*/)
+    bool YarpWrite::terminate(BlockInformation* /*S*/)
     {
         if (m_port) {
-            if (m_autoconnect)
+            if (m_autoconnect) {
                 yarp::os::Network::disconnect(m_port->getName(), m_destinationPortName);
+            }
             m_port->close();
             delete m_port;
-            m_port = 0;
+            m_port = nullptr;
         }
         yarp::os::Network::fini();
         return true;
     }
-    
-    bool YarpWrite::output(BlockInformation *blockInfo, wbt::Error */*error*/)
+
+    bool YarpWrite::output(BlockInformation* blockInfo)
     {
         if (!m_port) return false;
-        yarp::sig::Vector &outputVector = m_port->prepare();
+        yarp::sig::Vector& outputVector = m_port->prepare();
         outputVector.resize(blockInfo->getInputPortWidth(0)); //this should be a no-op
 
         Signal signal = blockInfo->getInputPortSignal(0);
+
         for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
             outputVector[i] = signal.get(i).doubleData();
         }

From 0f36c3399635085221f34c6a7dbc0dd64a87aea4 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:47:46 +0000
Subject: [PATCH 31/92] GetEstimate refactored and renamed to GetMeasurement

---
 toolbox/CMakeLists.txt           |   4 +-
 toolbox/include/GetEstimate.h    |  31 ------
 toolbox/include/GetMeasurement.h |  38 +++++++
 toolbox/include/base/toolbox.h   |   2 +-
 toolbox/src/GetEstimate.cpp      | 106 ------------------
 toolbox/src/GetMeasurement.cpp   | 183 +++++++++++++++++++++++++++++++
 toolbox/src/base/factory.cpp     |   4 +-
 7 files changed, 226 insertions(+), 142 deletions(-)
 delete mode 100644 toolbox/include/GetEstimate.h
 create mode 100644 toolbox/include/GetMeasurement.h
 delete mode 100644 toolbox/src/GetEstimate.cpp
 create mode 100644 toolbox/src/GetMeasurement.cpp

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index d9fcf56eb..730222497 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -200,8 +200,8 @@ configure_block(BLOCK_NAME "Set Low-Level PIDs"
 configure_block(BLOCK_NAME "Get Estimate"
     GROUP "State"
     LIST_PREFIX WBT
-    SOURCES src/GetEstimate.cpp
-    HEADERS include/GetEstimate.h)
+    SOURCES src/GetMeasurement.cpp
+    HEADERS include/GetMeasurement.h)
 
 configure_block(BLOCK_NAME "Get Limits"
     GROUP "State"
diff --git a/toolbox/include/GetEstimate.h b/toolbox/include/GetEstimate.h
deleted file mode 100644
index a376d1484..000000000
--- a/toolbox/include/GetEstimate.h
+++ /dev/null
@@ -1,31 +0,0 @@
-#ifndef WBT_GETESTIMATE_H
-#define WBT_GETESTIMATE_H
-
-#include "WBIBlock.h"
-#include <wbi/wbiConstants.h>
-
-namespace wbt {
-    class GetEstimate;
-}
-
-class wbt::GetEstimate : public wbt::WBIBlock {
-
-    double *m_estimate;
-    wbi::EstimateType m_estimateType;
-    
-public:
-    static std::string ClassName;
-    GetEstimate();
-
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-
-
-};
-
-
-#endif /* end of include guard: WBT_GETESTIMATE_H */
diff --git a/toolbox/include/GetMeasurement.h b/toolbox/include/GetMeasurement.h
new file mode 100644
index 000000000..8673874f7
--- /dev/null
+++ b/toolbox/include/GetMeasurement.h
@@ -0,0 +1,38 @@
+#ifndef WBT_GETMEASUREMENT_H
+#define WBT_GETMEASUREMENT_H
+
+#include "WBBlock.h"
+
+namespace wbt {
+    class GetMeasurement;
+    enum EstimateType {
+        ESTIMATE_JOINT_POS,
+        ESTIMATE_JOINT_VEL,
+        ESTIMATE_JOINT_ACC,
+        ESTIMATE_JOINT_TORQUE
+    };
+}
+
+
+class wbt::GetMeasurement : public wbt::WBBlock
+{
+private:
+    std::vector<double> m_estimate;
+    wbt::EstimateType m_estimateType;
+    static void deg2rad(std::vector<double>& v);
+
+public:
+    static const std::string ClassName;
+
+    GetMeasurement() = default;
+    ~GetMeasurement() override = default;
+
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
+};
+
+#endif /* end of include guard: WBT_GETMEASUREMENT_H */
diff --git a/toolbox/include/base/toolbox.h b/toolbox/include/base/toolbox.h
index 71a034c28..fe4ea5680 100644
--- a/toolbox/include/base/toolbox.h
+++ b/toolbox/include/base/toolbox.h
@@ -11,7 +11,7 @@
 #include "RealTimeSynchronizer.h"
 #include "SimulatorSynchronizer.h"
 #include "Jacobian.h"
-#include "GetEstimate.h"
+#include "GetMeasurement.h"
 #include "InverseDynamics.h"
 #include "DotJNu.h"
 #include "GetLimits.h"
diff --git a/toolbox/src/GetEstimate.cpp b/toolbox/src/GetEstimate.cpp
deleted file mode 100644
index ec2ed17c9..000000000
--- a/toolbox/src/GetEstimate.cpp
+++ /dev/null
@@ -1,106 +0,0 @@
-#include "GetEstimate.h"
-
-#include "Error.h"
-#include "WBInterface.h"
-#include "BlockInformation.h"
-#include "Signal.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
-
-namespace wbt {
-
-    std::string GetEstimate::ClassName = "GetEstimate";
-
-    GetEstimate::GetEstimate()
-    : m_estimate(0)
-    , m_estimateType(wbi::ESTIMATE_JOINT_POS) {}
-
-    unsigned GetEstimate::numberOfParameters()
-    {
-        return WBIBlock::numberOfParameters() + 1;
-    }
-
-    bool GetEstimate::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
-
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            if (error) error->message = "Failed to configure the number of input ports";
-            return false;
-        }
-
-        // Output port:
-        // - DoFs vector with the information asked
-        if (!blockInfo->setNumberOfOuputPorts(1)) {
-            if (error) error->message = "Failed to configure the number of output ports";
-            return false;
-        }
-
-        bool success = blockInfo->setOutputPortVectorSize(0, dofs);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
-        if (!success) {
-            if (error) error->message = "Failed to configure output ports";
-            return false;
-        }
-
-
-        return true;
-    }
-
-    bool GetEstimate::initialize(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        using namespace yarp::os;
-        if (!WBIBlock::initialize(blockInfo, error)) return false;
-
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-        m_estimate = new double[dofs];
-
-        // Reading the control type
-        std::string informationType;
-        if (!blockInfo->getStringParameterAtIndex(WBIBlock::numberOfParameters() + 1, informationType)) {
-            if (error) error->message = "Could not read estimate type parameter";
-            return false;
-        }
-
-        if (informationType == "Joints Position") {
-            m_estimateType = wbi::ESTIMATE_JOINT_POS;
-        } else if (informationType == "Joints Velocity") {
-            m_estimateType = wbi::ESTIMATE_JOINT_VEL;
-        } else if (informationType == "Joints Acceleration") {
-            m_estimateType = wbi::ESTIMATE_JOINT_ACC;
-        } else if (informationType == "Joints Torque") {
-            m_estimateType = wbi::ESTIMATE_JOINT_TORQUE;
-        } else {
-            if (error) error->message = "Estimate not supported";
-            return false;
-        }
-        return m_estimate;
-    }
-
-    bool GetEstimate::terminate(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        if (m_estimate) {
-            delete [] m_estimate;
-            m_estimate = 0;
-        }
-        return WBIBlock::terminate(blockInfo, error);
-    }
-
-    bool GetEstimate::output(BlockInformation *blockInfo, wbt::Error */*error*/)
-    {
-        //get input
-        wbi::wholeBodyInterface * const interface = WBInterface::sharedInstance().interface();
-        if (interface) {
-            interface->getEstimates(m_estimateType, m_estimate);
-            Signal signal = blockInfo->getOutputPortSignal(0);
-            signal.setBuffer(m_estimate, blockInfo->getOutputPortWidth(0));
-
-            return true;
-        }
-        return false;
-    }
-}
diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
new file mode 100644
index 000000000..c0e0f01f6
--- /dev/null
+++ b/toolbox/src/GetMeasurement.cpp
@@ -0,0 +1,183 @@
+#include "GetMeasurement.h"
+
+#include "Log.h"
+#include "BlockInformation.h"
+#include "Signal.h"
+#include "RobotInterface.h"
+#include <yarp/dev/IEncoders.h>
+#include <yarp/dev/ITorqueControl.h>
+
+#define _USE_MATH_DEFINES
+#include <cmath>
+
+namespace wbt {
+
+    const std::string GetMeasurement::ClassName = "GetMeasurement";
+
+    void deg2rad(std::vector<double>& v)
+    {
+        const double deg2rad = (2 * M_PI) / 180.0;
+        for (auto& element : v) {
+            element *= deg2rad;
+        }
+    }
+
+    unsigned GetMeasurement::numberOfParameters()
+    {
+        return WBBlock::numberOfParameters() + 1;
+    }
+
+    bool GetMeasurement::configureSizeAndPorts(BlockInformation* blockInfo)
+    {
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+
+        // INPUTS
+        // ======
+        //
+        // No inputs
+        //
+
+        if (!blockInfo->setNumberOfInputPorts(0)) {
+            Log::getSingleton().error("Failed to configure the number of input ports.");
+            return false;
+        }
+
+        // OUTPUTS
+        // =======
+        //
+        // 1) Vector with the information asked (1xDoFs)
+        //
+
+        if (!blockInfo->setNumberOfOutputPorts(1)) {
+            Log::getSingleton().error("Failed to configure the number of output ports.");
+            return false;
+        }
+
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+        bool success = blockInfo->setOutputPortVectorSize(0, dofs);
+        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+        if (!success) {
+            Log::getSingleton().error("Failed to configure output ports.");
+            return false;
+        }
+
+        return true;
+    }
+
+    bool GetMeasurement::initialize(BlockInformation* blockInfo)
+    {
+        if (!WBBlock::initialize(blockInfo)) return false;
+
+        // Reading the control type
+        std::string informationType;
+        if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1, informationType)) {
+            Log::getSingleton().error("Could not read estimate type parameter.");
+            return false;
+        }
+
+        if (informationType == "Joints Position") {
+            m_estimateType = wbt::ESTIMATE_JOINT_POS;
+        } else if (informationType == "Joints Velocity") {
+            m_estimateType = wbt::ESTIMATE_JOINT_VEL;
+        } else if (informationType == "Joints Acceleration") {
+            m_estimateType = wbt::ESTIMATE_JOINT_ACC;
+        } else if (informationType == "Joints Torque") {
+            m_estimateType = wbt::ESTIMATE_JOINT_TORQUE;
+        } else {
+            Log::getSingleton().error("Estimate not supported.");
+            return false;
+        }
+
+        // Initialize the size of the output vector
+        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+        m_estimate.reserve(dofs);
+
+        // Retain the ControlBoardRemapper
+        if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
+            Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+            return false;
+        }
+
+        return true;
+    }
+
+    bool GetMeasurement::terminate(BlockInformation* blockInfo)
+    {
+        // Release the RemoteControlBoardRemapper
+        bool ok = true;
+        ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+        if (!ok) {
+            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
+        }
+
+        return ok && WBBlock::terminate(blockInfo);
+    }
+
+    bool GetMeasurement::output(BlockInformation* blockInfo)
+    {
+        bool ok;
+        switch (m_estimateType) {
+            case ESTIMATE_JOINT_POS: {
+                // Get the interface
+                std::weak_ptr<yarp::dev::IEncoders> iEncoders;
+                if (!getRobotInterface()->getInterface(iEncoders)) {
+                    Log::getSingleton().error("Failed to get IPidControl interface.");
+                    return false;
+                }
+                // Get the measurement
+                ok = iEncoders.lock()->getEncoders(m_estimate.data());
+                deg2rad(m_estimate);
+                break;
+            }
+            case ESTIMATE_JOINT_VEL: {
+                // Get the interface
+                std::weak_ptr<yarp::dev::IEncoders> iEncoders;
+                if (!getRobotInterface()->getInterface(iEncoders)) {
+                    Log::getSingleton().error("Failed to get IEncoders interface.");
+                    return false;
+                }
+                // Get the measurement
+                ok = iEncoders.lock()->getEncoderSpeeds(m_estimate.data());
+                deg2rad(m_estimate);
+                break;
+            }
+            case ESTIMATE_JOINT_ACC: {
+                // Get the interface
+                std::weak_ptr<yarp::dev::IEncoders> iEncoders;
+                if (!getRobotInterface()->getInterface(iEncoders)) {
+                    Log::getSingleton().error("Failed to get IEncoders interface.");
+                    return false;
+                }
+                // Get the measurement
+                ok = iEncoders.lock()->getEncoderAccelerations(m_estimate.data());
+                deg2rad(m_estimate);
+                break;
+            }
+            case ESTIMATE_JOINT_TORQUE: {
+                // Get the interface
+                std::weak_ptr<yarp::dev::ITorqueControl> iTorqueControl;
+                if (!getRobotInterface()->getInterface(iTorqueControl)) {
+                    Log::getSingleton().error("Failed to get ITorqueControl interface.");
+                    return false;
+                }
+                // Get the measurement
+                ok = iTorqueControl.lock()->getTorques(m_estimate.data());
+                break;
+            }
+            default:
+                Log::getSingleton().error("Estimate type not recognized.");
+                return false;
+        }
+
+        if (!ok) {
+            Log::getSingleton().error("Failed to get estimate.");
+            return false;
+        }
+
+        Signal signal = blockInfo->getOutputPortSignal(0);
+        signal.setBuffer(m_estimate.data(), blockInfo->getOutputPortWidth(0));
+
+        return true;
+    }
+}
diff --git a/toolbox/src/base/factory.cpp b/toolbox/src/base/factory.cpp
index dcbe75d60..0320676bc 100644
--- a/toolbox/src/base/factory.cpp
+++ b/toolbox/src/base/factory.cpp
@@ -24,8 +24,8 @@ wbt::Block* wbt::Block::instantiateBlockWithClassName(std::string blockClassName
         block = new wbt::SimulatorSynchronizer();
     } else if (blockClassName == wbt::Jacobian::ClassName) {
         block = new wbt::Jacobian();
-    } else if (blockClassName == wbt::GetEstimate::ClassName) {
-        block = new wbt::GetEstimate();
+    } else if (blockClassName == wbt::GetMeasurement::ClassName) {
+        block = new wbt::GetMeasurement();
     } else if (blockClassName == wbt::InverseDynamics::ClassName) {
         block = new wbt::InverseDynamics();
     } else if (blockClassName == wbt::DotJNu::ClassName) {

From 028dbd603947979aded515f44cfa3bed1b41903c Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:55:03 +0000
Subject: [PATCH 32/92] YARPWBIConverter refactored and renamed to
 ModelPartitioner

---
 toolbox/CMakeLists.txt             |   6 +-
 toolbox/include/ModelPartitioner.h |  33 ++++
 toolbox/include/YARPWBIConverter.h |  29 ----
 toolbox/include/base/toolbox.h     |   2 +-
 toolbox/src/ModelPartitioner.cpp   | 197 +++++++++++++++++++++
 toolbox/src/YARPWBIConverter.cpp   | 268 -----------------------------
 toolbox/src/base/factory.cpp       |   4 +-
 7 files changed, 236 insertions(+), 303 deletions(-)
 create mode 100644 toolbox/include/ModelPartitioner.h
 delete mode 100644 toolbox/include/YARPWBIConverter.h
 create mode 100644 toolbox/src/ModelPartitioner.cpp
 delete mode 100644 toolbox/src/YARPWBIConverter.cpp

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 730222497..99625ae0d 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -131,11 +131,11 @@ configure_block(BLOCK_NAME "Real Time Synchronizer"
     SOURCES src/RealTimeSynchronizer.cpp
     HEADERS include/RealTimeSynchronizer.h)
 
-configure_block(BLOCK_NAME "YARP - WBI Converter"
+configure_block(BLOCK_NAME "Model Partitioner"
     GROUP "Utilities"
     LIST_PREFIX WBT
-    SOURCES src/YARPWBIConverter.cpp
-    HEADERS include/YARPWBIConverter.h)
+    SOURCES src/ModelPartitioner.cpp
+    HEADERS include/ModelPartitioner.h)
 
 configure_block(BLOCK_NAME "Yarp Clock"
     GROUP "Utilities"
diff --git a/toolbox/include/ModelPartitioner.h b/toolbox/include/ModelPartitioner.h
new file mode 100644
index 000000000..929da6c7e
--- /dev/null
+++ b/toolbox/include/ModelPartitioner.h
@@ -0,0 +1,33 @@
+#ifndef WBT_MODELPARTITIONER_H
+#define WBT_MODELPARTITIONER_H
+
+#include "WBBlock.h"
+#include "RobotInterface.h"
+#include <vector>
+#include <memory>
+
+namespace wbt {
+    class ModelPartitioner;
+}
+
+class wbt::ModelPartitioner : public wbt::WBBlock
+{
+private:
+    bool m_yarp2WBI;
+
+    std::shared_ptr<JointsMapString> m_jointsMapString;
+
+public:
+    static const std::string ClassName;
+    ModelPartitioner() = default;
+    ~ModelPartitioner() override = default;
+
+    unsigned numberOfParameters() override;
+
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(BlockInformation* blockInfo) override;
+    bool terminate(BlockInformation* blockInfo) override;
+    bool output(BlockInformation* blockInfo) override;
+};
+
+#endif /* end of include guard: WBT_MODELPARTITIONER_H */
diff --git a/toolbox/include/YARPWBIConverter.h b/toolbox/include/YARPWBIConverter.h
deleted file mode 100644
index 37f334057..000000000
--- a/toolbox/include/YARPWBIConverter.h
+++ /dev/null
@@ -1,29 +0,0 @@
-#ifndef WBT_YARP2DOFS_H
-#define WBT_YARP2DOFS_H
-
-#include "WBIModelBlock.h"
-
-namespace wbt {
-    class YARPWBIConverter;
-}
-
-class wbt::YARPWBIConverter : public wbt::WBIModelBlock {
-
-    struct YARPWBIConverterPimpl;
-    YARPWBIConverterPimpl *m_pimpl;
-
-public:
-    static std::string ClassName;
-    YARPWBIConverter();
-
-    virtual unsigned numberOfParameters();
-
-    virtual bool configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool initialize(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool output(BlockInformation *blockInfo, wbt::Error *error);
-
-};
-
-
-#endif /* end of include guard: WBT_YARP2DOFS_H */
diff --git a/toolbox/include/base/toolbox.h b/toolbox/include/base/toolbox.h
index fe4ea5680..cc0750e51 100644
--- a/toolbox/include/base/toolbox.h
+++ b/toolbox/include/base/toolbox.h
@@ -2,7 +2,7 @@
 //General Yarp utilities
 #include "YarpRead.h"
 #include "YarpWrite.h"
-#include "YARPWBIConverter.h"
+#include "ModelPartitioner.h"
 #include "YarpClock.h"
 //WBI-related stuff
 #include "MassMatrix.h"
diff --git a/toolbox/src/ModelPartitioner.cpp b/toolbox/src/ModelPartitioner.cpp
new file mode 100644
index 000000000..bedee09c9
--- /dev/null
+++ b/toolbox/src/ModelPartitioner.cpp
@@ -0,0 +1,197 @@
+#include "ModelPartitioner.h"
+
+#include "BlockInformation.h"
+#include "Configuration.h"
+#include "RobotInterface.h"
+#include "Signal.h"
+#include "Log.h"
+
+namespace wbt {
+
+    const std::string ModelPartitioner::ClassName = "ModelPartitioner";
+
+    unsigned ModelPartitioner::numberOfParameters()
+    {
+        return 1;
+    }
+
+    bool ModelPartitioner::configureSizeAndPorts(BlockInformation* blockInfo)
+    {
+        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+
+        // PARAMETERS
+        // ==========
+        //
+        // 1) Boolean specifying if yarp2WBI (true) or WBI2yarp (false)
+        //
+
+        bool yarp2WBI;
+        if (!blockInfo->getBooleanParameterAtIndex(1, yarp2WBI)) {
+            Log::getSingleton().error("Failed to get input parameters.");
+            return false;
+        }
+
+        // TODO: update to new logic
+        // INPUTS
+        // ======
+        //
+        // yarp2WBI
+        // --------
+        //
+        // 1) Map of joints / control boards (1 x nJoints)
+        // 2) Vector containing the full set of robot's joints (1 x nJoints)
+        //
+        // WBI2yarp
+        // --------
+        //
+        // 1) Map of joints / control boards (1 x nJoints)
+        // 2) Torso     Control Board Signals
+        // 3) Head      Control Board Signals
+        // 4) Left  Arm Control Board Signals
+        // 5) Right Arm Control Board Signals
+        // 6) Left  Leg Control Board Signals
+        // 7) Right Leg Control Board Signals
+        //
+
+        bool ok;
+        unsigned numberOfInputs;
+        unsigned controlBoardsNumber = getConfiguration().getControlBoardsNames().size();
+
+        if (yarp2WBI) {
+            numberOfInputs = 1;
+            ok = blockInfo->setNumberOfInputPorts(numberOfInputs);
+            blockInfo->setInputPortVectorSize(0, getConfiguration().getNumberOfDoFs());
+        }
+        else {
+            numberOfInputs = controlBoardsNumber;
+            ok = blockInfo->setNumberOfInputPorts(numberOfInputs);
+            // Set the size as dynamic
+            for (unsigned i = 0; i < numberOfInputs; ++i) {
+                blockInfo->setInputPortType(i, PortDataTypeDouble);
+            }
+        }
+
+        if (!ok) {
+            Log::getSingleton().error("Failed to set input port number.");
+            return false;
+        }
+
+
+        // TODO: update
+        // OUTPUTS
+        // =======
+        //
+        // yarp2WBI
+        // --------
+        //
+        // 1) Torso     Control Board Signals
+        // 2) Head      Control Board Signals
+        // 3) Left  Arm Control Board Signals
+        // 4) Right Arm Control Board Signals
+        // 5) Left  Leg Control Board Signals
+        // 6) Right Leg Control Board Signals
+        //
+        // WBI2yarp
+        // --------
+        //
+        // 1) Vector containing the full set of robot's joints (1 x nJoints)
+        //
+
+        unsigned numberOfOutputs;
+
+        if (yarp2WBI) {
+            numberOfOutputs = controlBoardsNumber;
+            ok = blockInfo->setNumberOfOutputPorts(numberOfOutputs);
+            // Set the size as dynamic
+            for (unsigned i = 0; i < numberOfOutputs; ++i) {
+                blockInfo->setOutputPortVectorSize(i, -1);
+                blockInfo->setOutputPortType(i, PortDataTypeDouble);
+            }
+        }
+        else {
+            numberOfOutputs = 1;
+            ok = blockInfo->setNumberOfOutputPorts(numberOfOutputs);
+            blockInfo->setOutputPortVectorSize(0, getConfiguration().getNumberOfDoFs());
+            blockInfo->setOutputPortType(0, PortDataTypeDouble);
+        }
+
+        if (!ok) {
+            Log::getSingleton().error("Failed to set output port number.");
+            return false;
+        }
+
+        return true;
+    }
+
+    bool ModelPartitioner::initialize(BlockInformation* blockInfo)
+    {
+        if (!WBBlock::initialize(blockInfo)) return false;
+
+        if (!blockInfo->getBooleanParameterAtIndex(1, m_yarp2WBI)) {
+            Log::getSingleton().error("Failed to get input parameters.");
+            return false;
+        }
+
+        m_jointsMapString = getRobotInterface()->getJointsMapString();
+
+        if (!m_jointsMapString) {
+            return false;
+        }
+
+        return true;
+    }
+
+    bool ModelPartitioner::terminate(BlockInformation* blockInfo)
+    {
+        return WBBlock::terminate(blockInfo);
+    }
+
+    bool ModelPartitioner::output(BlockInformation* blockInfo)
+    {
+        if (m_yarp2WBI) {
+            // Input
+            Signal jointListSignal = blockInfo->getInputPortSignal(0);
+
+            // Outputs
+            Signal ithControlBoardSignal;
+
+            for (unsigned ithJoint = 0; ithJoint < blockInfo->getInputPortWidth(0); ++ithJoint) {
+                // Get the ControlBoard number the ith joint belongs, and its index into the CB itself
+                std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
+                const auto& mappedJointInfos = m_jointsMapString->at(ithJointName);
+                cb_idx controlBoardOfJoint = mappedJointInfos.first;
+                jointIdx_yarp yarpIndexOfJoint = mappedJointInfos.second;
+
+                // Get the data to forward
+                Data value = jointListSignal.get(ithJoint);
+
+                // Forward the value to the correct output / output index
+                ithControlBoardSignal = blockInfo->getOutputPortSignal(controlBoardOfJoint);
+                ithControlBoardSignal.set(yarpIndexOfJoint, value.doubleData());
+            }
+        }
+        else {
+            // Inputs
+            Signal ithControlBoardSignal;
+
+            // Output
+            Signal jointListSignal = blockInfo->getOutputPortSignal(0);
+
+            for (unsigned ithJoint = 0; ithJoint < blockInfo->getOutputPortWidth(0); ++ithJoint) {
+                // Get the ControlBoard number the ith joint belongs, and its index into the CB itself
+                std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
+                const auto& mappedJointInfos = m_jointsMapString->at(ithJointName);
+                cb_idx controlBoardOfJoint = mappedJointInfos.first;
+                jointIdx_yarp yarpIndexOfJoint = mappedJointInfos.second;
+
+                // Get the data to forward
+                ithControlBoardSignal = blockInfo->getInputPortSignal(controlBoardOfJoint);
+                Data value = ithControlBoardSignal.get(ithJoint);
+
+                // Forward the value to the correct output index
+                jointListSignal.set(yarpIndexOfJoint, value.doubleData());
+            }
+        }
+        return true;
+    }
+}
diff --git a/toolbox/src/YARPWBIConverter.cpp b/toolbox/src/YARPWBIConverter.cpp
deleted file mode 100644
index 0cca8ff77..000000000
--- a/toolbox/src/YARPWBIConverter.cpp
+++ /dev/null
@@ -1,268 +0,0 @@
-#include "YARPWBIConverter.h"
-
-#include "BlockInformation.h"
-#include "Signal.h"
-#include "Error.h"
-#include "WBInterface.h"
-#include <yarpWholeBodyInterface/yarpWbiUtil.h>
-#include <wbi/wholeBodyInterface.h>
-#include <yarp/os/ResourceFinder.h>
-#include <Eigen/Core>
-
-
-namespace wbt {
-    namespace hidden {
-        struct Joint;
-
-        struct Part {
-            std::string partName;
-            std::vector<Joint> joints;
-        };
-
-        struct Joint {
-            unsigned yarpIndex;
-            unsigned dofIndex;
-            std::string name;
-        };
-
-        /**
-         * Parse the configuration file to extract parts, joints and indices
-         *
-         * @param filepath full path and name to the configuration file
-         * @return the YARP parts representation
-         */
-        static bool parseConfigurationFileForPartsConfiguration(const std::string& filepath, const wbi::IDList& wbiList, std::vector<Part> &parts);
-
-    }
-}
-
-namespace wbt {
-
-    struct YARPWBIConverter::YARPWBIConverterPimpl {
-        std::vector<wbt::hidden::Part> parts;
-        bool yarpToWBI;
-    };
-
-    std::string YARPWBIConverter::ClassName = "YARPWBIConverter";
-
-    YARPWBIConverter::YARPWBIConverter() {}
-
-    unsigned YARPWBIConverter::numberOfParameters() { return wbt::WBIModelBlock::numberOfParameters() + 1; }
-    bool YARPWBIConverter::configureSizeAndPorts(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        //This is a check that list, dofs and files are ok
-        if (!WBIBlock::configureSizeAndPorts(blockInfo, error)) {
-            return false;
-        }
-
-        //This specify the output port size
-        unsigned dofs = WBInterface::sharedInstance().numberOfDoFs();
-
-        using namespace wbt::hidden;
-        //Parse the yarpwbi file
-        //Need to retrieve both parameters, i.e. wbiFile and list
-        //The following is to avoid to configure the WBInterface during compilation
-        //(why I don't know :D )
-        std::vector<Part> parts;
-
-        //Workaround for the fact that ResourceFinder initializes the network by itself. See YARP#1014
-        yarp::os::Network network;
-        yarp::os::ResourceFinder resourceFinder = yarp::os::ResourceFinder::getResourceFinderSingleton();
-
-        std::string configFilePath = resourceFinder.findFile(m_wbiConfigurationFileName);
-
-        yarp::os::Property configurations;
-        //loading defaults from configuration file
-        if (!configurations.fromConfigFile(configFilePath)) {
-            if (error) error->message = "Failed to parse WBI configuration file";
-            return false;
-        }
-
-        wbi::IDList jointList;
-        //parse the file to get the joint list
-        if (!WBInterface::wbdIDListFromConfigPropAndList(configurations, m_wbiListName, jointList)) {
-            if (error) error->message = "Failed to parse Joint list";
-            return false;
-        }
-
-        if (!parseConfigurationFileForPartsConfiguration(configFilePath, jointList, parts)) {
-            return false;
-        }
-
-        blockInfo->getScalarParameterAtIndex(wbt::WBIModelBlock::numberOfParameters() + 1).int8Data();
-
-        bool yarpToWBI = blockInfo->getScalarParameterAtIndex(wbt::WBIModelBlock::numberOfParameters() + 1).int8Data() == 1;
-
-        // Specify I/O
-        bool success = true;
-        //Input
-        if (yarpToWBI) {
-            if (!blockInfo->setNumberOfInputPorts(parts.size())) {
-                if (error) error->message = "Failed to configure the number of input ports";
-                return false;
-            }
-
-            for (unsigned i = 0 ; i < parts.size(); ++i) {
-                success = success && blockInfo->setInputPortVectorSize(i, parts[i].joints.size());
-                blockInfo->setInputPortType(i, PortDataTypeDouble);
-            }
-
-        } else {
-            if (!blockInfo->setNumberOfInputPorts(1)) {
-                if (error) error->message = "Failed to configure the number of input ports";
-                return false;
-            }
-
-            success = success && blockInfo->setInputPortVectorSize(0, dofs);
-            blockInfo->setInputPortType(0, PortDataTypeDouble);
-        }
-
-        if (!success) {
-            if (error) error->message = "Failed to configure input ports";
-            return false;
-        }
-
-        if (yarpToWBI) {
-            // Output port:
-            // - one port of size dofs
-            if (!blockInfo->setNumberOfOuputPorts(1)) {
-                if (error) error->message = "Failed to configure the number of output ports";
-                return false;
-            }
-
-            success = blockInfo->setOutputPortVectorSize(0, dofs);
-            blockInfo->setOutputPortType(0, PortDataTypeDouble);
-        } else {
-            if (!blockInfo->setNumberOfOuputPorts(parts.size())) {
-                if (error) error->message = "Failed to configure the number of input ports";
-                return false;
-            }
-
-            for (unsigned i = 0 ; i < parts.size(); ++i) {
-                success = success && blockInfo->setOutputPortVectorSize(i, parts[i].joints.size());
-                blockInfo->setOutputPortType(i, PortDataTypeDouble);
-            }
-        }
-
-        if (!success) {
-            if (error) error->message = "Failed to configure output ports";
-            return false;
-        }
-
-        return success;
-    }
-
-    bool YARPWBIConverter::initialize(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        using namespace wbt::hidden;
-        if (!WBIModelBlock::initialize(blockInfo, error)) return false;
-
-        m_pimpl = new YARPWBIConverterPimpl();
-        if (!m_pimpl) return false;
-
-        m_pimpl->yarpToWBI = blockInfo->getScalarParameterAtIndex(wbt::WBIModelBlock::numberOfParameters() + 1).int8Data() == 1;
-        return parseConfigurationFileForPartsConfiguration(WBInterface::sharedInstance().wbiFilePath(), *WBInterface::sharedInstance().wbiList(), m_pimpl->parts);
-    }
-
-    bool YARPWBIConverter::terminate(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        delete m_pimpl;
-        m_pimpl = 0;
-
-        return WBIModelBlock::terminate(blockInfo, error);
-    }
-
-    bool YARPWBIConverter::output(BlockInformation *blockInfo, wbt::Error *error)
-    {
-        if (!m_pimpl) return false;
-        using namespace wbt::hidden;
-
-        if (m_pimpl->yarpToWBI) {
-            //From YARP to WBI:
-            //Multiple inputs, single output
-
-            Signal output = blockInfo->getOutputPortSignal(0);
-
-            for (unsigned partIdx = 0; partIdx < m_pimpl->parts.size(); ++partIdx) {
-                Signal partPort = blockInfo->getInputPortSignal(partIdx);
-
-                Part part = m_pimpl->parts[partIdx];
-                for (unsigned jointIdx = 0; jointIdx < part.joints.size(); ++jointIdx) {
-                    Joint joint = part.joints[jointIdx];
-                    output.set(joint.dofIndex, partPort.get(joint.yarpIndex).doubleData());
-                }
-            }
-
-        } else {
-            //From WBI to YARP
-            //Single Input port, multiple outputs
-            Signal inputPort = blockInfo->getInputPortSignal(0);
-
-            for (unsigned partIdx = 0; partIdx < m_pimpl->parts.size(); ++partIdx) {
-                Signal output = blockInfo->getOutputPortSignal(partIdx);
-
-                Part part = m_pimpl->parts[partIdx];
-                for (unsigned jointIdx = 0; jointIdx < part.joints.size(); ++jointIdx) {
-                    Joint joint = part.joints[jointIdx];
-                    output.set(joint.yarpIndex, inputPort.get(joint.dofIndex).doubleData());
-                }
-
-            }
-        }
-
-        return true;
-    }
-
-    namespace hidden {
-
-        bool parseConfigurationFileForPartsConfiguration(const std::string& filepath, const wbi::IDList& wbiList, std::vector<Part> &parts)
-        {
-            parts.clear();
-            yarp::os::Property configurationFile;
-            configurationFile.fromConfigFile(filepath);
-            //retrieve joints/yarp mapping
-            yarp::os::Bottle &mapping = configurationFile.findGroup("WBI_YARP_JOINTS");
-            if (mapping.isNull() || mapping.size() <= 0) {
-                return false;
-            }
-
-            //for every joint in the list
-            for (unsigned i = 0; i < wbiList.size(); ++i) {
-                const wbi::ID &id = wbiList.at(i);
-                //look in the configuration file for that key
-                yarp::os::Value &jointList = mapping.find(id.toString());
-
-                if (!jointList.isNull() && jointList.isList() && jointList.asList()->size() == 2) {
-                    yarp::os::Bottle *list = jointList.asList();
-                    Joint joint;
-                    std::string partName = list->get(0).asString();
-                    joint.yarpIndex = list->get(1).asInt();
-                    joint.dofIndex = i;
-                    joint.name = id.toString();
-
-                    std::vector<Part>::iterator found = parts.end();
-                    //look for the part in the vector.. a map would be nicer
-                    for (std::vector<Part>::iterator part = parts.begin();
-                         part != parts.end(); ++part) {
-                        if (part->partName == partName) {
-                            found = part;
-                            break;
-                        }
-                    }
-
-                    if (found != parts.end()) {
-                        found->joints.push_back(joint);
-                    } else {
-                        Part newPart;
-                        newPart.partName = partName;
-                        newPart.joints.push_back(joint);
-                        parts.push_back(newPart);
-                    }
-                }
-            }
-            return true;
-        }
-    }
-}
-
-
diff --git a/toolbox/src/base/factory.cpp b/toolbox/src/base/factory.cpp
index 0320676bc..e30b81379 100644
--- a/toolbox/src/base/factory.cpp
+++ b/toolbox/src/base/factory.cpp
@@ -8,8 +8,8 @@ wbt::Block* wbt::Block::instantiateBlockWithClassName(std::string blockClassName
         block = new wbt::YarpRead();
     } else if (blockClassName == wbt::YarpWrite::ClassName) {
         block = new wbt::YarpWrite();
-    } else if (blockClassName == wbt::YARPWBIConverter::ClassName) {
-        block = new wbt::YARPWBIConverter();
+    } else if (blockClassName == wbt::ModelPartitioner::ClassName) {
+        block = new wbt::ModelPartitioner();
     } else if (blockClassName == wbt::YarpClock::ClassName) {
         block = new wbt::YarpClock();
     } else if (blockClassName == wbt::MassMatrix::ClassName) {

From 1ad29cb87074262914631647fd41d1d42b90ac54 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:58:26 +0000
Subject: [PATCH 33/92] Removed support of CMake < 3.0

---
 toolbox/CMakeLists.txt | 52 +++++-------------------------------------
 1 file changed, 6 insertions(+), 46 deletions(-)

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 99625ae0d..3b0487bdb 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -19,7 +19,6 @@ find_package(Matlab	 REQUIRED
              ENG_LIBRARY
              MAIN_PROGRAM)
 
-
 if(NOT Matlab_FOUND)
     message(FATAL_ERROR "Matlab not found")
 endif()
@@ -228,50 +227,11 @@ if (WBT_USES_ICUB)
 endif()
 
 #Adding files used for the generation of the dynamic library
-if (CMAKE_VERSION GREATER 3.0.0)
-    matlab_add_mex(
-        NAME WBToolbox
-        SRC ${ALL_HEADERS} ${ALL_SOURCES}
-        LINK_TO ${LINKED_LIBRARIES}
-    )
-else()
-    #Adding files used for the generation of the dynamic library
-    add_library(WBToolbox SHARED ${ALL_HEADERS} ${ALL_SOURCES})
-
-    set(SFUNCTION_SUFFIX ${Matlab_MEX_EXTENSION})
-    #Removing default dynamic library extensions (.dll for Windows, .so for UNIX) and prefixes (lib) otherwise automatically prepended to the mex file.
-    set_target_properties(WBToolbox PROPERTIES SUFFIX .${SFUNCTION_SUFFIX})
-    set_target_properties(WBToolbox PROPERTIES PREFIX "")
-
-    # This seems to be the most reliable method to date to know installed Matlab arch
-    STRING(REGEX MATCH ..$ MATLAB_ARCH Matlab_MEX_EXTENSION 64)
-
-    #In the following specific flags will be set to ensure compliance with the default settings of Matlab's mex compiler
-    if(WIN32)
-        if(NOT "${MATLAB_ARCH}" STREQUAL "64")
-            message("Flags have been passed to compiler for Matlab 32bits on a Windows computer")
-        elseif()
-            message("Flags have been passed to compiler for Matlab 64bits on a Windows computer")
-        endif()
-        if(MSVC)
-            #Setting Compiler Flags
-            set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} /Z7 /nologo /W3 /WX- /O2 /Oy- /D_REENTRANT /D_CRT_SECURE_NO_DEPRECATE /D_SCL_SECURE_NO_DEPRECATE /D_SECURE_SCL=0 /DyWrite_EXPORTS /Gm- /EHs /Zp8 /GS /fp:precise /Zc:wchar_t /Zc:forScope /GR /Gd /TP /showIncludes")
-            #Setting Linker Flags
-            set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /INCREMENTAL:NO /NOLOGO /MANIFEST /debug /MAP.mexw64.map /MACHINE:X64 /EXPORT:mexFunction")
-            if(NOT  "${MATLAB_ARCH}" STREQUAL "64")
-                #Changing some flags according to system/MATLAB version (32, 64 bits)
-                set(CMAKE_SHARED_LINKER_FLAGS "${CMAKE_SHARED_LINKER_FLAGS} /MAP.mexw32.map /MACHINE:X32")
-            endif()
-        elseif(MSVC)
-            message("You are not compiling using Microsoft Visual Studio, ERRORS might occur")
-        endif(MSVC)
-    elseif(WIN32)
-        message("No particular flags have been passed to compiler for Matlab 64bits on a UNIX computer")
-    endif(WIN32)
-
-    # Linking Libraries
-    target_link_libraries(WBToolbox ${LINKED_LIBRARIES} ${Matlab_LIBRARIES})
-endif()
+matlab_add_mex(
+    NAME WBToolbox
+    SRC ${ALL_HEADERS} ${ALL_SOURCES}
+    LINK_TO ${LINKED_LIBRARIES}
+)
 
 # Link with ClockServer library
 add_subdirectory(autogenerated/)
@@ -279,7 +239,7 @@ target_link_libraries(WBToolbox PUBLIC ClockServer)
 
 # Remote Inverse Kinematics requires C++11
 if (CMAKE_VERSION VERSION_LESS "3.1")
-    if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR 
+    if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR
         CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
         target_compile_options(WBToolbox PUBLIC "-std=c++11")
     endif()

From 0c2ecfd249f7b00d58ee721eeaf51c6b7f835992 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 15:59:10 +0000
Subject: [PATCH 34/92] iDynTree is now a global dependency

---
 toolbox/CMakeLists.txt | 3 ++-
 1 file changed, 2 insertions(+), 1 deletion(-)

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 3b0487bdb..1ce390bc9 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -219,10 +219,11 @@ include_directories(SYSTEM ${Matlab_INCLUDE_DIRS} "${Matlab_ROOT_DIR}/simulink/i
 include_directories(SYSTEM ${YARP_INCLUDE_DIRS} ${yarpWholeBodyInterface_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
 
 list(APPEND LINKED_LIBRARIES ${YARP_LIBRARIES} ${yarpWholeBodyInterface_LIBRARIES})
+list(APPEND LINKED_LIBRARIES ${iDynTree_LIBRARIES})
 if (WBT_USES_ICUB)
     list(APPEND LINKED_LIBRARIES ctrlLib)
     if (${ICUB_USE_IPOPT})
-        list(APPEND LINKED_LIBRARIES iKin ${iDynTree_LIBRARIES})
+        list(APPEND LINKED_LIBRARIES iKin)
     endif()
 endif()
 

From d73ea70195f07513a962c3d36003b81acfeb0a5a Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 16:00:21 +0000
Subject: [PATCH 35/92] Link the project against the MxAnyType library

---
 toolbox/CMakeLists.txt | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 1ce390bc9..93f3a71b7 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -234,6 +234,10 @@ matlab_add_mex(
     LINK_TO ${LINKED_LIBRARIES}
 )
 
+# Link with MxAnyType library
+# TODO: this will become an external project sooner or later
+target_link_libraries(WBToolbox PUBLIC MxAnyType)
+
 # Link with ClockServer library
 add_subdirectory(autogenerated/)
 target_link_libraries(WBToolbox PUBLIC ClockServer)

From d1bc77597006ee70acdb04f58be57cd31e500985 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 16:04:49 +0000
Subject: [PATCH 36/92] New PID and WBTPIDConfig matlab classes

These classes are used to store PID gains for the SetLowLevelPID block
---
 +WBToolbox/PID.m          | 50 +++++++++++++++++++++++++++++++
 +WBToolbox/WBTPIDConfig.m | 63 +++++++++++++++++++++++++++++++++++++++
 2 files changed, 113 insertions(+)
 create mode 100644 +WBToolbox/PID.m
 create mode 100644 +WBToolbox/WBTPIDConfig.m

diff --git a/+WBToolbox/PID.m b/+WBToolbox/PID.m
new file mode 100644
index 000000000..33badfea0
--- /dev/null
+++ b/+WBToolbox/PID.m
@@ -0,0 +1,50 @@
+classdef PID < handle
+    %PID Class to store pid parameters for a single joint.
+    %   PID('jointName') creates an object for the joint 'jointName' with
+    %   all pid gains set to 0.
+    %
+    %   PID('jointName', P, I, D) creates an object for the joint 'jointName'
+    %   initializing the gains respectively to P, I, D.
+    %
+    % PID Properties:
+    %   P - Proportional gain
+    %   I - Integral gain
+    %   D - Derivative gain
+    %   joint - Reference joint
+    %
+    % See also: WBTOOLBOX.WBTPIDCONFIG
+    
+    properties
+        P     (1,1) double = 0
+        I     (1,1) double = 0
+        D     (1,1) double = 0
+        joint (1,:) char
+    end
+    
+    methods
+        %         function obj = PID(jointName)
+        %             obj.joint = jointName;
+        %         end
+        
+        function obj = PID(jointName, P, I, D)
+            if (nargin == 4)
+                obj.joint = jointName;
+                obj.P = P;
+                obj.I = I;
+                obj.D = D;
+            elseif (nargin == 1)
+                obj.joint = jointName;
+            else
+                error(...
+                    [...
+                    'Wrong number of arguments: ', ...
+                    'You can either specify 1 argument (joint) ', ...
+                    'or 4 arguments (joint, P, I, D).',...
+                    ]...
+                    );
+            end
+        end
+        
+    end
+end
+    
diff --git a/+WBToolbox/WBTPIDConfig.m b/+WBToolbox/WBTPIDConfig.m
new file mode 100644
index 000000000..9d23b523f
--- /dev/null
+++ b/+WBToolbox/WBTPIDConfig.m
@@ -0,0 +1,63 @@
+classdef WBTPIDConfig < handle
+    % WBTPIDCONFIG Class to store a set of PID config for many joints.
+    %   WBTPIDCONFIG(WBToolbox.PID('jointName', P, I, D)) adds a new PID
+    %   for joint 'jointName'.
+    %
+    % WBTPIDCONFIG Properties:
+    %   P - Proportional gains
+    %   I - Integral gains
+    %   D - Derivative gains
+    %   jointList - List of joints
+    %
+    % WBTPIDCONFIG Methods:
+    %   addPID - Add a new joint PID
+    %   removePID - Remove a stored joint PID
+    %
+    % See also: WBTOOLBOX.PID
+    
+    % Read-Only properties
+    properties (SetAccess = private)
+        P         (1,:) double
+        I         (1,:) double
+        D         (1,:) double
+        jointList (1,:) cell
+    end
+    
+    methods
+        function addPID(obj, pid)
+            % Add
+            if ~isa(pid,'WBToolbox.PID')
+                error('The argument must be a WBToolbox.PID object.')
+            end
+            
+            matches = find(strcmp(obj.jointList, pid.joint), 1);
+            if ~isempty(matches)
+                error('The PID''s joint has been already processed.')
+            end
+            
+            obj.jointList{1, end+1} = pid.joint;
+            obj.P(1, end+1) = pid.P;
+            obj.I(1, end+1) = pid.I;
+            obj.D(1, end+1) = pid.D;
+        end
+        
+        function removePID(obj, jointName)
+            if ~ischar(jointName)
+                error('The argument must be a char containing the joint name.')
+            end
+            
+            idx = find(strcmp(obj.jointList, jointName), 1);
+            
+            if isempty(idx)
+                error('The specified joint has no configuration stored')
+            end
+            
+            obj.jointList(:,idx) = [];
+            obj.P(:,idx) = [];
+            obj.I(:,idx) = [];
+            obj.D(:,idx) = [];
+        end
+    end
+    
+end
+

From 82b760ba3a00fa12de55047d1b25e6ba514a23fb Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 8 Nov 2017 16:20:42 +0000
Subject: [PATCH 37/92] Matlab functions used by Blocks which inherit from
 WBBlock class

- BlockInitialization:
  Find the Config block hierarchically closer to the caller block

- Mask2WBToolboxConfig:
  Read the mask of a config block and generates from it a WBToolboxConfig object, validating also its data

- WBToolboxConfig2Mask:
  Read a WBToolboxConfig object and populates the mask of a Config block
---
 +WBToolbox/BlockInitialization.m  | 61 +++++++++++++++++++++
 +WBToolbox/Mask2WBToolboxConfig.m | 39 ++++++++++++++
 +WBToolbox/WBToolboxConfig2Mask.m | 90 +++++++++++++++++++++++++++++++
 3 files changed, 190 insertions(+)
 create mode 100644 +WBToolbox/BlockInitialization.m
 create mode 100644 +WBToolbox/Mask2WBToolboxConfig.m
 create mode 100644 +WBToolbox/WBToolboxConfig2Mask.m

diff --git a/+WBToolbox/BlockInitialization.m b/+WBToolbox/BlockInitialization.m
new file mode 100644
index 000000000..5783432e0
--- /dev/null
+++ b/+WBToolbox/BlockInitialization.m
@@ -0,0 +1,61 @@
+function [configBlock, WBTConfig] = BlockInitialization(currentBlock, currentSystem)
+%BLOCKINITIALIZATION Initialize blocks that read a Config block
+%   This function is used to initialize the mask of block that need to
+%   gather the WBToolbox configuration from a Config block.
+
+try
+    % Get the name of this block from the model's root
+    %blockAbsoluteName = gcb;
+
+    % Get the top level name
+    %blockNameSplit = strsplit(blockAbsoluteName,'/');
+    blockNameSplit = strsplit(currentBlock,'/');
+    topLevel = blockNameSplit{1};
+
+    % Get all the blocks from the top level of the system
+    blocks_system = find_system(topLevel,'LookUnderMasks','on');
+
+    % Get the name of the block's subsystem
+    %[blockScopeName,~] = fileparts(blockAbsoluteName);
+    %blockScopeName = gcs;
+    blockScopeName = currentSystem;
+catch
+    error('[%s::Initialization] Failed to process model''s tree',char(blockAbsoluteName))
+end
+
+% Look a config block from the block's scope going up in the tree
+analyzedScope = blockScopeName;
+configBlock = char;
+while ~isempty(analyzedScope)
+    rule = strcat(strrep(analyzedScope,'/','\/'),'\/\w+\/ImConfig');
+    idx = cellfun(@(x) ~isequal(regexp(x,rule),[]), blocks_system);
+    if (sum(idx) > 1)
+        error('[%s::Initialization] Found more than one configuration',char(blockAbsoluteName));
+    elseif (sum(idx) == 1)
+        configBlock = blocks_system{idx};
+        configBlock = fileparts(configBlock);
+        break;
+    end
+    analyzedScope = fileparts(analyzedScope);
+end
+
+if isempty(configBlock)
+    error('[%s::Initialization] No configuration found',char(blockAbsoluteName));
+end
+
+configSource = get_param(configBlock,'ConfigSource');
+
+if strcmp(configSource,'Mask')
+    % Read the mask
+    WBTConfig = WBToolbox.Mask2WBToolboxConfig(configBlock);
+elseif strcmp(configSource,'Workspace')
+    % Get the object name and populate the mask
+    configObjectName = get_param(configBlock,'ConfigObject');
+    WBToolbox.WBToolboxConfig2Mask(configBlock, configObjectName);
+    % Read the mask
+    WBTConfig = WBToolbox.Mask2WBToolboxConfig(configBlock);
+else
+    error('[%s::Initialization] Read ConfigSource from Config block not recognized',char(blockAbsoluteName));
+end
+
+end
diff --git a/+WBToolbox/Mask2WBToolboxConfig.m b/+WBToolbox/Mask2WBToolboxConfig.m
new file mode 100644
index 000000000..0396a46a3
--- /dev/null
+++ b/+WBToolbox/Mask2WBToolboxConfig.m
@@ -0,0 +1,39 @@
+function [ WBTConfig ] = Mask2WBToolboxConfig(configBlock)
+%MASK2WBTOOLBOXCONFIG Summary of this function goes here
+%   Detailed explanation goes here
+
+defaultString = '''NonValid''';
+
+if (...
+    strcmp(char(get_param(configBlock,'RobotName')),defaultString) && ...
+    strcmp(char(get_param(configBlock,'UrdfFile')),defaultString) && ...
+    strcmp(char(get_param(configBlock,'LocalName')),defaultString) && ...
+    strcmp(char(get_param(configBlock,'GravityVector')),defaultString) && ...
+    strcmp(char(get_param(configBlock,'ControlledJoints')),defaultString) && ...
+    strcmp(char(get_param(configBlock,'ControlBoardsNames')),defaultString) ...
+    )
+    error('[Mask2WBToolboxConfig] The provided config is NonValid.');
+end
+
+WBTConfig = WBToolbox.WBToolboxConfig;
+
+WBTConfig.RobotName = stripApices(char(get_param(configBlock,'RobotName')));
+WBTConfig.UrdfFile  = stripApices(char(get_param(configBlock,'UrdfFile')));
+WBTConfig.LocalName = stripApices(char(get_param(configBlock,'LocalName')));
+
+ControlledJointsChar = stripApices(char(get_param(configBlock,'ControlledJoints')));
+WBTConfig.ControlledJoints = eval('base',ControlledJointsChar);
+
+ControlBoardsNamesChar = stripApices(char(get_param(configBlock,'ControlBoardsNames')));
+WBTConfig.ControlBoardsNames = eval('base',ControlBoardsNamesChar);
+
+GravityVectorChar = stripApices(char(get_param(configBlock,'GravityVector')));
+WBTConfig.GravityVector = eval('base',GravityVectorChar);
+
+end
+
+function str = stripApices(str)
+    if (strcmp(str(1),'''') && strcmp(str(end),''''))
+        str = str(2:end-1);
+    end
+end
diff --git a/+WBToolbox/WBToolboxConfig2Mask.m b/+WBToolbox/WBToolboxConfig2Mask.m
new file mode 100644
index 000000000..1e7e3b227
--- /dev/null
+++ b/+WBToolbox/WBToolboxConfig2Mask.m
@@ -0,0 +1,90 @@
+function WBToolboxConfig2Mask(configBlock, WBTConfigObjectName)
+%WBTOOLBOXCONFIG2MASK Summary of this function goes here
+%   Detailed explanation goes here
+
+% Assign names to labels
+item_ConfigSource = 1;
+item_ConfigObject = 2;
+item_RobotName = 3;
+item_UrdfFile = 4;
+item_ControlledJoints = 5;
+item_ControlBoardsNames = 6;
+item_LocalName = 7;
+item_GravityVector = 8;
+
+% Get the mask of the Config Block
+try
+    mask = Simulink.Mask.get(configBlock);
+catch
+    error('[WBToolboxConfig2Mask] Impossible to gather Config Block: %s', configBlock);
+end
+
+
+% Remove apices if present
+if (strcmp(WBTConfigObjectName(1),'''') && strcmp(WBTConfigObjectName(end),''''))
+    WBTConfigObjectName = WBTConfigObjectName(2:end-1);
+end
+
+% Try to get the object from the workspace
+try
+    WBTConfigHandle = evalin('base', WBTConfigObjectName); % Get the handle
+    WBTConfigObject = copy(WBTConfigHandle); % Shallow copy the handle
+catch
+    error('[WBToolboxConfig2Mask] Failed to get %s object from the workspace', WBTConfigObjectName);
+end
+
+try
+    if (isa(WBTConfigObject,'WBToolbox.WBToolboxConfig') && WBTConfigObject.ValidConfiguration)
+        SetParamFromReadOnly(...
+            configBlock,'RobotName',...
+            strcat('''',WBTConfigObject.RobotName,''''),...
+            mask.Parameters(item_RobotName));
+        SetParamFromReadOnly(...
+            configBlock,'UrdfFile',...
+            strcat('''',WBTConfigObject.UrdfFile,''''),mask.Parameters(item_UrdfFile));
+        SetParamFromReadOnly(...
+            configBlock,'ControlledJoints',...
+            WBTConfigObject.serializeCellArray1D(WBTConfigObject.ControlledJoints),mask.Parameters(item_ControlledJoints));
+        SetParamFromReadOnly(...
+            configBlock,'ControlBoardsNames',...
+            WBTConfigObject.serializeCellArray1D(WBTConfigObject.ControlBoardsNames),mask.Parameters(item_ControlBoardsNames));
+        SetParamFromReadOnly(...
+            configBlock,'GravityVector',...
+            WBTConfigObject.serializeVector1D(WBTConfigObject.GravityVector),mask.Parameters(item_GravityVector))
+        SetParamFromReadOnly(...
+            configBlock,'LocalName',...
+            strcat('''',WBTConfigObject.LocalName,''''),mask.Parameters(item_LocalName));
+    else
+        error('[WBToolboxConfig2Mask] Failed to get the %s object', WBTConfigObjectName);
+    end
+catch
+    SetParamFromReadOnly(...
+        configBlock,'RobotName',...
+        '''NonValid''',mask.Parameters(item_RobotName));
+    SetParamFromReadOnly(...
+        configBlock,'UrdfFile',...
+        '''NonValid''',mask.Parameters(item_UrdfFile));
+    SetParamFromReadOnly(...
+        configBlock,'ControlledJoints',...
+        '''NonValid''',mask.Parameters(item_ControlledJoints));
+    SetParamFromReadOnly(...
+        configBlock,'ControlBoardsNames',...
+        '''NonValid''',mask.Parameters(item_ControlBoardsNames));
+    SetParamFromReadOnly(...
+        configBlock,'LocalName',...
+        '''NonValid''',mask.Parameters(item_LocalName));
+    SetParamFromReadOnly(...
+        configBlock,'GravityVector',...
+        '''NonValid''',mask.Parameters(item_GravityVector));
+end
+
+end
+
+function SetParamFromReadOnly(block, parameterName, parameterValue, maskParameter)
+if ~strcmp(get_param(block,parameterName),parameterValue)
+    maskParameter.ReadOnly = 'off';
+    maskParameter.Enabled  = 'on';
+    set_param(block,parameterName,parameterValue);
+    maskParameter.ReadOnly = 'on';
+end
+end

From 68dc0100644e8e7a03be0b617ba8762c5b247314 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Thu, 9 Nov 2017 10:59:31 +0000
Subject: [PATCH 38/92] New getStdVector() method in Signal

This method returns a std::vector<double> either if the signal is contiguous or non-contiguous. Considering that all the input signals are const and non-contiguous, this function assures makes the situation clear encapsulating data in a std::vector.
---
 toolbox/include/base/Signal.h | 2 ++
 toolbox/src/base/Signal.cpp   | 9 +++++++++
 2 files changed, 11 insertions(+)

diff --git a/toolbox/include/base/Signal.h b/toolbox/include/base/Signal.h
index b46d70ecd..0fbe27f3c 100644
--- a/toolbox/include/base/Signal.h
+++ b/toolbox/include/base/Signal.h
@@ -2,6 +2,7 @@
 #define WBT_SIGNAL_H
 
 #include "BlockInformation.h"
+#include <vector>
 
 namespace wbt {
     class Signal;
@@ -29,6 +30,7 @@ class wbt::Signal
 
     const Data get(unsigned index) const;
     void* getContiguousBuffer();
+    std::vector<double> getStdVector(unsigned length) const;
 
     //the missing are cast
     void set(unsigned index, double data);
diff --git a/toolbox/src/base/Signal.cpp b/toolbox/src/base/Signal.cpp
index 5d57938fc..9d5f6adbc 100644
--- a/toolbox/src/base/Signal.cpp
+++ b/toolbox/src/base/Signal.cpp
@@ -128,6 +128,15 @@ namespace wbt {
         return this->contiguousData;
     }
 
+    std::vector<double> Signal::getStdVector(unsigned length) const
+    {
+        std::vector<double> v(length);
+        for (unsigned i = 0; i < length; ++i) {
+            v[i] = get(i).doubleData();
+        }
+        return v;
+    }
+
     //the missing are cast
     void Signal::set(unsigned index, double data)
     {

From 3bbad1f782e7dea6ed3b92acea6aa3dd23f8c802 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 10 Nov 2017 17:10:04 +0000
Subject: [PATCH 39/92] BlockInformation is now a const pointer, changed
 indentation in cpp

---
 toolbox/include/CentroidalMomentum.h          |   6 +-
 toolbox/include/DotJNu.h                      |   6 +-
 toolbox/include/ForwardKinematics.h           |   6 +-
 toolbox/include/GetLimits.h                   |   6 +-
 toolbox/include/GetMeasurement.h              |   6 +-
 toolbox/include/InverseDynamics.h             |   6 +-
 toolbox/include/Jacobian.h                    |   6 +-
 toolbox/include/MassMatrix.h                  |   6 +-
 .../include/MinimumJerkTrajectoryGenerator.h  |   6 +-
 toolbox/include/ModelPartitioner.h            |   6 +-
 toolbox/include/RealTimeSynchronizer.h        |   6 +-
 toolbox/include/SetLowLevelPID.h              |   8 +-
 toolbox/include/SetReferences.h               |   8 +-
 toolbox/include/SimulatorSynchronizer.h       |   6 +-
 toolbox/include/YarpClock.h                   |   6 +-
 toolbox/include/YarpRead.h                    |   6 +-
 toolbox/include/YarpWrite.h                   |   6 +-
 toolbox/include/base/Block.h                  |  14 +-
 toolbox/include/base/BlockInformation.h       |  23 +-
 .../include/base/SimulinkBlockInformation.h   |  18 +-
 toolbox/include/base/WBBlock.h                |   6 +-
 toolbox/src/CentroidalMomentum.cpp            | 289 +++++----
 toolbox/src/DotJNu.cpp                        | 341 ++++++-----
 toolbox/src/ForwardKinematics.cpp             | 276 +++++----
 toolbox/src/GetLimits.cpp                     | 297 +++++----
 toolbox/src/GetMeasurement.cpp                | 277 +++++----
 toolbox/src/InverseDynamics.cpp               | 376 ++++++------
 toolbox/src/Jacobian.cpp                      | 329 +++++-----
 toolbox/src/MassMatrix.cpp                    | 274 +++++----
 .../src/MinimumJerkTrajectoryGenerator.cpp    | 418 +++++++------
 toolbox/src/ModelPartitioner.cpp              | 312 +++++-----
 toolbox/src/RealTimeSynchronizer.cpp          | 123 ++--
 toolbox/src/SetLowLevelPID.cpp                | 373 ++++++------
 toolbox/src/SetReferences.cpp                 | 425 +++++++------
 toolbox/src/SimulatorSynchronizer.cpp         | 213 ++++---
 toolbox/src/YarpClock.cpp                     |  93 ++-
 toolbox/src/YarpRead.cpp                      | 329 +++++-----
 toolbox/src/YarpWrite.cpp                     | 241 ++++----
 toolbox/src/base/Block.cpp                    |  20 +-
 toolbox/src/base/BlockInformation.cpp         |   6 +-
 toolbox/src/base/Signal.cpp                   | 562 +++++++++---------
 toolbox/src/base/SimulinkBlockInformation.cpp | 328 +++++-----
 toolbox/src/base/ToolboxSingleton.cpp         | 166 +++---
 toolbox/src/base/WBBlock.cpp                  |   6 +-
 toolbox/src/base/factory.cpp                  |  76 +--
 45 files changed, 3136 insertions(+), 3181 deletions(-)

diff --git a/toolbox/include/CentroidalMomentum.h b/toolbox/include/CentroidalMomentum.h
index d3abb34bb..754e4249b 100644
--- a/toolbox/include/CentroidalMomentum.h
+++ b/toolbox/include/CentroidalMomentum.h
@@ -28,9 +28,9 @@ class wbt::CentroidalMomentum : public wbt::WBBlock
 
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* WBT_CENTROIDALMOMENTUM_H */
diff --git a/toolbox/include/DotJNu.h b/toolbox/include/DotJNu.h
index d844bb510..9c70fe864 100644
--- a/toolbox/include/DotJNu.h
+++ b/toolbox/include/DotJNu.h
@@ -32,9 +32,9 @@ class wbt::DotJNu : public wbt::WBBlock
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* WBT_DOTJDOTQ_H */
diff --git a/toolbox/include/ForwardKinematics.h b/toolbox/include/ForwardKinematics.h
index 147f2c7b4..4a683e761 100644
--- a/toolbox/include/ForwardKinematics.h
+++ b/toolbox/include/ForwardKinematics.h
@@ -25,9 +25,9 @@ class wbt::ForwardKinematics : public wbt::WBBlock
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* WBT_FORWARDKINEMATICS_H */
diff --git a/toolbox/include/GetLimits.h b/toolbox/include/GetLimits.h
index 81570ee24..fcabddeb0 100644
--- a/toolbox/include/GetLimits.h
+++ b/toolbox/include/GetLimits.h
@@ -33,9 +33,9 @@ class wbt::GetLimits : public wbt::WBBlock
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* WBT_GETLIMITS_H */
diff --git a/toolbox/include/GetMeasurement.h b/toolbox/include/GetMeasurement.h
index 8673874f7..101aed7af 100644
--- a/toolbox/include/GetMeasurement.h
+++ b/toolbox/include/GetMeasurement.h
@@ -30,9 +30,9 @@ class wbt::GetMeasurement : public wbt::WBBlock
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* end of include guard: WBT_GETMEASUREMENT_H */
diff --git a/toolbox/include/InverseDynamics.h b/toolbox/include/InverseDynamics.h
index 2b035663c..63c8e8a3e 100644
--- a/toolbox/include/InverseDynamics.h
+++ b/toolbox/include/InverseDynamics.h
@@ -37,9 +37,9 @@ class wbt::InverseDynamics : public wbt::WBBlock
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 
 };
 
diff --git a/toolbox/include/Jacobian.h b/toolbox/include/Jacobian.h
index b0726e900..5db8f6d95 100644
--- a/toolbox/include/Jacobian.h
+++ b/toolbox/include/Jacobian.h
@@ -36,9 +36,9 @@ class wbt::Jacobian : public wbt::WBBlock
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* WBT_JACOBIAN_H */
diff --git a/toolbox/include/MassMatrix.h b/toolbox/include/MassMatrix.h
index 6529d4504..4ebea06b8 100644
--- a/toolbox/include/MassMatrix.h
+++ b/toolbox/include/MassMatrix.h
@@ -27,9 +27,9 @@ class wbt::MassMatrix : public wbt::WBBlock
 
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* WBT_MASSMATRIX_H */
diff --git a/toolbox/include/MinimumJerkTrajectoryGenerator.h b/toolbox/include/MinimumJerkTrajectoryGenerator.h
index 8bf0f29b7..5d175e7ab 100644
--- a/toolbox/include/MinimumJerkTrajectoryGenerator.h
+++ b/toolbox/include/MinimumJerkTrajectoryGenerator.h
@@ -28,9 +28,9 @@ class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block {
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 
 private:
 
diff --git a/toolbox/include/ModelPartitioner.h b/toolbox/include/ModelPartitioner.h
index 929da6c7e..2a8b5c435 100644
--- a/toolbox/include/ModelPartitioner.h
+++ b/toolbox/include/ModelPartitioner.h
@@ -25,9 +25,9 @@ class wbt::ModelPartitioner : public wbt::WBBlock
     unsigned numberOfParameters() override;
 
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* end of include guard: WBT_MODELPARTITIONER_H */
diff --git a/toolbox/include/RealTimeSynchronizer.h b/toolbox/include/RealTimeSynchronizer.h
index 5a2bc601d..26a797589 100644
--- a/toolbox/include/RealTimeSynchronizer.h
+++ b/toolbox/include/RealTimeSynchronizer.h
@@ -17,9 +17,9 @@ class wbt::RealTimeSynchronizer : public wbt::Block
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 
 private:
     double m_period;
diff --git a/toolbox/include/SetLowLevelPID.h b/toolbox/include/SetLowLevelPID.h
index ff781a885..96b8384d6 100644
--- a/toolbox/include/SetLowLevelPID.h
+++ b/toolbox/include/SetLowLevelPID.h
@@ -30,7 +30,7 @@ class wbt::SetLowLevelPID : public wbt::WBBlock
 
     yarp::dev::PidControlTypeEnum m_controlType;
 
-    bool readWBTPidConfigObject(BlockInformation* blockInfo);
+    bool readWBTPidConfigObject(const BlockInformation* blockInfo);
 
 public:
     static const std::string ClassName;
@@ -41,9 +41,9 @@ class wbt::SetLowLevelPID : public wbt::WBBlock
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* end of include guard: WBT_SETLOWLEVELPID_H_ */
diff --git a/toolbox/include/SetReferences.h b/toolbox/include/SetReferences.h
index c7c4c2ed8..d599a1410 100644
--- a/toolbox/include/SetReferences.h
+++ b/toolbox/include/SetReferences.h
@@ -23,10 +23,10 @@ class wbt::SetReferences : public wbt::WBBlock
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
-    bool initialize(BlockInformation* blockInfo) override;
-    bool initializeInitialConditions(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool initializeInitialConditions(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* end of include guard: WBT_SETREFERENCES_H */
diff --git a/toolbox/include/SimulatorSynchronizer.h b/toolbox/include/SimulatorSynchronizer.h
index aa5c3eced..f307c8fc7 100644
--- a/toolbox/include/SimulatorSynchronizer.h
+++ b/toolbox/include/SimulatorSynchronizer.h
@@ -18,9 +18,9 @@ class wbt::SimulatorSynchronizer : public wbt::Block
     unsigned numberOfParameters() override;
     std::vector<std::string> additionalBlockOptions() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 
 private:
     double m_period;
diff --git a/toolbox/include/YarpClock.h b/toolbox/include/YarpClock.h
index 000229579..c4857e8e0 100644
--- a/toolbox/include/YarpClock.h
+++ b/toolbox/include/YarpClock.h
@@ -14,9 +14,9 @@ class wbt::YarpClock : public wbt::Block
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif /* end of include guard: WBT_YARPCLOCK_H */
diff --git a/toolbox/include/YarpRead.h b/toolbox/include/YarpRead.h
index bc79bcb61..6fed985ad 100644
--- a/toolbox/include/YarpRead.h
+++ b/toolbox/include/YarpRead.h
@@ -26,9 +26,9 @@ class wbt::YarpRead : public wbt::Block
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 
 private:
     bool m_autoconnect;
diff --git a/toolbox/include/YarpWrite.h b/toolbox/include/YarpWrite.h
index 807b774cd..4d9e8238b 100644
--- a/toolbox/include/YarpWrite.h
+++ b/toolbox/include/YarpWrite.h
@@ -26,9 +26,9 @@ class wbt::YarpWrite : public wbt::Block
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
-    bool output(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 
 private:
     bool m_autoconnect;
diff --git a/toolbox/include/base/Block.h b/toolbox/include/base/Block.h
index a233859e6..65f8447b6 100644
--- a/toolbox/include/base/Block.h
+++ b/toolbox/include/base/Block.h
@@ -82,7 +82,7 @@ class wbt::Block
      * @param S the SimStruct structure
      * @return true for success, false otherwise
      */
-    virtual bool updateDiscreteState(BlockInformation* blockInfo);
+    virtual bool updateDiscreteState(const BlockInformation* blockInfo);
 
     /**
      * Not called for now
@@ -90,7 +90,7 @@ class wbt::Block
      * @param S the SimStruct structure
      * @return true for success, false otherwise
      */
-    virtual bool stateDerivative(BlockInformation* blockInfo);
+    virtual bool stateDerivative(const BlockInformation* blockInfo);
 
 
     /**
@@ -123,7 +123,7 @@ class wbt::Block
      *
      * @return true for success, false otherwise
      */
-    virtual bool checkParameters(BlockInformation* blockInfo);
+    virtual bool checkParameters(const BlockInformation* blockInfo);
 
     /**
      * Initialize the object for the simulation
@@ -134,7 +134,7 @@ class wbt::Block
      *
      * @return true for success, false otherwise
      */
-    virtual bool initialize(BlockInformation* blockInfo) = 0;
+    virtual bool initialize(const BlockInformation* blockInfo) = 0;
 
     /**
      * Called to initialize the initial conditions
@@ -146,7 +146,7 @@ class wbt::Block
      *
      * @return true for success, false otherwise
      */
-    virtual bool initializeInitialConditions(BlockInformation* blockInfo);
+    virtual bool initializeInitialConditions(const BlockInformation* blockInfo);
 
     /**
      * Perform model cleanup.
@@ -157,7 +157,7 @@ class wbt::Block
      *
      * @return true for success, false otherwise
      */
-    virtual bool terminate(BlockInformation* blockInfo) = 0;
+    virtual bool terminate(const BlockInformation* blockInfo) = 0;
 
 
 
@@ -170,7 +170,7 @@ class wbt::Block
      *
      * @return true for success, false otherwise
      */
-    virtual bool output(BlockInformation* blockInfo) = 0;
+    virtual bool output(const BlockInformation* blockInfo) = 0;
 
 public:
 
diff --git a/toolbox/include/base/BlockInformation.h b/toolbox/include/base/BlockInformation.h
index a4ea9da0a..06e2c37c1 100644
--- a/toolbox/include/base/BlockInformation.h
+++ b/toolbox/include/base/BlockInformation.h
@@ -58,7 +58,8 @@ namespace wbt {
 class wbt::BlockInformation {
 
 public:
-    virtual ~BlockInformation();
+    BlockInformation() = default;
+    virtual ~BlockInformation() = default;
 
     // Block Options methods
     // =====================
@@ -84,11 +85,13 @@ class wbt::BlockInformation {
      *
      * @return true if success, false otherwise
      */
-    virtual bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) = 0;
-    virtual bool getScalarParameterAtIndex(unsigned parameterIndex, double& value) = 0;
-    virtual bool getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) = 0;
-    virtual bool getStructAtIndex(unsigned parameterIndex, AnyStruct& map) = 0;
-    virtual bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) = 0;
+    virtual bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) const = 0;
+    virtual bool getScalarParameterAtIndex(unsigned parameterIndex, double& value) const = 0;
+    virtual bool getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) const = 0;
+    // virtual bool getAnyTypeAtIndex(unsigned parameterIndex, AnyType* data) = 0;
+    // virtual bool getCellAtIndex(unsigned parameterIndex, AnyCell& map) = 0;
+    virtual bool getStructAtIndex(unsigned parameterIndex, AnyStruct& map) const = 0;
+    virtual bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) const = 0;
 
     // Port information methods
     // ========================
@@ -114,10 +117,10 @@ class wbt::BlockInformation {
     // Port data
     // =========
 
-    virtual unsigned getInputPortWidth(unsigned portNumber) = 0;
-    virtual unsigned getOutputPortWidth(unsigned portNumber) = 0;
-    virtual wbt::Signal getInputPortSignal(unsigned portNumber) = 0;
-    virtual wbt::Signal getOutputPortSignal(unsigned portNumber) = 0;
+    virtual unsigned getInputPortWidth(unsigned portNumber) const = 0;
+    virtual unsigned getOutputPortWidth(unsigned portNumber) const = 0;
+    virtual wbt::Signal getInputPortSignal(unsigned portNumber) const = 0;
+    virtual wbt::Signal getOutputPortSignal(unsigned portNumber)const  = 0;
 };
 
 #endif /* end of include guard: WBT_BLOCKINFORMATION_H */
diff --git a/toolbox/include/base/SimulinkBlockInformation.h b/toolbox/include/base/SimulinkBlockInformation.h
index 2334d32a4..0da7f51c5 100644
--- a/toolbox/include/base/SimulinkBlockInformation.h
+++ b/toolbox/include/base/SimulinkBlockInformation.h
@@ -22,11 +22,11 @@ class wbt::SimulinkBlockInformation : public wbt::BlockInformation
     bool optionFromKey(const std::string& key, double& option) const override;
 
     //Parameters methods
-    bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) override;
-    bool getScalarParameterAtIndex(unsigned parameterIndex, double& value) override;
-    bool getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) override;
-    bool getStructAtIndex(unsigned parameterIndex, AnyStruct& map) override;
-    bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) override;
+    bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) const override;
+    bool getScalarParameterAtIndex(unsigned parameterIndex, double& value) const override;
+    bool getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) const override;
+    bool getStructAtIndex(unsigned parameterIndex, AnyStruct& map) const override;
+    bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) const override;
 
     //Port information methods
     bool setNumberOfInputPorts(unsigned numberOfPorts) override;
@@ -39,10 +39,10 @@ class wbt::SimulinkBlockInformation : public wbt::BlockInformation
     bool setOutputPortType(unsigned portNumber, PortDataType portType) override;
 
     //Port data
-    unsigned getInputPortWidth(unsigned portNumber) override;
-    unsigned getOutputPortWidth(unsigned portNumber) override;
-    wbt::Signal getInputPortSignal(unsigned portNumber) override;
-    wbt::Signal getOutputPortSignal(unsigned portNumber) override;
+    unsigned getInputPortWidth(unsigned portNumber) const override;
+    unsigned getOutputPortWidth(unsigned portNumber) const override;
+    wbt::Signal getInputPortSignal(unsigned portNumber) const override;
+    wbt::Signal getOutputPortSignal(unsigned portNumber) const override;
 };
 
 #endif /* end of include guard: WBT_SIMULINKBLOCKINFORMATION_H */
diff --git a/toolbox/include/base/WBBlock.h b/toolbox/include/base/WBBlock.h
index cee7d7d11..b3d5cf33c 100644
--- a/toolbox/include/base/WBBlock.h
+++ b/toolbox/include/base/WBBlock.h
@@ -66,7 +66,7 @@ class wbt::WBBlock : public wbt::Block
 protected:
     std::string confKey;
     iDynTreeRobotState robotState;
-    bool getWBToolboxParameters(Configuration& config, BlockInformation* blockInfo);
+    bool getWBToolboxParameters(Configuration& config, const BlockInformation* blockInfo);
     const std::shared_ptr<wbt::RobotInterface> getRobotInterface();
     const Configuration& getConfiguration();
 
@@ -75,8 +75,8 @@ class wbt::WBBlock : public wbt::Block
     ~WBBlock() override = default;
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
-    bool initialize(BlockInformation* blockInfo) override;
-    bool terminate(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
 };
 
 #endif /* end of include guard: WBT_WBIBLOCK_H */
diff --git a/toolbox/src/CentroidalMomentum.cpp b/toolbox/src/CentroidalMomentum.cpp
index ca93b9308..1294c7e19 100644
--- a/toolbox/src/CentroidalMomentum.cpp
+++ b/toolbox/src/CentroidalMomentum.cpp
@@ -10,159 +10,158 @@
 #include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
-namespace wbt {
-
-    const std::string CentroidalMomentum::ClassName = "CentroidalMomentum";
-
-    const unsigned CentroidalMomentum::INPUT_IDX_BASE_POSE = 0;
-    const unsigned CentroidalMomentum::INPUT_IDX_JOINTCONF = 1;
-    const unsigned CentroidalMomentum::INPUT_IDX_BASE_VEL  = 2;
-    const unsigned CentroidalMomentum::INPUT_IDX_JOINT_VEL = 3;
-    const unsigned CentroidalMomentum::OUTPUT_IDX_CENTRMOM = 0;
-
-    CentroidalMomentum::CentroidalMomentum()
-    : m_centroidalMomentum(nullptr)
-    {}
-
-    bool CentroidalMomentum::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // Memory allocation / Saving data not allowed here
-
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
-
-        // INPUTS
-        // ======
-        //
-        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
-        // 2) Joints position (1xDoFs vector)
-        // 3) Base frame velocity (1x6 vector)
-        // 4) Joints velocity (1xDoFs vector)
-        //
-
-        // Number of inputs
-        if (!blockInfo->setNumberOfInputPorts(4)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
-
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-
-        // Size and type
-        bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL, 6);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
-
-        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
-
-        if (!success) {
-            Log::getSingleton().error("Failed to configure input ports.");
-            return false;
-        }
-
-        // OUTPUTS
-        // =======
-        //
-        // 1) Vector representing the centroidal momentum (1x6)
-        //
-
-        // Number of outputs
-        if (!blockInfo->setNumberOfOutputPorts(1)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
-
-        // Size and type
-        success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_CENTRMOM, 6);
-        blockInfo->setOutputPortType(OUTPUT_IDX_CENTRMOM, PortDataTypeDouble);
-
-        return success;
+using namespace wbt;
+
+const std::string CentroidalMomentum::ClassName = "CentroidalMomentum";
+
+const unsigned CentroidalMomentum::INPUT_IDX_BASE_POSE = 0;
+const unsigned CentroidalMomentum::INPUT_IDX_JOINTCONF = 1;
+const unsigned CentroidalMomentum::INPUT_IDX_BASE_VEL  = 2;
+const unsigned CentroidalMomentum::INPUT_IDX_JOINT_VEL = 3;
+const unsigned CentroidalMomentum::OUTPUT_IDX_CENTRMOM = 0;
+
+CentroidalMomentum::CentroidalMomentum()
+: m_centroidalMomentum(nullptr)
+{}
+
+bool CentroidalMomentum::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // Memory allocation / Saving data not allowed here
+
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+
+    // INPUTS
+    // ======
+    //
+    // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+    // 2) Joints position (1xDoFs vector)
+    // 3) Base frame velocity (1x6 vector)
+    // 4) Joints velocity (1xDoFs vector)
+    //
+
+    // Number of inputs
+    if (!blockInfo->setNumberOfInputPorts(4)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
     }
 
-    bool CentroidalMomentum::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        // OUTPUT
-        // ======
+    // Size and type
+    bool success = true;
+    success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL, 6);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
 
-        m_centroidalMomentum = new iDynTree::SpatialMomentum();
-        return m_centroidalMomentum;
+    blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
+
+    if (!success) {
+        Log::getSingleton().error("Failed to configure input ports.");
+        return false;
     }
 
-    bool CentroidalMomentum::terminate(BlockInformation* blockInfo)
-    {
-        if (m_centroidalMomentum) {
-            delete m_centroidalMomentum;
-            m_centroidalMomentum = 0;
-        }
+    // OUTPUTS
+    // =======
+    //
+    // 1) Vector representing the centroidal momentum (1x6)
+    //
 
-        return WBBlock::terminate(blockInfo);
+    // Number of outputs
+    if (!blockInfo->setNumberOfOutputPorts(1)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
     }
 
-    bool CentroidalMomentum::output(BlockInformation* blockInfo)
-    {
-        using namespace iDynTree;
-        using namespace Eigen;
-        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
-
-        const auto& model = getRobotInterface()->getKinDynComputations();
-
-        if (!model) {
-            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
-            return false;
-        }
-
-        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-        // ====================================================
-
-        unsigned signalWidth;
-
-        // Base pose
-        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-        fromEigen(robotState.m_world_T_base,
-                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-        // Joints position
-        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-        // Base velocity
-        Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
-        double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
-        robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
-                                     AngVelocity(m_baseVelocityBuffer+3, 3));
-
-        // Joints velocity
-        Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
-        robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
-
-        // UPDATE THE ROBOT STATUS
-        // =======================
-        model->setRobotState(robotState.m_world_T_base,
-                             robotState.m_jointsPosition,
-                             robotState.m_baseVelocity,
-                             robotState.m_jointsVelocity,
-                             robotState.m_gravity);
-
-        // OUTPUT
-        // ======
-
-        // Calculate the centroidal momentum
-        *m_centroidalMomentum = model->getCentroidalTotalMomentum();
-
-        // Forward the output to Simulink
-        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_CENTRMOM);
-        output.setBuffer(toEigen(*m_centroidalMomentum).data(),
-                         blockInfo->getOutputPortWidth(OUTPUT_IDX_CENTRMOM));
-        return true;
+    // Size and type
+    success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_CENTRMOM, 6);
+    blockInfo->setOutputPortType(OUTPUT_IDX_CENTRMOM, PortDataTypeDouble);
+
+    return success;
+}
+
+bool CentroidalMomentum::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
+
+    // OUTPUT
+    // ======
+
+    m_centroidalMomentum = new iDynTree::SpatialMomentum();
+    return m_centroidalMomentum;
+}
+
+bool CentroidalMomentum::terminate(const BlockInformation* blockInfo)
+{
+    if (m_centroidalMomentum) {
+        delete m_centroidalMomentum;
+        m_centroidalMomentum = 0;
     }
+
+    return WBBlock::terminate(blockInfo);
+}
+
+bool CentroidalMomentum::output(const BlockInformation* blockInfo)
+{
+    using namespace iDynTree;
+    using namespace Eigen;
+    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+
+    const auto& model = getRobotInterface()->getKinDynComputations();
+
+    if (!model) {
+        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+        return false;
+    }
+
+    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+    // ====================================================
+
+    unsigned signalWidth;
+
+    // Base pose
+    Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+    fromEigen(robotState.m_world_T_base,
+              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+
+    // Joints position
+    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+
+    // Base velocity
+    Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
+    double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
+    robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
+                                 AngVelocity(m_baseVelocityBuffer+3, 3));
+
+    // Joints velocity
+    Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
+    robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
+
+    // UPDATE THE ROBOT STATUS
+    // =======================
+    model->setRobotState(robotState.m_world_T_base,
+                         robotState.m_jointsPosition,
+                         robotState.m_baseVelocity,
+                         robotState.m_jointsVelocity,
+                         robotState.m_gravity);
+
+    // OUTPUT
+    // ======
+
+    // Calculate the centroidal momentum
+    *m_centroidalMomentum = model->getCentroidalTotalMomentum();
+
+    // Forward the output to Simulink
+    Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_CENTRMOM);
+    output.setBuffer(toEigen(*m_centroidalMomentum).data(),
+                     blockInfo->getOutputPortWidth(OUTPUT_IDX_CENTRMOM));
+    return true;
 }
diff --git a/toolbox/src/DotJNu.cpp b/toolbox/src/DotJNu.cpp
index db9264ab2..7c82c2c39 100644
--- a/toolbox/src/DotJNu.cpp
+++ b/toolbox/src/DotJNu.cpp
@@ -9,208 +9,207 @@
 #include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string DotJNu::ClassName = "DotJNu";
+const std::string DotJNu::ClassName = "DotJNu";
 
-    const unsigned DotJNu::INPUT_IDX_BASE_POSE = 0;
-    const unsigned DotJNu::INPUT_IDX_JOINTCONF = 1;
-    const unsigned DotJNu::INPUT_IDX_BASE_VEL  = 2;
-    const unsigned DotJNu::INPUT_IDX_JOINT_VEL = 3;
-    const unsigned DotJNu::OUTPUT_IDX_DOTJ_NU  = 0;
+const unsigned DotJNu::INPUT_IDX_BASE_POSE = 0;
+const unsigned DotJNu::INPUT_IDX_JOINTCONF = 1;
+const unsigned DotJNu::INPUT_IDX_BASE_VEL  = 2;
+const unsigned DotJNu::INPUT_IDX_JOINT_VEL = 3;
+const unsigned DotJNu::OUTPUT_IDX_DOTJ_NU  = 0;
 
-    DotJNu::DotJNu()
-    : m_dotJNu(nullptr)
-    , m_frameIsCoM(false)
-    , m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
-    {}
+DotJNu::DotJNu()
+: m_dotJNu(nullptr)
+, m_frameIsCoM(false)
+, m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
+{}
 
-    unsigned DotJNu::numberOfParameters()
-    {
-        return WBBlock::numberOfParameters() + 1;
+unsigned DotJNu::numberOfParameters()
+{
+    return WBBlock::numberOfParameters() + 1;
+}
+
+bool DotJNu::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // Memory allocation / Saving data not allowed here
+
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+
+    // INPUTS
+    // ======
+    //
+    // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+    // 2) Joints position (1xDoFs vector)
+    // 3) Base frame velocity (1x6 vector)
+    // 4) Joints velocity (1xDoFs vector)
+    //
+
+    // Number of inputs
+    if (!blockInfo->setNumberOfInputPorts(4)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
     }
 
-    bool DotJNu::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // Memory allocation / Saving data not allowed here
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+    // Size and type
+    bool success = true;
+    success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL,  6);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
 
-        // INPUTS
-        // ======
-        //
-        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
-        // 2) Joints position (1xDoFs vector)
-        // 3) Base frame velocity (1x6 vector)
-        // 4) Joints velocity (1xDoFs vector)
-        //
+    blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
 
-        // Number of inputs
-        if (!blockInfo->setNumberOfInputPorts(4)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
+    if (!success) {
+        Log::getSingleton().error("Failed to configure input ports.");
+        return false;
+    }
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    // OUTPUTS
+    // =======
+    //
+    // 1) Vector representing the \dot{J} \nu vector (1x6)
+    //
 
-        // Size and type
-        bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL,  6);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
+    // Number of outputs
+    if (!blockInfo->setNumberOfOutputPorts(1)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
+    }
 
-        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
+    // Size and type
+    success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_DOTJ_NU, 6);
+    blockInfo->setOutputPortType(OUTPUT_IDX_DOTJ_NU, PortDataTypeDouble);
 
-        if (!success) {
-            Log::getSingleton().error("Failed to configure input ports.");
-            return false;
-        }
+    return success;
+}
 
-        // OUTPUTS
-        // =======
-        //
-        // 1) Vector representing the \dot{J} \nu vector (1x6)
-        //
+bool DotJNu::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
 
-        // Number of outputs
-        if (!blockInfo->setNumberOfOutputPorts(1)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
+    // INPUT PARAMETERS
+    // ================
 
-        // Size and type
-        success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_DOTJ_NU, 6);
-        blockInfo->setOutputPortType(OUTPUT_IDX_DOTJ_NU, PortDataTypeDouble);
+    std::string frame;
+    int parentParameters = WBBlock::numberOfParameters();
 
-        return success;
+    if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
+        Log::getSingleton().error("Cannot retrieve string from frame parameter.");
+        return false;
     }
 
-    bool DotJNu::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
-
-        // INPUT PARAMETERS
-        // ================
-
-        std::string frame;
-        int parentParameters = WBBlock::numberOfParameters();
+    // Check if the frame is valid
+    // ---------------------------
 
-        if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
-            Log::getSingleton().error("Cannot retrieve string from frame parameter.");
-            return false;
-        }
-
-        // Check if the frame is valid
-        // ---------------------------
+    const auto& model = getRobotInterface()->getKinDynComputations();
+    if (!model) {
+        Log::getSingleton().error("Cannot retrieve handle to KinDynComputations.");
+        return false;
+    }
 
-        const auto& model = getRobotInterface()->getKinDynComputations();
-        if (!model) {
-            Log::getSingleton().error("Cannot retrieve handle to KinDynComputations.");
+    if (frame != "com") {
+        m_frameIndex = model->getFrameIndex(frame);
+        if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
+            Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
             return false;
         }
-
-        if (frame != "com") {
-            m_frameIndex = model->getFrameIndex(frame);
-            if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
-                Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
-                return false;
-            }
-        }
-        else {
-            m_frameIsCoM = true;
-            m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
-        }
-
-        // OUTPUT
-        // ======
-        m_dotJNu = new iDynTree::Vector6();
-        m_dotJNu->zero();
-
-        return m_dotJNu;
+    }
+    else {
+        m_frameIsCoM = true;
+        m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
     }
 
-    bool DotJNu::terminate(BlockInformation* blockInfo)
-    {
-        // Output
-        if (m_dotJNu) {
-            delete m_dotJNu;
-            m_dotJNu = 0;
-        }
+    // OUTPUT
+    // ======
+    m_dotJNu = new iDynTree::Vector6();
+    m_dotJNu->zero();
+
+    return m_dotJNu;
+}
 
-        return WBBlock::terminate(blockInfo);
+bool DotJNu::terminate(const BlockInformation* blockInfo)
+{
+    // Output
+    if (m_dotJNu) {
+        delete m_dotJNu;
+        m_dotJNu = 0;
     }
 
-    bool DotJNu::output(BlockInformation* blockInfo)
-    {
-        using namespace iDynTree;
-        using namespace Eigen;
-        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+    return WBBlock::terminate(blockInfo);
+}
 
-        const auto& model = getRobotInterface()->getKinDynComputations();
+bool DotJNu::output(const BlockInformation* blockInfo)
+{
+    using namespace iDynTree;
+    using namespace Eigen;
+    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
 
-        if (!model) {
-            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
-            return false;
-        }
+    const auto& model = getRobotInterface()->getKinDynComputations();
 
-        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-        // ====================================================
-
-        unsigned signalWidth;
-
-        // Base pose
-        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-        fromEigen(robotState.m_world_T_base,
-                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-        // Joints position
-        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-        // Base velocity
-        Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
-        double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
-        robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
-                                      AngVelocity(m_baseVelocityBuffer+3, 3));
-
-        // Joints velocity
-        Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
-        robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
-
-        // UPDATE THE ROBOT STATUS
-        // =======================
-        model->setRobotState(robotState.m_world_T_base,
-                             robotState.m_jointsPosition,
-                             robotState.m_baseVelocity,
-                             robotState.m_jointsVelocity,
-                             robotState.m_gravity);
-
-        // OUTPUT
-        // ======
-
-        // Compute the dot{J}*\nu
-        Vector6 biasAcc;
-        if (!m_frameIsCoM) {
-            biasAcc = model->getFrameBiasAcc(m_frameIndex);
-        }
-        else {
-            Vector3 comBiasAcc = model->getCenterOfMassBiasAcc();
-            toEigen(biasAcc).segment<3>(0) = iDynTree::toEigen(comBiasAcc);
-            toEigen(biasAcc).segment<3>(3).setZero();
-        }
+    if (!model) {
+        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+        return false;
+    }
 
-        // Forward the output to Simulink
-        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_DOTJ_NU);
-        output.setBuffer(m_dotJNu->data(),
-                         blockInfo->getOutputPortWidth(OUTPUT_IDX_DOTJ_NU));
-        return true;
+    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+    // ====================================================
+
+    unsigned signalWidth;
+
+    // Base pose
+    Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+    fromEigen(robotState.m_world_T_base,
+              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+
+    // Joints position
+    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+
+    // Base velocity
+    Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
+    double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
+    robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
+                                  AngVelocity(m_baseVelocityBuffer+3, 3));
+
+    // Joints velocity
+    Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
+    robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
+
+    // UPDATE THE ROBOT STATUS
+    // =======================
+    model->setRobotState(robotState.m_world_T_base,
+                         robotState.m_jointsPosition,
+                         robotState.m_baseVelocity,
+                         robotState.m_jointsVelocity,
+                         robotState.m_gravity);
+
+    // OUTPUT
+    // ======
+
+    // Compute the dot{J}*\nu
+    Vector6 biasAcc;
+    if (!m_frameIsCoM) {
+        biasAcc = model->getFrameBiasAcc(m_frameIndex);
     }
+    else {
+        Vector3 comBiasAcc = model->getCenterOfMassBiasAcc();
+        toEigen(biasAcc).segment<3>(0) = iDynTree::toEigen(comBiasAcc);
+        toEigen(biasAcc).segment<3>(3).setZero();
+    }
+
+    // Forward the output to Simulink
+    Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_DOTJ_NU);
+    output.setBuffer(m_dotJNu->data(),
+                     blockInfo->getOutputPortWidth(OUTPUT_IDX_DOTJ_NU));
+    return true;
 }
diff --git a/toolbox/src/ForwardKinematics.cpp b/toolbox/src/ForwardKinematics.cpp
index 052713745..a34f5c72b 100644
--- a/toolbox/src/ForwardKinematics.cpp
+++ b/toolbox/src/ForwardKinematics.cpp
@@ -9,185 +9,181 @@
 #include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string ForwardKinematics::ClassName = "ForwardKinematics";
+const std::string ForwardKinematics::ClassName = "ForwardKinematics";
 
-    const unsigned ForwardKinematics::INPUT_IDX_BASE_POSE = 0;
-    const unsigned ForwardKinematics::INPUT_IDX_JOINTCONF = 1;
-    const unsigned ForwardKinematics::OUTPUT_IDX_FW_FRAME = 0;
+const unsigned ForwardKinematics::INPUT_IDX_BASE_POSE = 0;
+const unsigned ForwardKinematics::INPUT_IDX_JOINTCONF = 1;
+const unsigned ForwardKinematics::OUTPUT_IDX_FW_FRAME = 0;
 
-    ForwardKinematics::ForwardKinematics()
-    : m_frameIsCoM(false)
-    , m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
-    {}
+ForwardKinematics::ForwardKinematics()
+: m_frameIsCoM(false)
+, m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
+{}
 
-    unsigned ForwardKinematics::numberOfParameters()
-    {
-        return WBBlock::numberOfParameters() + 1;
-    }
-
-    bool ForwardKinematics::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // Memory allocation / Saving data not allowed here
+unsigned ForwardKinematics::numberOfParameters()
+{
+    return WBBlock::numberOfParameters() + 1;
+}
 
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+bool ForwardKinematics::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // Memory allocation / Saving data not allowed here
 
-        // INPUTS
-        // ======
-        //
-        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
-        // 2) Joints position (1xDoFs vector)
-        //
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // Number of inputs
-        if (!blockInfo->setNumberOfInputPorts(2)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
+    // INPUTS
+    // ======
+    //
+    // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+    // 2) Joints position (1xDoFs vector)
+    //
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-
-        // Size and type
-        bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
+    // Number of inputs
+    if (!blockInfo->setNumberOfInputPorts(2)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
+    }
 
-        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        if (!success) {
-            Log::getSingleton().error("Failed to configure input ports.");
-            return false;
-        }
+    // Size and type
+    bool success = true;
+    success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
 
-        // OUTPUTS
-        // =======
-        //
-        // 1) Homogeneous transformation between the world and the specified frame (4x4 matrix)
-        //
+    blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
 
-        // Number of outputs
-        if (!blockInfo->setNumberOfOutputPorts(1)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
+    if (!success) {
+        Log::getSingleton().error("Failed to configure input ports.");
+        return false;
+    }
 
-        // Size and type
-        success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_FW_FRAME, 4, 4);
-        blockInfo->setOutputPortType(OUTPUT_IDX_FW_FRAME, PortDataTypeDouble);
+    // OUTPUTS
+    // =======
+    //
+    // 1) Homogeneous transformation between the world and the specified frame (4x4 matrix)
+    //
 
-        return success;
+    // Number of outputs
+    if (!blockInfo->setNumberOfOutputPorts(1)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
     }
 
-    bool ForwardKinematics::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
+    // Size and type
+    success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_FW_FRAME, 4, 4);
+    blockInfo->setOutputPortType(OUTPUT_IDX_FW_FRAME, PortDataTypeDouble);
 
-        // INPUT PARAMETERS
-        // ================
+    return success;
+}
 
-        std::string frame;
-        int parentParameters = WBBlock::numberOfParameters();
+bool ForwardKinematics::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
 
-        if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
-            Log::getSingleton().error("Cannot retrieve string from frame parameter.");
-            return false;
-        }
+    // INPUT PARAMETERS
+    // ================
 
-        // Check if the frame is valid
-        // ---------------------------
+    std::string frame;
+    int parentParameters = WBBlock::numberOfParameters();
 
-        const auto& model = getRobotInterface()->getKinDynComputations();
-        if (!model) {
-            Log::getSingleton().error("Cannot retrieve handle to WBI model.");
-            return false;
-        }
+    if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
+        Log::getSingleton().error("Cannot retrieve string from frame parameter.");
+        return false;
+    }
 
-        if (frame != "com") {
-            m_frameIndex = model->getFrameIndex(frame);
-            if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
-                Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
-                return false;
-            }
-        }
-        else {
-            m_frameIsCoM = true;
-            m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
-        }
+    // Check if the frame is valid
+    // ---------------------------
 
-        return true;
+    const auto& model = getRobotInterface()->getKinDynComputations();
+    if (!model) {
+        Log::getSingleton().error("Cannot retrieve handle to WBI model.");
+        return false;
     }
 
-    bool ForwardKinematics::terminate(BlockInformation* blockInfo)
-    {
-        return WBBlock::terminate(blockInfo);
+    if (frame != "com") {
+        m_frameIndex = model->getFrameIndex(frame);
+        if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
+            Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
+            return false;
+        }
+    }
+    else {
+        m_frameIsCoM = true;
+        m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
     }
 
-    bool ForwardKinematics::output(BlockInformation* blockInfo)
-    {
-        using namespace iDynTree;
-        using namespace Eigen;
-        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
-        typedef Matrix<double, 4, 4, Eigen::RowMajor> Matrix4diDynTree;
+    return true;
+}
 
-        const auto& model = getRobotInterface()->getKinDynComputations();
+bool ForwardKinematics::terminate(const BlockInformation* blockInfo)
+{
+    return WBBlock::terminate(blockInfo);
+}
 
-        if (!model) {
-            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
-            return false;
-        }
+bool ForwardKinematics::output(const BlockInformation* blockInfo)
+{
+    using namespace iDynTree;
+    using namespace Eigen;
+    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+    typedef Matrix<double, 4, 4, Eigen::RowMajor> Matrix4diDynTree;
 
-        // Get the signals and convert them to iDynTree objects
-        // ====================================================
+    const auto& model = getRobotInterface()->getKinDynComputations();
 
-        unsigned signalWidth;
+    if (!model) {
+        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+        return false;
+    }
 
-        // Base pose
-        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-        fromEigen(robotState.m_world_T_base,
-                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+    // Get the signals and convert them to iDynTree objects
+    // ====================================================
 
-        // Joints position
-        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+    unsigned signalWidth;
 
-        // TODO: the other 3 inputs are taken from the previous block's setRobotState().
-        //       How to handle it? What happens if a nullptr is passed?
+    // Base pose
+    Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+    fromEigen(robotState.m_world_T_base,
+              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
 
-        // Update the robot status
-        // =======================
-        model->setRobotState(robotState.m_world_T_base,
-                             robotState.m_jointsPosition,
-                             robotState.m_baseVelocity,
-                             robotState.m_jointsVelocity,
-                             robotState.m_gravity);
+    // Joints position
+    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
 
-        // Output
-        // ======
+    // Update the robot status
+    // =======================
+    model->setRobotState(robotState.m_world_T_base,
+                         robotState.m_jointsPosition,
+                         robotState.m_baseVelocity,
+                         robotState.m_jointsVelocity,
+                         robotState.m_gravity);
 
-        iDynTree::Transform world_H_frame;
+    // Output
+    // ======
 
-        // Compute the transform to the selected frame
-        if (!m_frameIsCoM) {
-            world_H_frame = model->getWorldTransform(m_frameIndex);
-        }
-        else {
-            world_H_frame.setPosition(model->getCenterOfMassPosition());
-        }
+    iDynTree::Transform world_H_frame;
 
-        // Get the output signal memory location
-        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_FW_FRAME);
+    // Compute the transform to the selected frame
+    if (!m_frameIsCoM) {
+        world_H_frame = model->getWorldTransform(m_frameIndex);
+    }
+    else {
+        world_H_frame.setPosition(model->getCenterOfMassPosition());
+    }
 
-        // Allocate objects for row-major -> col-major conversion
-        Map<const Matrix4diDynTree> world_H_frame_RowMajor = toEigen(world_H_frame.asHomogeneousTransform());
-        Map<Matrix4dSimulink> world_H_frame_ColMajor((double*)output.getContiguousBuffer(),
-                               4, 4);
+    // Get the output signal memory location
+    Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_FW_FRAME);
 
-        // Forward the buffer to Simulink transforming it to ColMajor
-        world_H_frame_ColMajor = world_H_frame_RowMajor;
-        return true;
-    }
+    // Allocate objects for row-major -> col-major conversion
+    Map<const Matrix4diDynTree> world_H_frame_RowMajor = toEigen(world_H_frame.asHomogeneousTransform());
+    Map<Matrix4dSimulink> world_H_frame_ColMajor((double*)output.getContiguousBuffer(),
+                           4, 4);
+
+    // Forward the buffer to Simulink transforming it to ColMajor
+    world_H_frame_ColMajor = world_H_frame_RowMajor;
+    return true;
 }
diff --git a/toolbox/src/GetLimits.cpp b/toolbox/src/GetLimits.cpp
index bc2f55b10..4923021e7 100644
--- a/toolbox/src/GetLimits.cpp
+++ b/toolbox/src/GetLimits.cpp
@@ -10,187 +10,186 @@
 #include <vector>
 #include <limits>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string GetLimits::ClassName = "GetLimits";
+const std::string GetLimits::ClassName = "GetLimits";
 
-    unsigned GetLimits::numberOfParameters()
-    {
-        return WBBlock::numberOfParameters() + 1;
-    }
-
-    bool GetLimits::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+unsigned GetLimits::numberOfParameters()
+{
+    return WBBlock::numberOfParameters() + 1;
+}
 
-        // INPUTS
-        // ======
-        //
-        // No inputs
-        //
+bool GetLimits::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
+    // INPUTS
+    // ======
+    //
+    // No inputs
+    //
 
-        // OUTPUTS
-        // =======
-        //
-        // 1) vector with the information asked (1xDoFs)
-        //
+    if (!blockInfo->setNumberOfInputPorts(0)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
+    }
 
-        if (!blockInfo->setNumberOfOutputPorts(2)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
+    // OUTPUTS
+    // =======
+    //
+    // 1) vector with the information asked (1xDoFs)
+    //
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    if (!blockInfo->setNumberOfOutputPorts(2)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
+    }
 
-        bool success = true;
-        success = success && blockInfo->setOutputPortVectorSize(0, dofs); // Min limit
-        success = success && blockInfo->setOutputPortVectorSize(1, dofs); // Max limit
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
-        blockInfo->setOutputPortType(1, PortDataTypeDouble);
+    bool success = true;
+    success = success && blockInfo->setOutputPortVectorSize(0, dofs); // Min limit
+    success = success && blockInfo->setOutputPortVectorSize(1, dofs); // Max limit
 
-        if (!success) {
-            Log::getSingleton().error("Failed to configure output ports.");
-            return false;
-        }
+    blockInfo->setOutputPortType(0, PortDataTypeDouble);
+    blockInfo->setOutputPortType(1, PortDataTypeDouble);
 
-        return true;
+    if (!success) {
+        Log::getSingleton().error("Failed to configure output ports.");
+        return false;
     }
 
-    bool GetLimits::initialize(BlockInformation* blockInfo)
-    {
-        using namespace yarp::os;
-        if (!WBBlock::initialize(blockInfo)) return false;
+    return true;
+}
+
+bool GetLimits::initialize(const BlockInformation* blockInfo)
+{
+    using namespace yarp::os;
+    if (!WBBlock::initialize(blockInfo)) return false;
+
+    // Read the control type
+    std::string limitType;
+    if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1, limitType)) {
+        Log::getSingleton().error("Could not read estimate type parameter.");
+        return false;
+    }
 
-        // Read the control type
-        std::string limitType;
-        if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1, limitType)) {
-            Log::getSingleton().error("Could not read estimate type parameter.");
+    // Initialize the structure that stores the limits
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    m_limits.reset(new Limit(dofs));
+
+    // Initializes some buffers
+    double min = 0;
+    double max = 0;
+
+    // From the RemoteControlBoardRemapper
+    // ===================================
+    //
+    // In the next methods, the values are asked using joint index and not string.
+    // The ControlBoardRemapper internally uses the same joints ordering of its
+    // initialization. In this case, it matches 1:1 the joint vector. It is hence
+    // possible using i to point to the correct joint.
+
+    // Get the RemoteControlBoardRemapper and IControlLimits2 interface if needed
+    std::weak_ptr<yarp::dev::IControlLimits2> iControlLimits2;
+    if (limitType == "ControlBoardPosition" || limitType == "ControlBoardVelocity") {
+        // Retain the control board remapper
+        if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
+            Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
             return false;
         }
+        // Get the interface
+        if (!getRobotInterface()->getInterface(iControlLimits2)) {
+            Log::getSingleton().error("Failed to get IControlLimits2 interface.");
+            return false;
+        }
+    }
 
-        // Initialize the structure that stores the limits
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-        m_limits.reset(new Limit(dofs));
-
-        // Initializes some buffers
-        double min = 0;
-        double max = 0;
-
-        // From the RemoteControlBoardRemapper
-        // ===================================
-        //
-        // In the next methods, the values are asked using joint index and not string.
-        // The ControlBoardRemapper internally uses the same joints ordering of its
-        // initialization. In this case, it matches 1:1 the joint vector. It is hence
-        // possible using i to point to the correct joint.
-
-        // Get the RemoteControlBoardRemapper and IControlLimits2 interface if needed
-        std::weak_ptr<yarp::dev::IControlLimits2> iControlLimits2;
-        if (limitType == "ControlBoardPosition" || limitType == "ControlBoardVelocity") {
-            // Retain the control board remapper
-            if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
-                Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+    if (limitType == "ControlBoardPosition") {
+        for (auto i = 0; i < dofs; ++i) {
+            if (!iControlLimits2.lock()->getLimits(i, &min, &max)) {
+                Log::getSingleton().error("Failed to get limits from the interface.");
                 return false;
             }
-            // Get the interface
-            if (!getRobotInterface()->getInterface(iControlLimits2)) {
-                Log::getSingleton().error("Failed to get IControlLimits2 interface.");
+            m_limits->min[i] = min;
+            m_limits->max[i] = max;
+        }
+    }
+    else if (limitType == "ControlBoardVelocity") {
+        for (auto i = 0; i < dofs; ++i) {
+            if (!iControlLimits2.lock()->getVelLimits(i, &min, &max)) {
+                Log::getSingleton().error("Failed to get limits from the interface.");
                 return false;
             }
+            m_limits->min[i] = min;
+            m_limits->max[i] = max;
         }
+    }
 
-        if (limitType == "ControlBoardPosition") {
-            for (auto i = 0; i < dofs; ++i) {
-                if (!iControlLimits2.lock()->getLimits(i, &min, &max)) {
-                    Log::getSingleton().error("Failed to get limits from the interface.");
-                    return false;
-                }
-                m_limits->min[i] = min;
-                m_limits->max[i] = max;
-            }
-        }
-        else if (limitType == "ControlBoardVelocity") {
-            for (auto i = 0; i < dofs; ++i) {
-                if (!iControlLimits2.lock()->getVelLimits(i, &min, &max)) {
-                    Log::getSingleton().error("Failed to get limits from the interface.");
-                    return false;
-                }
-                m_limits->min[i] = min;
-                m_limits->max[i] = max;
-            }
-        }
+    // From the URDF model
+    // ===================
+    //
+    // For the time being, only position limits are supported.
 
-        // From the URDF model
-        // ===================
-        //
-        // For the time being, only position limits are supported.
-
-        else if (limitType == "ModelPosition") {
-            iDynTree::IJointConstPtr p_joint;
-            const iDynTree::Model model = getRobotInterface()->getKinDynComputations()->model();
-
-            for (auto i = 0; i < dofs; ++i) {
-                // Get the joint name
-                std::string joint = getConfiguration().getControlledJoints()[i];
-
-                // Get its index
-                iDynTree::LinkIndex jointIndex = model.getLinkIndex(joint);
-
-                // Get the joint from the model
-                p_joint = model.getJoint(jointIndex);
-
-                if (!p_joint->hasPosLimits()) {
-                    Log::getSingleton().warning("Joint " + joint + " has no model limits.");
-                    // TODO: test how these values are interpreted by Simulink
-                    min = -std::numeric_limits<double>::infinity();
-                    max = std::numeric_limits<double>::infinity();
-                }
-                else {
-                    p_joint->getPosLimits(0, min, max);
-                }
+    else if (limitType == "ModelPosition") {
+        iDynTree::IJointConstPtr p_joint;
+        const iDynTree::Model model = getRobotInterface()->getKinDynComputations()->model();
+
+        for (auto i = 0; i < dofs; ++i) {
+            // Get the joint name
+            std::string joint = getConfiguration().getControlledJoints()[i];
+
+            // Get its index
+            iDynTree::LinkIndex jointIndex = model.getLinkIndex(joint);
+
+            // Get the joint from the model
+            p_joint = model.getJoint(jointIndex);
+
+            if (!p_joint->hasPosLimits()) {
+                Log::getSingleton().warning("Joint " + joint + " has no model limits.");
+                // TODO: test how these values are interpreted by Simulink
+                min = -std::numeric_limits<double>::infinity();
+                max = std::numeric_limits<double>::infinity();
+            }
+            else {
+                p_joint->getPosLimits(0, min, max);
             }
         }
-        // TODO
-        // else if (limitType == "ModelVelocity") {
-        // }
-        // else if (limitType == "ModelEffort") {
-        // }
-        else {
-            Log::getSingleton().error("Limit type " + limitType + " not recognized.");
-            return false;
-        }
-
-        return true;
+    }
+    // TODO
+    // else if (limitType == "ModelVelocity") {
+    // }
+    // else if (limitType == "ModelEffort") {
+    // }
+    else {
+        Log::getSingleton().error("Limit type " + limitType + " not recognized.");
+        return false;
     }
 
-    bool GetLimits::terminate(BlockInformation* blockInfo)
-    {
-        // Release the RemoteControlBoardRemapper
-        bool ok = true;
-        ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
-        if (!ok) {
-            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
-        }
+    return true;
+}
 
-        return ok && WBBlock::terminate(blockInfo);
+bool GetLimits::terminate(const BlockInformation* blockInfo)
+{
+    // Release the RemoteControlBoardRemapper
+    bool ok = true;
+    ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+    if (!ok) {
+        Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
     }
 
-    bool GetLimits::output(BlockInformation* blockInfo)
-    {
-        if (!m_limits) return false;
+    return ok && WBBlock::terminate(blockInfo);
+}
+
+bool GetLimits::output(const BlockInformation* blockInfo)
+{
+    if (!m_limits) return false;
 
-        Signal minPort = blockInfo->getOutputPortSignal(0);
-        Signal maxPort = blockInfo->getOutputPortSignal(1);
+    Signal minPort = blockInfo->getOutputPortSignal(0);
+    Signal maxPort = blockInfo->getOutputPortSignal(1);
 
-        minPort.setBuffer(m_limits->min.data(), getConfiguration().getNumberOfDoFs());
-        maxPort.setBuffer(m_limits->max.data(), getConfiguration().getNumberOfDoFs());
+    minPort.setBuffer(m_limits->min.data(), getConfiguration().getNumberOfDoFs());
+    maxPort.setBuffer(m_limits->max.data(), getConfiguration().getNumberOfDoFs());
 
-        return true;
-    }
+    return true;
 }
diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
index c0e0f01f6..65cc1a49e 100644
--- a/toolbox/src/GetMeasurement.cpp
+++ b/toolbox/src/GetMeasurement.cpp
@@ -10,174 +10,173 @@
 #define _USE_MATH_DEFINES
 #include <cmath>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string GetMeasurement::ClassName = "GetMeasurement";
+const std::string GetMeasurement::ClassName = "GetMeasurement";
 
-    void deg2rad(std::vector<double>& v)
-    {
-        const double deg2rad = (2 * M_PI) / 180.0;
-        for (auto& element : v) {
-            element *= deg2rad;
-        }
-    }
-
-    unsigned GetMeasurement::numberOfParameters()
-    {
-        return WBBlock::numberOfParameters() + 1;
+void deg2rad(std::vector<double>& v)
+{
+    const double deg2rad = (2 * M_PI) / 180.0;
+    for (auto& element : v) {
+        element *= deg2rad;
     }
+}
 
-    bool GetMeasurement::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+unsigned GetMeasurement::numberOfParameters()
+{
+    return WBBlock::numberOfParameters() + 1;
+}
 
-        // INPUTS
-        // ======
-        //
-        // No inputs
-        //
+bool GetMeasurement::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
+    // INPUTS
+    // ======
+    //
+    // No inputs
+    //
 
-        // OUTPUTS
-        // =======
-        //
-        // 1) Vector with the information asked (1xDoFs)
-        //
+    if (!blockInfo->setNumberOfInputPorts(0)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
+    }
 
-        if (!blockInfo->setNumberOfOutputPorts(1)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
+    // OUTPUTS
+    // =======
+    //
+    // 1) Vector with the information asked (1xDoFs)
+    //
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    if (!blockInfo->setNumberOfOutputPorts(1)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
+    }
 
-        bool success = blockInfo->setOutputPortVectorSize(0, dofs);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
-        if (!success) {
-            Log::getSingleton().error("Failed to configure output ports.");
-            return false;
-        }
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        return true;
+    bool success = blockInfo->setOutputPortVectorSize(0, dofs);
+    blockInfo->setOutputPortType(0, PortDataTypeDouble);
+    if (!success) {
+        Log::getSingleton().error("Failed to configure output ports.");
+        return false;
     }
 
-    bool GetMeasurement::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
+    return true;
+}
 
-        // Reading the control type
-        std::string informationType;
-        if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1, informationType)) {
-            Log::getSingleton().error("Could not read estimate type parameter.");
-            return false;
-        }
+bool GetMeasurement::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
 
-        if (informationType == "Joints Position") {
-            m_estimateType = wbt::ESTIMATE_JOINT_POS;
-        } else if (informationType == "Joints Velocity") {
-            m_estimateType = wbt::ESTIMATE_JOINT_VEL;
-        } else if (informationType == "Joints Acceleration") {
-            m_estimateType = wbt::ESTIMATE_JOINT_ACC;
-        } else if (informationType == "Joints Torque") {
-            m_estimateType = wbt::ESTIMATE_JOINT_TORQUE;
-        } else {
-            Log::getSingleton().error("Estimate not supported.");
-            return false;
-        }
+    // Reading the control type
+    std::string informationType;
+    if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1, informationType)) {
+        Log::getSingleton().error("Could not read estimate type parameter.");
+        return false;
+    }
 
-        // Initialize the size of the output vector
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-        m_estimate.reserve(dofs);
+    if (informationType == "Joints Position") {
+        m_estimateType = wbt::ESTIMATE_JOINT_POS;
+    } else if (informationType == "Joints Velocity") {
+        m_estimateType = wbt::ESTIMATE_JOINT_VEL;
+    } else if (informationType == "Joints Acceleration") {
+        m_estimateType = wbt::ESTIMATE_JOINT_ACC;
+    } else if (informationType == "Joints Torque") {
+        m_estimateType = wbt::ESTIMATE_JOINT_TORQUE;
+    } else {
+        Log::getSingleton().error("Estimate not supported.");
+        return false;
+    }
 
-        // Retain the ControlBoardRemapper
-        if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
-            Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
-            return false;
-        }
+    // Initialize the size of the output vector
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    m_estimate.reserve(dofs);
 
-        return true;
+    // Retain the ControlBoardRemapper
+    if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
+        Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+        return false;
     }
 
-    bool GetMeasurement::terminate(BlockInformation* blockInfo)
-    {
-        // Release the RemoteControlBoardRemapper
-        bool ok = true;
-        ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
-        if (!ok) {
-            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
-        }
+    return true;
+}
 
-        return ok && WBBlock::terminate(blockInfo);
+bool GetMeasurement::terminate(const BlockInformation* blockInfo)
+{
+    // Release the RemoteControlBoardRemapper
+    bool ok = true;
+    ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+    if (!ok) {
+        Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
     }
 
-    bool GetMeasurement::output(BlockInformation* blockInfo)
-    {
-        bool ok;
-        switch (m_estimateType) {
-            case ESTIMATE_JOINT_POS: {
-                // Get the interface
-                std::weak_ptr<yarp::dev::IEncoders> iEncoders;
-                if (!getRobotInterface()->getInterface(iEncoders)) {
-                    Log::getSingleton().error("Failed to get IPidControl interface.");
-                    return false;
-                }
-                // Get the measurement
-                ok = iEncoders.lock()->getEncoders(m_estimate.data());
-                deg2rad(m_estimate);
-                break;
-            }
-            case ESTIMATE_JOINT_VEL: {
-                // Get the interface
-                std::weak_ptr<yarp::dev::IEncoders> iEncoders;
-                if (!getRobotInterface()->getInterface(iEncoders)) {
-                    Log::getSingleton().error("Failed to get IEncoders interface.");
-                    return false;
-                }
-                // Get the measurement
-                ok = iEncoders.lock()->getEncoderSpeeds(m_estimate.data());
-                deg2rad(m_estimate);
-                break;
+    return ok && WBBlock::terminate(blockInfo);
+}
+
+bool GetMeasurement::output(const BlockInformation* blockInfo)
+{
+    bool ok;
+    switch (m_estimateType) {
+        case ESTIMATE_JOINT_POS: {
+            // Get the interface
+            std::weak_ptr<yarp::dev::IEncoders> iEncoders;
+            if (!getRobotInterface()->getInterface(iEncoders)) {
+                Log::getSingleton().error("Failed to get IPidControl interface.");
+                return false;
             }
-            case ESTIMATE_JOINT_ACC: {
-                // Get the interface
-                std::weak_ptr<yarp::dev::IEncoders> iEncoders;
-                if (!getRobotInterface()->getInterface(iEncoders)) {
-                    Log::getSingleton().error("Failed to get IEncoders interface.");
-                    return false;
-                }
-                // Get the measurement
-                ok = iEncoders.lock()->getEncoderAccelerations(m_estimate.data());
-                deg2rad(m_estimate);
-                break;
+            // Get the measurement
+            ok = iEncoders.lock()->getEncoders(m_estimate.data());
+            deg2rad(m_estimate);
+            break;
+        }
+        case ESTIMATE_JOINT_VEL: {
+            // Get the interface
+            std::weak_ptr<yarp::dev::IEncoders> iEncoders;
+            if (!getRobotInterface()->getInterface(iEncoders)) {
+                Log::getSingleton().error("Failed to get IEncoders interface.");
+                return false;
             }
-            case ESTIMATE_JOINT_TORQUE: {
-                // Get the interface
-                std::weak_ptr<yarp::dev::ITorqueControl> iTorqueControl;
-                if (!getRobotInterface()->getInterface(iTorqueControl)) {
-                    Log::getSingleton().error("Failed to get ITorqueControl interface.");
-                    return false;
-                }
-                // Get the measurement
-                ok = iTorqueControl.lock()->getTorques(m_estimate.data());
-                break;
+            // Get the measurement
+            ok = iEncoders.lock()->getEncoderSpeeds(m_estimate.data());
+            deg2rad(m_estimate);
+            break;
+        }
+        case ESTIMATE_JOINT_ACC: {
+            // Get the interface
+            std::weak_ptr<yarp::dev::IEncoders> iEncoders;
+            if (!getRobotInterface()->getInterface(iEncoders)) {
+                Log::getSingleton().error("Failed to get IEncoders interface.");
+                return false;
             }
-            default:
-                Log::getSingleton().error("Estimate type not recognized.");
+            // Get the measurement
+            ok = iEncoders.lock()->getEncoderAccelerations(m_estimate.data());
+            deg2rad(m_estimate);
+            break;
+        }
+        case ESTIMATE_JOINT_TORQUE: {
+            // Get the interface
+            std::weak_ptr<yarp::dev::ITorqueControl> iTorqueControl;
+            if (!getRobotInterface()->getInterface(iTorqueControl)) {
+                Log::getSingleton().error("Failed to get ITorqueControl interface.");
                 return false;
+            }
+            // Get the measurement
+            ok = iTorqueControl.lock()->getTorques(m_estimate.data());
+            break;
         }
-
-        if (!ok) {
-            Log::getSingleton().error("Failed to get estimate.");
+        default:
+            Log::getSingleton().error("Estimate type not recognized.");
             return false;
-        }
-
-        Signal signal = blockInfo->getOutputPortSignal(0);
-        signal.setBuffer(m_estimate.data(), blockInfo->getOutputPortWidth(0));
+    }
 
-        return true;
+    if (!ok) {
+        Log::getSingleton().error("Failed to get estimate.");
+        return false;
     }
+
+    Signal signal = blockInfo->getOutputPortSignal(0);
+    signal.setBuffer(m_estimate.data(), blockInfo->getOutputPortWidth(0));
+
+    return true;
 }
diff --git a/toolbox/src/InverseDynamics.cpp b/toolbox/src/InverseDynamics.cpp
index 28b8a70c7..5aa635a93 100644
--- a/toolbox/src/InverseDynamics.cpp
+++ b/toolbox/src/InverseDynamics.cpp
@@ -10,206 +10,204 @@
 #include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
-// TODO: Substitute with using
-namespace wbt {
-
-    const std::string InverseDynamics::ClassName = "InverseDynamics";
-
-    const unsigned InverseDynamics::INPUT_IDX_BASE_POSE = 0;
-    const unsigned InverseDynamics::INPUT_IDX_JOINTCONF = 1;
-    const unsigned InverseDynamics::INPUT_IDX_BASE_VEL  = 2;
-    const unsigned InverseDynamics::INPUT_IDX_JOINT_VEL = 3;
-    const unsigned InverseDynamics::INPUT_IDX_BASE_ACC  = 4;
-    const unsigned InverseDynamics::INPUT_IDX_JOINT_ACC = 5;
-    const unsigned InverseDynamics::OUTPUT_IDX_TORQUES  = 0;
-
-    InverseDynamics::InverseDynamics()
-    : m_baseAcceleration(nullptr)
-    , m_jointsAcceleration(nullptr)
-    , m_torques(nullptr)
-    {}
-
-    unsigned InverseDynamics::numberOfParameters()
-    {
-        return WBBlock::numberOfParameters();
+using namespace wbt;
+
+const std::string InverseDynamics::ClassName = "InverseDynamics";
+
+const unsigned InverseDynamics::INPUT_IDX_BASE_POSE = 0;
+const unsigned InverseDynamics::INPUT_IDX_JOINTCONF = 1;
+const unsigned InverseDynamics::INPUT_IDX_BASE_VEL  = 2;
+const unsigned InverseDynamics::INPUT_IDX_JOINT_VEL = 3;
+const unsigned InverseDynamics::INPUT_IDX_BASE_ACC  = 4;
+const unsigned InverseDynamics::INPUT_IDX_JOINT_ACC = 5;
+const unsigned InverseDynamics::OUTPUT_IDX_TORQUES  = 0;
+
+InverseDynamics::InverseDynamics()
+: m_baseAcceleration(nullptr)
+, m_jointsAcceleration(nullptr)
+, m_torques(nullptr)
+{}
+
+unsigned InverseDynamics::numberOfParameters()
+{
+    return WBBlock::numberOfParameters();
+}
+
+bool InverseDynamics::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // Memory allocation / Saving data not allowed here
+
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+
+    // INPUTS
+    // ======
+    //
+    // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+    // 2) Joints position (1xDoFs vector)
+    // 3) Base frame velocity (1x6 vector)
+    // 4) Joints velocity (1xDoFs vector)
+    // 5) Base frame acceleration (1x6 vector)
+    // 6) Joints acceleration (1xDoFs vector)
+    //
+
+    // Number of inputs
+    if (!blockInfo->setNumberOfInputPorts(6)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
     }
 
-    bool InverseDynamics::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // Memory allocation / Saving data not allowed here
-
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
-
-        // INPUTS
-        // ======
-        //
-        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
-        // 2) Joints position (1xDoFs vector)
-        // 3) Base frame velocity (1x6 vector)
-        // 4) Joints velocity (1xDoFs vector)
-        // 5) Base frame acceleration (1x6 vector)
-        // 6) Joints acceleration (1xDoFs vector)
-        //
-
-        // Number of inputs
-        if (!blockInfo->setNumberOfInputPorts(6)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
-
-        // Get the DoFs
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-
-        // Size and type
-        bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL,  6);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_ACC,  6);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_ACC, dofs);
-
-        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_BASE_ACC,  PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINT_ACC, PortDataTypeDouble);
-
-        if (!success) {
-            Log::getSingleton().error("Failed to configure input ports.");
-            return false;
-        }
-
-        // OUTPUTS
-        // =======
-        //
-        // 1) Vector representing the torques (1x(DoFs+6))
-        //
-
-        // Number of outputs
-        if (!blockInfo->setNumberOfOutputPorts(1)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
-
-        // Size and type
-        success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_TORQUES, dofs + 6);
-        blockInfo->setOutputPortType(OUTPUT_IDX_TORQUES, PortDataTypeDouble);
-
-        return success;
+    // Get the DoFs
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+    // Size and type
+    bool success = true;
+    success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_VEL,  6);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_VEL, dofs);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_BASE_ACC,  6);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINT_ACC, dofs);
+
+    blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_BASE_VEL,  PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINT_VEL, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_BASE_ACC,  PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINT_ACC, PortDataTypeDouble);
+
+    if (!success) {
+        Log::getSingleton().error("Failed to configure input ports.");
+        return false;
     }
 
-    bool InverseDynamics::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
+    // OUTPUTS
+    // =======
+    //
+    // 1) Vector representing the torques (1x(DoFs+6))
+    //
 
-        // OUTPUT / VARIABLES
-        // ==================
+    // Number of outputs
+    if (!blockInfo->setNumberOfOutputPorts(1)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
+    }
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    // Size and type
+    success = blockInfo->setOutputPortVectorSize(OUTPUT_IDX_TORQUES, dofs + 6);
+    blockInfo->setOutputPortType(OUTPUT_IDX_TORQUES, PortDataTypeDouble);
 
-        m_baseAcceleration = new iDynTree::Vector6();
-        m_baseAcceleration->zero();
-        m_jointsAcceleration = new iDynTree::VectorDynSize(dofs);
-        m_jointsAcceleration->zero();
+    return success;
+}
 
-        const auto& model = getRobotInterface()->getKinDynComputations()->model();
-        m_torques = new iDynTree::FreeFloatingGeneralizedTorques(model);
+bool InverseDynamics::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
 
-        return m_baseAcceleration && m_jointsAcceleration && m_torques;
-    }
+    // OUTPUT / VARIABLES
+    // ==================
 
-    bool InverseDynamics::terminate(BlockInformation* blockInfo)
-    {
-        if (m_baseAcceleration) {
-            delete m_baseAcceleration;
-            m_baseAcceleration = nullptr;
-        }
-        if (m_jointsAcceleration) {
-            delete m_jointsAcceleration;
-            m_jointsAcceleration = nullptr;
-        }
-        if (m_torques) {
-            delete m_torques;
-            m_torques = nullptr;
-        }
-
-        return WBBlock::terminate(blockInfo);
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+    m_baseAcceleration = new iDynTree::Vector6();
+    m_baseAcceleration->zero();
+    m_jointsAcceleration = new iDynTree::VectorDynSize(dofs);
+    m_jointsAcceleration->zero();
+
+    const auto& model = getRobotInterface()->getKinDynComputations()->model();
+    m_torques = new iDynTree::FreeFloatingGeneralizedTorques(model);
+
+    return m_baseAcceleration && m_jointsAcceleration && m_torques;
+}
+
+bool InverseDynamics::terminate(const BlockInformation* blockInfo)
+{
+    if (m_baseAcceleration) {
+        delete m_baseAcceleration;
+        m_baseAcceleration = nullptr;
+    }
+    if (m_jointsAcceleration) {
+        delete m_jointsAcceleration;
+        m_jointsAcceleration = nullptr;
     }
+    if (m_torques) {
+        delete m_torques;
+        m_torques = nullptr;
+    }
+
+    return WBBlock::terminate(blockInfo);
+}
+
+bool InverseDynamics::output(const BlockInformation* blockInfo)
+{
+    using namespace iDynTree;
+    using namespace Eigen;
+    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
 
-    bool InverseDynamics::output(BlockInformation* blockInfo)
-    {
-        using namespace iDynTree;
-        using namespace Eigen;
-        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
-
-        const auto& model = getRobotInterface()->getKinDynComputations();
-
-        if (!model) {
-            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
-            return false;
-        }
-
-        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-        // ====================================================
-
-        unsigned signalWidth;
-
-        // Base pose
-        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-        fromEigen(robotState.m_world_T_base,
-                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-        // Joints position
-        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-        // Base velocity
-        Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
-        double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
-        robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
-                                     AngVelocity(m_baseVelocityBuffer+3, 3));
-
-        // Joints velocity
-        Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
-        robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
-
-        // Base acceleration
-        Signal baseAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_ACC);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_ACC);
-        m_baseAcceleration->fillBuffer(baseAccelerationSignal.getStdVector(signalWidth).data());
-
-        // Joints acceleration
-        Signal jointsAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_ACC);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_ACC);
-        m_jointsAcceleration->fillBuffer(jointsAccelerationSignal.getStdVector(signalWidth).data());
-
-        // UPDATE THE ROBOT STATUS
-        // =======================
-        model->setRobotState(robotState.m_world_T_base,
-                             robotState.m_jointsPosition,
-                             robotState.m_baseVelocity,
-                             robotState.m_jointsVelocity,
-                             robotState.m_gravity);
-
-        // OUTPUT
-        // ======
-
-        // Calculate the inverse dynamics (assuming zero external forces)
-        model->inverseDynamics(*m_baseAcceleration,
-                               *m_jointsAcceleration,
-                               LinkNetExternalWrenches(model->getNrOfLinks()), // TODO
-                               *m_torques);
-
-        // Forward the output to Simulink
-        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_TORQUES);
-        output.setBuffer(m_torques->jointTorques().data(),
-                         blockInfo->getOutputPortWidth(OUTPUT_IDX_TORQUES));
-        return true;
+    const auto& model = getRobotInterface()->getKinDynComputations();
+
+    if (!model) {
+        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+        return false;
     }
+
+    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+    // ====================================================
+
+    unsigned signalWidth;
+
+    // Base pose
+    Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+    fromEigen(robotState.m_world_T_base,
+              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+
+    // Joints position
+    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+
+    // Base velocity
+    Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
+    double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
+    robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
+                                 AngVelocity(m_baseVelocityBuffer+3, 3));
+
+    // Joints velocity
+    Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
+    robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
+
+    // Base acceleration
+    Signal baseAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_ACC);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_ACC);
+    m_baseAcceleration->fillBuffer(baseAccelerationSignal.getStdVector(signalWidth).data());
+
+    // Joints acceleration
+    Signal jointsAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_ACC);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_ACC);
+    m_jointsAcceleration->fillBuffer(jointsAccelerationSignal.getStdVector(signalWidth).data());
+
+    // UPDATE THE ROBOT STATUS
+    // =======================
+    model->setRobotState(robotState.m_world_T_base,
+                         robotState.m_jointsPosition,
+                         robotState.m_baseVelocity,
+                         robotState.m_jointsVelocity,
+                         robotState.m_gravity);
+
+    // OUTPUT
+    // ======
+
+    // Calculate the inverse dynamics (assuming zero external forces)
+    model->inverseDynamics(*m_baseAcceleration,
+                           *m_jointsAcceleration,
+                           LinkNetExternalWrenches(model->getNrOfLinks()), // TODO
+                           *m_torques);
+
+    // Forward the output to Simulink
+    Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_TORQUES);
+    output.setBuffer(m_torques->jointTorques().data(),
+                     blockInfo->getOutputPortWidth(OUTPUT_IDX_TORQUES));
+    return true;
 }
diff --git a/toolbox/src/Jacobian.cpp b/toolbox/src/Jacobian.cpp
index 8988cf4bc..4901c7ebc 100644
--- a/toolbox/src/Jacobian.cpp
+++ b/toolbox/src/Jacobian.cpp
@@ -9,216 +9,215 @@
 #include <iDynTree/Core/EigenHelpers.h>
 #include <Eigen/Core>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string Jacobian::ClassName = "Jacobian";
+const std::string Jacobian::ClassName = "Jacobian";
 
-    const unsigned Jacobian::INPUT_IDX_BASE_POSE = 0;
-    const unsigned Jacobian::INPUT_IDX_JOINTCONF = 1;
-    const unsigned Jacobian::OUTPUT_IDX_FW_FRAME = 0;
+const unsigned Jacobian::INPUT_IDX_BASE_POSE = 0;
+const unsigned Jacobian::INPUT_IDX_JOINTCONF = 1;
+const unsigned Jacobian::OUTPUT_IDX_FW_FRAME = 0;
 
-    Jacobian::Jacobian()
-    : m_jacobianCOM(nullptr)
-    , m_jacobian(nullptr)
-    , m_frameIsCoM(false)
-    , m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
-    {}
+Jacobian::Jacobian()
+: m_jacobianCOM(nullptr)
+, m_jacobian(nullptr)
+, m_frameIsCoM(false)
+, m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
+{}
 
-    unsigned Jacobian::numberOfParameters()
-    {
-        return WBBlock::numberOfParameters() + 1;
-    }
+unsigned Jacobian::numberOfParameters()
+{
+    return WBBlock::numberOfParameters() + 1;
+}
 
-    bool Jacobian::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // Memory allocation / Saving data not allowed here
+bool Jacobian::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // Memory allocation / Saving data not allowed here
 
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // INPUTS
-        // ======
-        //
-        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
-        // 2) Joints position (1xDoFs vector)
-        // 3) Base frame velocity (1x6 vector)
-        //
+    // INPUTS
+    // ======
+    //
+    // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+    // 2) Joints position (1xDoFs vector)
+    // 3) Base frame velocity (1x6 vector)
+    //
 
-        // Number of inputs
-        if (!blockInfo->setNumberOfInputPorts(2)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
+    // Number of inputs
+    if (!blockInfo->setNumberOfInputPorts(2)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
+    }
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        // Size and type
-        bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
+    // Size and type
+    bool success = true;
+    success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
 
-        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
 
-        if (!success) {
-            Log::getSingleton().error("Failed to configure input ports.");
-            return false;
-        }
+    if (!success) {
+        Log::getSingleton().error("Failed to configure input ports.");
+        return false;
+    }
 
-        // OUTPUTS
-        // =======
-        //
-        // 1) Matrix representing the Jacobian (6x(DoFs+6))
-        //
+    // OUTPUTS
+    // =======
+    //
+    // 1) Matrix representing the Jacobian (6x(DoFs+6))
+    //
 
-        // Number of outputs
-        if (!blockInfo->setNumberOfOutputPorts(1)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
+    // Number of outputs
+    if (!blockInfo->setNumberOfOutputPorts(1)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
+    }
 
-        // Size and type
-        success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_FW_FRAME, 6, 6 + dofs);
-        blockInfo->setOutputPortType(OUTPUT_IDX_FW_FRAME, PortDataTypeDouble);
+    // Size and type
+    success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_FW_FRAME, 6, 6 + dofs);
+    blockInfo->setOutputPortType(OUTPUT_IDX_FW_FRAME, PortDataTypeDouble);
 
-        return success;
-    }
+    return success;
+}
 
-    bool Jacobian::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
+bool Jacobian::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
 
-        // INPUT PARAMETERS
-        // ================
+    // INPUT PARAMETERS
+    // ================
 
-        std::string frame;
-        int parentParameters = WBBlock::numberOfParameters();
+    std::string frame;
+    int parentParameters = WBBlock::numberOfParameters();
 
-        if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
-            Log::getSingleton().error("Cannot retrieve string from frame parameter.");
-            return false;
-        }
+    if (!blockInfo->getStringParameterAtIndex(parentParameters + 1, frame)) {
+        Log::getSingleton().error("Cannot retrieve string from frame parameter.");
+        return false;
+    }
 
-        // Check if the frame is valid
-        // ---------------------------
+    // Check if the frame is valid
+    // ---------------------------
+
+    const auto& model = getRobotInterface()->getKinDynComputations();
+    if (!model) {
+        Log::getSingleton().error("Cannot retrieve handle to KinDynComputations.");
+        return false;
+    }
 
-        const auto& model = getRobotInterface()->getKinDynComputations();
-        if (!model) {
-            Log::getSingleton().error("Cannot retrieve handle to KinDynComputations.");
+    if (frame != "com") {
+        m_frameIndex = model->getFrameIndex(frame);
+        if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
+            Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
             return false;
         }
+    }
+    else {
+        m_frameIsCoM = true;
+        m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
+    }
 
-        if (frame != "com") {
-            m_frameIndex = model->getFrameIndex(frame);
-            if (m_frameIndex == iDynTree::FRAME_INVALID_INDEX) {
-                Log::getSingleton().error("Cannot find " + frame + " in the frame list.");
-                return false;
-            }
-        }
-        else {
-            m_frameIsCoM = true;
-            m_frameIndex = iDynTree::FRAME_INVALID_INDEX;
-        }
+    // OUTPUT / VARIABLES
+    // ==================
 
-        // OUTPUT / VARIABLES
-        // ==================
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    m_jacobianCOM = new iDynTree::MatrixDynSize(3, 6 + dofs);
+    m_jacobianCOM->zero();
 
-        m_jacobianCOM = new iDynTree::MatrixDynSize(3, 6 + dofs);
-        m_jacobianCOM->zero();
+    // Output
+    m_jacobian = new iDynTree::MatrixDynSize(6, 6 + dofs);
+    m_jacobian->zero();
 
-        // Output
-        m_jacobian = new iDynTree::MatrixDynSize(6, 6 + dofs);
-        m_jacobian->zero();
+    return m_jacobianCOM && m_jacobian;
+}
 
-        return m_jacobianCOM && m_jacobian;
+bool Jacobian::terminate(const BlockInformation* blockInfo)
+{
+    if (m_jacobianCOM) {
+        delete m_jacobianCOM;
+        m_jacobianCOM = nullptr;
     }
-
-    bool Jacobian::terminate(BlockInformation* blockInfo)
-    {
-        if (m_jacobianCOM) {
-            delete m_jacobianCOM;
-            m_jacobianCOM = nullptr;
-        }
-        if (m_jacobian) {
-            delete m_jacobian;
-            m_jacobian = nullptr;
-        }
-
-        return WBBlock::terminate(blockInfo);
+    if (m_jacobian) {
+        delete m_jacobian;
+        m_jacobian = nullptr;
     }
 
-    bool Jacobian::output(BlockInformation* blockInfo)
-    {
-        using namespace iDynTree;
-        using namespace Eigen;
-        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
-        typedef Matrix<double, Dynamic, Dynamic, ColMajor> MatrixXdSimulink;
-        typedef Matrix<double, Dynamic, Dynamic, Eigen::RowMajor> MatrixXdiDynTree;
+    return WBBlock::terminate(blockInfo);
+}
 
-        const auto& model = getRobotInterface()->getKinDynComputations();
+bool Jacobian::output(const BlockInformation* blockInfo)
+{
+    using namespace iDynTree;
+    using namespace Eigen;
+    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+    typedef Matrix<double, Dynamic, Dynamic, ColMajor> MatrixXdSimulink;
+    typedef Matrix<double, Dynamic, Dynamic, Eigen::RowMajor> MatrixXdiDynTree;
 
-        if (!model) {
-            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
-            return false;
-        }
+    const auto& model = getRobotInterface()->getKinDynComputations();
 
-        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-        // ====================================================
+    if (!model) {
+        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+        return false;
+    }
 
-        unsigned signalWidth;
+    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+    // ====================================================
 
-        // Base pose
-        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-        fromEigen(robotState.m_world_T_base,
-                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+    unsigned signalWidth;
 
-        // Joints position
-        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+    // Base pose
+    Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+    fromEigen(robotState.m_world_T_base,
+              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
 
-        // TODO: what about the other inputs of setRobotState?
+    // Joints position
+    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
 
-        // UPDATE THE ROBOT STATUS
-        // =======================
-        model->setRobotState(robotState.m_world_T_base,
-                             robotState.m_jointsPosition,
-                             robotState.m_baseVelocity,
-                             robotState.m_jointsVelocity,
-                             robotState.m_gravity);
+    // TODO: what about the other inputs of setRobotState?
 
-        // OUTPUT
-        // ======
+    // UPDATE THE ROBOT STATUS
+    // =======================
+    model->setRobotState(robotState.m_world_T_base,
+                         robotState.m_jointsPosition,
+                         robotState.m_baseVelocity,
+                         robotState.m_jointsVelocity,
+                         robotState.m_gravity);
 
-        iDynTree::Transform world_H_frame;
+    // OUTPUT
+    // ======
 
-        // Compute the jacobian
-        bool ok = false;
-        if (!m_frameIsCoM) {
-            world_H_frame = model->getWorldTransform(m_frameIndex);
-            ok = model->getFrameFreeFloatingJacobian(m_frameIndex, *m_jacobian);
-        }
-        else {
-            world_H_frame.setPosition(model->getCenterOfMassPosition());
-            ok = model->getCenterOfMassJacobian(*m_jacobianCOM);
-            int cols = m_jacobianCOM->cols();
-            toEigen(*m_jacobian).block(0,0,3,cols) = toEigen(*m_jacobianCOM);
-            toEigen(*m_jacobian).block(3,0,3,cols).setZero();
-        }
+    iDynTree::Transform world_H_frame;
+
+    // Compute the jacobian
+    bool ok = false;
+    if (!m_frameIsCoM) {
+        world_H_frame = model->getWorldTransform(m_frameIndex);
+        ok = model->getFrameFreeFloatingJacobian(m_frameIndex, *m_jacobian);
+    }
+    else {
+        world_H_frame.setPosition(model->getCenterOfMassPosition());
+        ok = model->getCenterOfMassJacobian(*m_jacobianCOM);
+        int cols = m_jacobianCOM->cols();
+        toEigen(*m_jacobian).block(0,0,3,cols) = toEigen(*m_jacobianCOM);
+        toEigen(*m_jacobian).block(3,0,3,cols).setZero();
+    }
 
-        // Get the output signal memory location
-        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_FW_FRAME);
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    // Get the output signal memory location
+    Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_FW_FRAME);
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        // Allocate objects for row-major -> col-major conversion
-        Map<MatrixXdiDynTree> jacobianRowMajor = toEigen(*m_jacobian);
-        Map<MatrixXdSimulink> jacobianColMajor((double*)output.getContiguousBuffer(),
-                                               6, 6 + dofs);
+    // Allocate objects for row-major -> col-major conversion
+    Map<MatrixXdiDynTree> jacobianRowMajor = toEigen(*m_jacobian);
+    Map<MatrixXdSimulink> jacobianColMajor((double*)output.getContiguousBuffer(),
+                                           6, 6 + dofs);
 
-        // Forward the buffer to Simulink transforming it to ColMajor
-        jacobianColMajor = jacobianRowMajor;
-        return true;
-     }
+    // Forward the buffer to Simulink transforming it to ColMajor
+    jacobianColMajor = jacobianRowMajor;
+    return true;
 }
diff --git a/toolbox/src/MassMatrix.cpp b/toolbox/src/MassMatrix.cpp
index 4fcbf7510..96f841253 100644
--- a/toolbox/src/MassMatrix.cpp
+++ b/toolbox/src/MassMatrix.cpp
@@ -9,153 +9,151 @@
 #include <iDynTree/KinDynComputations.h>
 #include <Eigen/Core>
 
-// TODO: remove wbt nesting;
-namespace wbt {
-
-    const std::string MassMatrix::ClassName = "MassMatrix";
-
-    const unsigned MassMatrix::INPUT_IDX_BASE_POSE = 0;
-    const unsigned MassMatrix::INPUT_IDX_JOINTCONF = 1;
-    const unsigned MassMatrix::OUTPUT_IDX_MASS_MAT = 0;
-
-    MassMatrix::MassMatrix()
-    : m_massMatrix(nullptr)
-    {}
-
-    bool MassMatrix::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // Memory allocation / Saving data not allowed here
-
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) {
-            return false;
-        }
-
-        // INPUTS
-        // ======
-        //
-        // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
-        // 2) Joints position (1xDoFs vector)
-        //
-
-        // Number of inputs
-        if (!blockInfo->setNumberOfInputPorts(2)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
-
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-
-        // Size and type
-        bool success = true;
-        success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
-        success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
-
-        blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
-        blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
-
-        if (!success) {
-            Log::getSingleton().error("Failed to configure input ports.");
-            return false;
-        }
-
-        // OUTPUTS
-        // =======
-        //
-        // 1) Matrix epresenting the mass matrix (DoFs+6)x(DoFs+6)
-        //
-
-        // Number of outputs
-        if (!blockInfo->setNumberOfOutputPorts(1)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
-
-        // Size and type
-        success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_MASS_MAT, dofs + 6, dofs + 6);
-        blockInfo->setOutputPortType(OUTPUT_IDX_MASS_MAT, PortDataTypeDouble);
-
-        return success;
+using namespace wbt;
+
+const std::string MassMatrix::ClassName = "MassMatrix";
+
+const unsigned MassMatrix::INPUT_IDX_BASE_POSE = 0;
+const unsigned MassMatrix::INPUT_IDX_JOINTCONF = 1;
+const unsigned MassMatrix::OUTPUT_IDX_MASS_MAT = 0;
+
+MassMatrix::MassMatrix()
+: m_massMatrix(nullptr)
+{}
+
+bool MassMatrix::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // Memory allocation / Saving data not allowed here
+
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) {
+        return false;
+    }
+
+    // INPUTS
+    // ======
+    //
+    // 1) Homogeneous transform for base pose wrt the world frame (4x4 matrix)
+    // 2) Joints position (1xDoFs vector)
+    //
+
+    // Number of inputs
+    if (!blockInfo->setNumberOfInputPorts(2)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
     }
 
-    bool MassMatrix::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    // Size and type
+    bool success = true;
+    success = success && blockInfo->setInputPortMatrixSize(INPUT_IDX_BASE_POSE, 4, 4);
+    success = success && blockInfo->setInputPortVectorSize(INPUT_IDX_JOINTCONF, dofs);
 
-        // Output
-        m_massMatrix = new iDynTree::MatrixDynSize(6 + dofs, 6 + dofs);
-        m_massMatrix->zero();
+    blockInfo->setInputPortType(INPUT_IDX_BASE_POSE, PortDataTypeDouble);
+    blockInfo->setInputPortType(INPUT_IDX_JOINTCONF, PortDataTypeDouble);
 
-        return m_massMatrix;
+    if (!success) {
+        Log::getSingleton().error("Failed to configure input ports.");
+        return false;
     }
 
-    bool MassMatrix::terminate(BlockInformation* blockInfo)
-    {
-        if (m_massMatrix) {
-            delete m_massMatrix;
-            m_massMatrix = nullptr;
-        }
+    // OUTPUTS
+    // =======
+    //
+    // 1) Matrix epresenting the mass matrix (DoFs+6)x(DoFs+6)
+    //
 
-        return WBBlock::terminate(blockInfo);
+    // Number of outputs
+    if (!blockInfo->setNumberOfOutputPorts(1)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
     }
 
-    bool MassMatrix::output(BlockInformation* blockInfo)
-    {
-        using namespace Eigen;
-        using namespace iDynTree;
-        typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
-        typedef Matrix<double, Dynamic, Dynamic, ColMajor> MatrixXdSimulink;
-        typedef Matrix<double, Dynamic, Dynamic, Eigen::RowMajor> MatrixXdiDynTree;
-
-        const auto& model = getRobotInterface()->getKinDynComputations();
-
-        if (!model) {
-            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
-            return false;
-        }
-
-        // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-        // ====================================================
-
-        unsigned signalWidth;
-
-        // Base pose
-        Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-        fromEigen(robotState.m_world_T_base,
-                  Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-        // Joints position
-        Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-        signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-        robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-        // UPDATE THE ROBOT STATUS
-        // =======================
-        model->setRobotState(robotState.m_world_T_base,
-                             robotState.m_jointsPosition,
-                             robotState.m_baseVelocity,
-                             robotState.m_jointsVelocity,
-                             robotState.m_gravity);
-
-        // OUTPUT
-        // ======
-
-        // Compute the Mass Matrix
-        model->getFreeFloatingMassMatrix(*m_massMatrix);
-
-        // Get the output signal memory location
-        Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_MASS_MAT);
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-
-        // Allocate objects for row-major -> col-major conversion
-        Map<MatrixXdiDynTree> massMatrixRowMajor = toEigen(*m_massMatrix);
-        Map<MatrixXdSimulink> massMatrixColMajor((double*)output.getContiguousBuffer(),
-                                                 6 + dofs, 6 + dofs);
-
-        // Forward the buffer to Simulink transforming it to ColMajor
-        massMatrixColMajor = massMatrixRowMajor;
-        return true;
+    // Size and type
+    success = blockInfo->setOutputPortMatrixSize(OUTPUT_IDX_MASS_MAT, dofs + 6, dofs + 6);
+    blockInfo->setOutputPortType(OUTPUT_IDX_MASS_MAT, PortDataTypeDouble);
+
+    return success;
+}
+
+bool MassMatrix::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
+
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+    // Output
+    m_massMatrix = new iDynTree::MatrixDynSize(6 + dofs, 6 + dofs);
+    m_massMatrix->zero();
+
+    return m_massMatrix;
+}
+
+bool MassMatrix::terminate(const BlockInformation* blockInfo)
+{
+    if (m_massMatrix) {
+        delete m_massMatrix;
+        m_massMatrix = nullptr;
     }
+
+    return WBBlock::terminate(blockInfo);
+}
+
+bool MassMatrix::output(const BlockInformation* blockInfo)
+{
+    using namespace Eigen;
+    using namespace iDynTree;
+    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+    typedef Matrix<double, Dynamic, Dynamic, ColMajor> MatrixXdSimulink;
+    typedef Matrix<double, Dynamic, Dynamic, Eigen::RowMajor> MatrixXdiDynTree;
+
+    const auto& model = getRobotInterface()->getKinDynComputations();
+
+    if (!model) {
+        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+        return false;
+    }
+
+    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
+    // ====================================================
+
+    unsigned signalWidth;
+
+    // Base pose
+    Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
+    fromEigen(robotState.m_world_T_base,
+              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
+
+    // Joints position
+    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
+    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+
+    // UPDATE THE ROBOT STATUS
+    // =======================
+    model->setRobotState(robotState.m_world_T_base,
+                         robotState.m_jointsPosition,
+                         robotState.m_baseVelocity,
+                         robotState.m_jointsVelocity,
+                         robotState.m_gravity);
+
+    // OUTPUT
+    // ======
+
+    // Compute the Mass Matrix
+    model->getFreeFloatingMassMatrix(*m_massMatrix);
+
+    // Get the output signal memory location
+    Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_MASS_MAT);
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+    // Allocate objects for row-major -> col-major conversion
+    Map<MatrixXdiDynTree> massMatrixRowMajor = toEigen(*m_massMatrix);
+    Map<MatrixXdSimulink> massMatrixColMajor((double*)output.getContiguousBuffer(),
+                                             6 + dofs, 6 + dofs);
+
+    // Forward the buffer to Simulink transforming it to ColMajor
+    massMatrixColMajor = massMatrixRowMajor;
+    return true;
 }
diff --git a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
index 2760a7624..80505a592 100644
--- a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
+++ b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
@@ -13,251 +13,249 @@
 
 #include <cmath>
 
-namespace wbt {
-
-    const std::string MinimumJerkTrajectoryGenerator::ClassName = "MinimumJerkTrajectoryGenerator";
-
-    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_SAMPLE_TIME   = 1;
-    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_SETTLING_TIME = 2;
-    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_OUTPUT_1ST_DERIVATIVE = 3;
-    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_OUTPUT_2ND_DERIVATIVE = 4;
-    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_INITIAL_VALUE    = 5;
-    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_EXT_SETTLINGTIME = 6;
-    const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_RESET_CHANGEST = 7;
-
-    MinimumJerkTrajectoryGenerator::MinimumJerkTrajectoryGenerator()
-    : m_generator(nullptr)
-    , m_outputFirstDerivativeIndex(-1)
-    , m_outputSecondDerivativeIndex(-1)
-    , m_firstRun(true)
-    , m_explicitInitialValue(false)
-    , m_externalSettlingTime(false)
-    , m_resetOnSettlingTimeChange(false)
-    , m_initialValues(nullptr)
-    , m_reference(nullptr)
-    {}
-
-    unsigned MinimumJerkTrajectoryGenerator::numberOfParameters() { return 7; }
-
-    bool MinimumJerkTrajectoryGenerator::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // PARAMETERS
-        // ==========
-        //
-        // 1) Sample time (double)
-        // 2) Settling time (double)
-        // 3) Enable the output of 1st derivative (bool)
-        // 4) Enable the output of 2nd derivative (bool)
-        // 5) Enable the input with the initial conditions (bool)
-        // 6) Enable the input with the external settling time (bool)
-        // 7) Reset the trajectory generator when settling time changes (bool)
-        //
-
-        bool outputFirstDerivative;
-        bool outputSecondDerivative;
-        bool explicitInitialValue;
-        bool externalSettlingTime;
-        bool ok = true;
-
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE, outputFirstDerivative);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE, outputSecondDerivative);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, explicitInitialValue);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, externalSettlingTime);
-
-        if (!ok) {
-            Log::getSingleton().error("Failed to get input parameters.");
-            return false;
-        }
+using namespace wbt;
+
+const std::string MinimumJerkTrajectoryGenerator::ClassName = "MinimumJerkTrajectoryGenerator";
+
+const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_SAMPLE_TIME   = 1;
+const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_SETTLING_TIME = 2;
+const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_OUTPUT_1ST_DERIVATIVE = 3;
+const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_OUTPUT_2ND_DERIVATIVE = 4;
+const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_INITIAL_VALUE    = 5;
+const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_EXT_SETTLINGTIME = 6;
+const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_RESET_CHANGEST = 7;
+
+MinimumJerkTrajectoryGenerator::MinimumJerkTrajectoryGenerator()
+: m_generator(nullptr)
+, m_outputFirstDerivativeIndex(-1)
+, m_outputSecondDerivativeIndex(-1)
+, m_firstRun(true)
+, m_explicitInitialValue(false)
+, m_externalSettlingTime(false)
+, m_resetOnSettlingTimeChange(false)
+, m_initialValues(nullptr)
+, m_reference(nullptr)
+{}
+
+unsigned MinimumJerkTrajectoryGenerator::numberOfParameters() { return 7; }
+
+bool MinimumJerkTrajectoryGenerator::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // PARAMETERS
+    // ==========
+    //
+    // 1) Sample time (double)
+    // 2) Settling time (double)
+    // 3) Enable the output of 1st derivative (bool)
+    // 4) Enable the output of 2nd derivative (bool)
+    // 5) Enable the input with the initial conditions (bool)
+    // 6) Enable the input with the external settling time (bool)
+    // 7) Reset the trajectory generator when settling time changes (bool)
+    //
+
+    bool outputFirstDerivative;
+    bool outputSecondDerivative;
+    bool explicitInitialValue;
+    bool externalSettlingTime;
+    bool ok = true;
+
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE, outputFirstDerivative);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE, outputSecondDerivative);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, explicitInitialValue);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, externalSettlingTime);
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to get input parameters.");
+        return false;
+    }
 
-        int numberOfInputPorts = 1;
-        numberOfInputPorts += static_cast<unsigned>(explicitInitialValue);
-        numberOfInputPorts += static_cast<unsigned>(externalSettlingTime);
-
-        // INPUTS
-        // ======
-        //
-        // 1) The reference signal (1xn)
-        // 2) The optional initial conditions
-        // 3) The optional settling time
-        //
-
-        if(!blockInfo->setNumberOfInputPorts(numberOfInputPorts)) {
-            Log::getSingleton().error("Failed to set input port number.");
-            return false;
-        }
+    int numberOfInputPorts = 1;
+    numberOfInputPorts += static_cast<unsigned>(explicitInitialValue);
+    numberOfInputPorts += static_cast<unsigned>(externalSettlingTime);
+
+    // INPUTS
+    // ======
+    //
+    // 1) The reference signal (1xn)
+    // 2) The optional initial conditions
+    // 3) The optional settling time
+    //
+
+    if(!blockInfo->setNumberOfInputPorts(numberOfInputPorts)) {
+        Log::getSingleton().error("Failed to set input port number.");
+        return false;
+    }
 
-        blockInfo->setInputPortVectorSize(0, -1);
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
+    blockInfo->setInputPortVectorSize(0, -1);
+    blockInfo->setInputPortType(0, PortDataTypeDouble);
 
-        unsigned portIndex = 1;
+    unsigned portIndex = 1;
 
-        if (explicitInitialValue) {
-            blockInfo->setInputPortVectorSize(portIndex, -1);
-            blockInfo->setInputPortType(portIndex, PortDataTypeDouble);
-            portIndex++;
-        }
-
-        if (externalSettlingTime) {
-            blockInfo->setInputPortVectorSize(portIndex, 1);
-            blockInfo->setInputPortType(portIndex, PortDataTypeDouble);
-            portIndex++;
-        }
+    if (explicitInitialValue) {
+        blockInfo->setInputPortVectorSize(portIndex, -1);
+        blockInfo->setInputPortType(portIndex, PortDataTypeDouble);
+        portIndex++;
+    }
 
-        // OUTPUTS
-        // =======
-        //
-        // 1) The calculated trajectory
-        // 2) The optional 1st derivative
-        // 3) The optional 2nd derivative
-        //
-
-        int numberOfOutputPorts = 1;
-        numberOfOutputPorts += static_cast<unsigned>(outputFirstDerivative);
-        numberOfOutputPorts += static_cast<unsigned>(outputSecondDerivative);
-
-        if (!blockInfo->setNumberOfOutputPorts(numberOfOutputPorts)) {
-            Log::getSingleton().error("Failed to set output port number.");
-            return false;
-        }
+    if (externalSettlingTime) {
+        blockInfo->setInputPortVectorSize(portIndex, 1);
+        blockInfo->setInputPortType(portIndex, PortDataTypeDouble);
+        portIndex++;
+    }
 
-        for (int i = 0; i < numberOfOutputPorts; ++i) {
-            blockInfo->setOutputPortVectorSize(i, -1);
-            blockInfo->setOutputPortType(i, PortDataTypeDouble);
-        }
+    // OUTPUTS
+    // =======
+    //
+    // 1) The calculated trajectory
+    // 2) The optional 1st derivative
+    // 3) The optional 2nd derivative
+    //
+
+    int numberOfOutputPorts = 1;
+    numberOfOutputPorts += static_cast<unsigned>(outputFirstDerivative);
+    numberOfOutputPorts += static_cast<unsigned>(outputSecondDerivative);
+
+    if (!blockInfo->setNumberOfOutputPorts(numberOfOutputPorts)) {
+        Log::getSingleton().error("Failed to set output port number.");
+        return false;
+    }
 
-        return true;
+    for (int i = 0; i < numberOfOutputPorts; ++i) {
+        blockInfo->setOutputPortVectorSize(i, -1);
+        blockInfo->setOutputPortType(i, PortDataTypeDouble);
     }
 
-    bool MinimumJerkTrajectoryGenerator::initialize(BlockInformation* blockInfo)
-    {
-        // Get the additional parameters
-        bool outputFirstDerivative;
-        bool outputSecondDerivative;
-        bool ok = true;
-
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE,
-                                                        outputFirstDerivative);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE,
-                                                        outputSecondDerivative);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, m_explicitInitialValue);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, m_externalSettlingTime);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_RESET_CHANGEST,
-                                                        m_resetOnSettlingTimeChange);
-
-        if (!ok) {
-            Log::getSingleton().error("Failed to get input parameters.");
-            return false;
-        }
+    return true;
+}
 
-        if (outputFirstDerivative) {
-            m_outputFirstDerivativeIndex = 1;
-        }
+bool MinimumJerkTrajectoryGenerator::initialize(const BlockInformation* blockInfo)
+{
+    // Get the additional parameters
+    bool outputFirstDerivative;
+    bool outputSecondDerivative;
+    bool ok = true;
+
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE,
+                                                    outputFirstDerivative);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE,
+                                                    outputSecondDerivative);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, m_explicitInitialValue);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, m_externalSettlingTime);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_RESET_CHANGEST,
+                                                    m_resetOnSettlingTimeChange);
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to get input parameters.");
+        return false;
+    }
 
-        if (outputSecondDerivative) {
-            m_outputSecondDerivativeIndex = outputFirstDerivative ? 2 : 1;
-        }
+    if (outputFirstDerivative) {
+        m_outputFirstDerivativeIndex = 1;
+    }
 
-        double sampleTime;
-        double settlingTime;
+    if (outputSecondDerivative) {
+        m_outputSecondDerivativeIndex = outputFirstDerivative ? 2 : 1;
+    }
 
-        ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_SAMPLE_TIME, sampleTime);
-        ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_SETTLING_TIME, settlingTime);
+    double sampleTime;
+    double settlingTime;
 
-        unsigned signalSize = blockInfo->getInputPortWidth(0);
+    ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_SAMPLE_TIME, sampleTime);
+    ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_SETTLING_TIME, settlingTime);
 
-        m_generator = new iCub::ctrl::minJerkTrajGen(signalSize, sampleTime, settlingTime);
-        m_previousSettlingTime = settlingTime;
-        m_initialValues = new yarp::sig::Vector(signalSize);
-        m_reference = new yarp::sig::Vector(signalSize);
+    unsigned signalSize = blockInfo->getInputPortWidth(0);
 
-        if (!m_generator || !m_initialValues || !m_reference) {
-            Log::getSingleton().error("Could not allocate memory for trajectory generator.");
-            return false;
-        }
+    m_generator = new iCub::ctrl::minJerkTrajGen(signalSize, sampleTime, settlingTime);
+    m_previousSettlingTime = settlingTime;
+    m_initialValues = new yarp::sig::Vector(signalSize);
+    m_reference = new yarp::sig::Vector(signalSize);
 
-        m_firstRun = true;
-        return true;
+    if (!m_generator || !m_initialValues || !m_reference) {
+        Log::getSingleton().error("Could not allocate memory for trajectory generator.");
+        return false;
     }
 
-    bool MinimumJerkTrajectoryGenerator::terminate(BlockInformation* blockInfo)
-    {
-        if (m_generator) {
-            delete m_generator;
-            m_generator = nullptr;
-        }
-        if (m_initialValues) {
-            delete m_initialValues;
-            m_initialValues = nullptr;
-        }
-        if (m_reference) {
-            delete m_reference;
-            m_reference = nullptr;
-        }
-        return true;
+    m_firstRun = true;
+    return true;
+}
+
+bool MinimumJerkTrajectoryGenerator::terminate(const BlockInformation* blockInfo)
+{
+    if (m_generator) {
+        delete m_generator;
+        m_generator = nullptr;
     }
+    if (m_initialValues) {
+        delete m_initialValues;
+        m_initialValues = nullptr;
+    }
+    if (m_reference) {
+        delete m_reference;
+        m_reference = nullptr;
+    }
+    return true;
+}
 
-    bool MinimumJerkTrajectoryGenerator::output(BlockInformation* blockInfo)
-    {
-        if (!m_generator) return false;
+bool MinimumJerkTrajectoryGenerator::output(const BlockInformation* blockInfo)
+{
+    if (!m_generator) return false;
 
-        if (m_externalSettlingTime) {
-            unsigned portIndex = 1;
-            if (m_explicitInitialValue) portIndex++;
-            Signal externalTimePort = blockInfo->getInputPortSignal(portIndex);
-            double externalTime = externalTimePort.get(0).doubleData();
+    if (m_externalSettlingTime) {
+        unsigned portIndex = 1;
+        if (m_explicitInitialValue) portIndex++;
+        Signal externalTimePort = blockInfo->getInputPortSignal(portIndex);
+        double externalTime = externalTimePort.get(0).doubleData();
 
-            if (std::abs(m_previousSettlingTime - externalTime) > 1e-5) {
-                m_previousSettlingTime = externalTime;
+        if (std::abs(m_previousSettlingTime - externalTime) > 1e-5) {
+            m_previousSettlingTime = externalTime;
 
-                m_generator->setT(externalTime);
-                if (m_resetOnSettlingTimeChange && !m_firstRun) {
-                    m_generator->init(m_generator->getPos());
-                }
+            m_generator->setT(externalTime);
+            if (m_resetOnSettlingTimeChange && !m_firstRun) {
+                m_generator->init(m_generator->getPos());
             }
         }
+    }
 
-        if (m_firstRun) {
-            m_firstRun = false;
-            Signal initialValues;
-            unsigned portIndex = 0;
-            if (m_explicitInitialValue) {
-                portIndex = 1;
-            }
-            initialValues = blockInfo->getInputPortSignal(portIndex);
-            for (unsigned i = 0; i < blockInfo->getInputPortWidth(portIndex); ++i) {
-                (*m_initialValues)[i] = initialValues.get(i).doubleData();
-            }
-            m_generator->init(*m_initialValues);
+    if (m_firstRun) {
+        m_firstRun = false;
+        Signal initialValues;
+        unsigned portIndex = 0;
+        if (m_explicitInitialValue) {
+            portIndex = 1;
+        }
+        initialValues = blockInfo->getInputPortSignal(portIndex);
+        for (unsigned i = 0; i < blockInfo->getInputPortWidth(portIndex); ++i) {
+            (*m_initialValues)[i] = initialValues.get(i).doubleData();
         }
+        m_generator->init(*m_initialValues);
+    }
 
 
-        Signal references = blockInfo->getInputPortSignal(0);
-        for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-            (*m_reference)[i] = references.get(i).doubleData();
-        }
-        m_generator->computeNextValues(*m_reference);
+    Signal references = blockInfo->getInputPortSignal(0);
+    for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
+        (*m_reference)[i] = references.get(i).doubleData();
+    }
+    m_generator->computeNextValues(*m_reference);
 
-        const yarp::sig::Vector &signal = m_generator->getPos();
-        Signal output = blockInfo->getOutputPortSignal(0);
-        output.setBuffer(signal.data(), signal.size());
+    const yarp::sig::Vector &signal = m_generator->getPos();
+    Signal output = blockInfo->getOutputPortSignal(0);
+    output.setBuffer(signal.data(), signal.size());
 //        for (unsigned i = 0; i < blockInfo->getOutputPortWidth(0); ++i) {
 //            output.set(i, signal[i]);
 //        }
-        //note: index of the port is not known a priori.
-        //I should save it in the initialization phase
-        if (m_outputFirstDerivativeIndex != -1) {
-            const yarp::sig::Vector &derivative = m_generator->getVel();
-            Signal derivativeOutput = blockInfo->getOutputPortSignal(m_outputFirstDerivativeIndex);
-            derivativeOutput.setBuffer(derivative.data(), blockInfo->getOutputPortWidth(m_outputFirstDerivativeIndex));
-        }
-
-        if (m_outputSecondDerivativeIndex != -1) {
-            const yarp::sig::Vector &derivative = m_generator->getAcc();
-            Signal derivativeOutput = blockInfo->getOutputPortSignal(m_outputSecondDerivativeIndex);
-            derivativeOutput.setBuffer(derivative.data(), blockInfo->getOutputPortWidth(m_outputSecondDerivativeIndex));
-        }
+    //note: index of the port is not known a priori.
+    //I should save it in the initialization phase
+    if (m_outputFirstDerivativeIndex != -1) {
+        const yarp::sig::Vector &derivative = m_generator->getVel();
+        Signal derivativeOutput = blockInfo->getOutputPortSignal(m_outputFirstDerivativeIndex);
+        derivativeOutput.setBuffer(derivative.data(), blockInfo->getOutputPortWidth(m_outputFirstDerivativeIndex));
+    }
 
-        return true;
+    if (m_outputSecondDerivativeIndex != -1) {
+        const yarp::sig::Vector &derivative = m_generator->getAcc();
+        Signal derivativeOutput = blockInfo->getOutputPortSignal(m_outputSecondDerivativeIndex);
+        derivativeOutput.setBuffer(derivative.data(), blockInfo->getOutputPortWidth(m_outputSecondDerivativeIndex));
     }
 
+    return true;
 }
diff --git a/toolbox/src/ModelPartitioner.cpp b/toolbox/src/ModelPartitioner.cpp
index bedee09c9..2c54458bd 100644
--- a/toolbox/src/ModelPartitioner.cpp
+++ b/toolbox/src/ModelPartitioner.cpp
@@ -6,192 +6,176 @@
 #include "Signal.h"
 #include "Log.h"
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string ModelPartitioner::ClassName = "ModelPartitioner";
+const std::string ModelPartitioner::ClassName = "ModelPartitioner";
 
-    unsigned ModelPartitioner::numberOfParameters()
-    {
-        return 1;
-    }
+unsigned ModelPartitioner::numberOfParameters()
+{
+    return 1;
+}
 
-    bool ModelPartitioner::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+bool ModelPartitioner::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // PARAMETERS
-        // ==========
-        //
-        // 1) Boolean specifying if yarp2WBI (true) or WBI2yarp (false)
-        //
+    // PARAMETERS
+    // ==========
+    //
+    // 1) Boolean specifying if yarp2WBI (true) or WBI2yarp (false)
+    //
 
-        bool yarp2WBI;
-        if (!blockInfo->getBooleanParameterAtIndex(1, yarp2WBI)) {
-            Log::getSingleton().error("Failed to get input parameters.");
-            return false;
-        }
+    bool yarp2WBI;
+    if (!blockInfo->getBooleanParameterAtIndex(1, yarp2WBI)) {
+        Log::getSingleton().error("Failed to get input parameters.");
+        return false;
+    }
 
-        // TODO: update to new logic
-        // INPUTS
-        // ======
-        //
-        // yarp2WBI
-        // --------
-        //
-        // 1) Map of joints / control boards (1 x nJoints)
-        // 2) Vector containing the full set of robot's joints (1 x nJoints)
-        //
-        // WBI2yarp
-        // --------
-        //
-        // 1) Map of joints / control boards (1 x nJoints)
-        // 2) Torso     Control Board Signals
-        // 3) Head      Control Board Signals
-        // 4) Left  Arm Control Board Signals
-        // 5) Right Arm Control Board Signals
-        // 6) Left  Leg Control Board Signals
-        // 7) Right Leg Control Board Signals
-        //
-
-        bool ok;
-        unsigned numberOfInputs;
-        unsigned controlBoardsNumber = getConfiguration().getControlBoardsNames().size();
-
-        if (yarp2WBI) {
-            numberOfInputs = 1;
-            ok = blockInfo->setNumberOfInputPorts(numberOfInputs);
-            blockInfo->setInputPortVectorSize(0, getConfiguration().getNumberOfDoFs());
-        }
-        else {
-            numberOfInputs = controlBoardsNumber;
-            ok = blockInfo->setNumberOfInputPorts(numberOfInputs);
-            // Set the size as dynamic
-            for (unsigned i = 0; i < numberOfInputs; ++i) {
-                blockInfo->setInputPortType(i, PortDataTypeDouble);
-            }
+    // INPUTS
+    // ======
+    //
+    // yarp2WBI
+    // --------
+    //
+    // 1) Vector containing the data vector (1 x DoFs)
+    //
+    // WBI2yarp
+    // --------
+    //
+    // n signals) The n ControlBoards configured from the config block
+    //
+
+    bool ok;
+    unsigned numberOfInputs;
+    unsigned controlBoardsNumber = getConfiguration().getControlBoardsNames().size();
+
+    if (yarp2WBI) {
+        numberOfInputs = 1;
+        ok = blockInfo->setNumberOfInputPorts(numberOfInputs);
+        blockInfo->setInputPortVectorSize(0, getConfiguration().getNumberOfDoFs());
+    }
+    else {
+        numberOfInputs = controlBoardsNumber;
+        ok = blockInfo->setNumberOfInputPorts(numberOfInputs);
+        // Set the size as dynamic
+        for (unsigned i = 0; i < numberOfInputs; ++i) {
+            blockInfo->setInputPortType(i, PortDataTypeDouble);
         }
+    }
 
-        if (!ok) {
-            Log::getSingleton().error("Failed to set input port number.");
-            return false;
+    if (!ok) {
+        Log::getSingleton().error("Failed to set input port number.");
+        return false;
+    }
+
+    // OUTPUTS
+    // =======
+    //
+    // yarp2WBI
+    // --------
+    //
+    // n signals) The n ControlBoards configured from the config block
+    //
+    // WBI2yarp
+    // --------
+    //
+    // 1) Vector containing the data vector (1 x DoFs)
+    //
+
+    unsigned numberOfOutputs;
+
+    if (yarp2WBI) {
+        numberOfOutputs = controlBoardsNumber;
+        ok = blockInfo->setNumberOfOutputPorts(numberOfOutputs);
+        // Set the size as dynamic
+        for (unsigned i = 0; i < numberOfOutputs; ++i) {
+            blockInfo->setOutputPortVectorSize(i, -1);
+            blockInfo->setOutputPortType(i, PortDataTypeDouble);
         }
+    }
+    else {
+        numberOfOutputs = 1;
+        ok = blockInfo->setNumberOfOutputPorts(numberOfOutputs);
+        blockInfo->setOutputPortVectorSize(0, getConfiguration().getNumberOfDoFs());
+        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+    }
 
+    if (!ok) {
+        Log::getSingleton().error("Failed to set output port number.");
+        return false;
+    }
 
-        // TODO: update
-        // OUTPUTS
-        // =======
-        //
-        // yarp2WBI
-        // --------
-        //
-        // 1) Torso     Control Board Signals
-        // 2) Head      Control Board Signals
-        // 3) Left  Arm Control Board Signals
-        // 4) Right Arm Control Board Signals
-        // 5) Left  Leg Control Board Signals
-        // 6) Right Leg Control Board Signals
-        //
-        // WBI2yarp
-        // --------
-        //
-        // 1) Vector containing the full set of robot's joints (1 x nJoints)
-        //
-
-        unsigned numberOfOutputs;
-
-        if (yarp2WBI) {
-            numberOfOutputs = controlBoardsNumber;
-            ok = blockInfo->setNumberOfOutputPorts(numberOfOutputs);
-            // Set the size as dynamic
-            for (unsigned i = 0; i < numberOfOutputs; ++i) {
-                blockInfo->setOutputPortVectorSize(i, -1);
-                blockInfo->setOutputPortType(i, PortDataTypeDouble);
-            }
-        }
-        else {
-            numberOfOutputs = 1;
-            ok = blockInfo->setNumberOfOutputPorts(numberOfOutputs);
-            blockInfo->setOutputPortVectorSize(0, getConfiguration().getNumberOfDoFs());
-            blockInfo->setOutputPortType(0, PortDataTypeDouble);
-        }
+    return true;
+}
 
-        if (!ok) {
-            Log::getSingleton().error("Failed to set output port number.");
-            return false;
-        }
+bool ModelPartitioner::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
 
-        return true;
+    if (!blockInfo->getBooleanParameterAtIndex(1, m_yarp2WBI)) {
+        Log::getSingleton().error("Failed to get input parameters.");
+        return false;
     }
 
-    bool ModelPartitioner::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
+    m_jointsMapString = getRobotInterface()->getJointsMapString();
 
-        if (!blockInfo->getBooleanParameterAtIndex(1, m_yarp2WBI)) {
-            Log::getSingleton().error("Failed to get input parameters.");
-            return false;
-        }
+    if (!m_jointsMapString) {
+        return false;
+    }
 
-        m_jointsMapString = getRobotInterface()->getJointsMapString();
+    return true;
+}
 
-        if (!m_jointsMapString) {
-            return false;
-        }
+bool ModelPartitioner::terminate(const BlockInformation* blockInfo)
+{
+    return WBBlock::terminate(blockInfo);
+}
 
-        return true;
-    }
+bool ModelPartitioner::output(const BlockInformation* blockInfo)
+{
+    if (m_yarp2WBI) {
+        // Input
+        Signal jointListSignal = blockInfo->getInputPortSignal(0);
 
-    bool ModelPartitioner::terminate(BlockInformation* blockInfo)
-    {
-        return WBBlock::terminate(blockInfo);
-    }
+        // Outputs
+        Signal ithControlBoardSignal;
 
-    bool ModelPartitioner::output(BlockInformation* blockInfo)
-    {
-        if (m_yarp2WBI) {
-            // Input
-            Signal jointListSignal = blockInfo->getInputPortSignal(0);
-
-            // Outputs
-            Signal ithControlBoardSignal;
-
-            for (unsigned ithJoint = 0; ithJoint < blockInfo->getInputPortWidth(0); ++ithJoint) {
-                // Get the ControlBoard number the ith joint belongs, and its index into the CB itself
-                std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
-                const auto& mappedJointInfos = m_jointsMapString->at(ithJointName);
-                cb_idx controlBoardOfJoint = mappedJointInfos.first;
-                jointIdx_yarp yarpIndexOfJoint = mappedJointInfos.second;
-
-                // Get the data to forward
-                Data value = jointListSignal.get(ithJoint);
-
-                // Forward the value to the correct output / output index
-                ithControlBoardSignal = blockInfo->getOutputPortSignal(controlBoardOfJoint);
-                ithControlBoardSignal.set(yarpIndexOfJoint, value.doubleData());
-            }
+        for (unsigned ithJoint = 0; ithJoint < blockInfo->getInputPortWidth(0); ++ithJoint) {
+            // Get the ControlBoard number the ith joint belongs, and its index into the CB itself
+            std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
+            const auto& mappedJointInfos = m_jointsMapString->at(ithJointName);
+            cb_idx controlBoardOfJoint = mappedJointInfos.first;
+            jointIdx_yarp yarpIndexOfJoint = mappedJointInfos.second;
+
+            // Get the data to forward
+            Data value = jointListSignal.get(ithJoint);
+
+            // Forward the value to the correct output / output index
+            ithControlBoardSignal = blockInfo->getOutputPortSignal(controlBoardOfJoint);
+            ithControlBoardSignal.set(yarpIndexOfJoint, value.doubleData());
         }
-        else {
-            // Inputs
-            Signal ithControlBoardSignal;
-
-            // Output
-            Signal jointListSignal = blockInfo->getOutputPortSignal(0);
-
-            for (unsigned ithJoint = 0; ithJoint < blockInfo->getOutputPortWidth(0); ++ithJoint) {
-                // Get the ControlBoard number the ith joint belongs, and its index into the CB itself
-                std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
-                const auto& mappedJointInfos = m_jointsMapString->at(ithJointName);
-                cb_idx controlBoardOfJoint = mappedJointInfos.first;
-                jointIdx_yarp yarpIndexOfJoint = mappedJointInfos.second;
-
-                // Get the data to forward
-                ithControlBoardSignal = blockInfo->getInputPortSignal(controlBoardOfJoint);
-                Data value = ithControlBoardSignal.get(ithJoint);
-
-                // Forward the value to the correct output index
-                jointListSignal.set(yarpIndexOfJoint, value.doubleData());
-            }
+    }
+    else {
+        // Inputs
+        Signal ithControlBoardSignal;
+
+        // Output
+        Signal jointListSignal = blockInfo->getOutputPortSignal(0);
+
+        for (unsigned ithJoint = 0; ithJoint < blockInfo->getOutputPortWidth(0); ++ithJoint) {
+            // Get the ControlBoard number the ith joint belongs, and its index into the CB itself
+            std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
+            const auto& mappedJointInfos = m_jointsMapString->at(ithJointName);
+            cb_idx controlBoardOfJoint = mappedJointInfos.first;
+            jointIdx_yarp yarpIndexOfJoint = mappedJointInfos.second;
+
+            // Get the data to forward
+            ithControlBoardSignal = blockInfo->getInputPortSignal(controlBoardOfJoint);
+            Data value = ithControlBoardSignal.get(ithJoint);
+
+            // Forward the value to the correct output index
+            jointListSignal.set(yarpIndexOfJoint, value.doubleData());
         }
-        return true;
     }
+    return true;
 }
diff --git a/toolbox/src/RealTimeSynchronizer.cpp b/toolbox/src/RealTimeSynchronizer.cpp
index 752674d44..62701a38c 100644
--- a/toolbox/src/RealTimeSynchronizer.cpp
+++ b/toolbox/src/RealTimeSynchronizer.cpp
@@ -4,87 +4,86 @@
 
 #include <yarp/os/Time.h>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string RealTimeSynchronizer::ClassName = "RealTimeSynchronizer";
+const std::string RealTimeSynchronizer::ClassName = "RealTimeSynchronizer";
 
-    const unsigned RealTimeSynchronizer::PARAM_PERIOD = 1; // Period
+const unsigned RealTimeSynchronizer::PARAM_PERIOD = 1; // Period
 
-    RealTimeSynchronizer::RealTimeSynchronizer()
-    : m_period(0.01)
-    , m_initialTime(0)
-    , m_counter(0)
-    {}
+RealTimeSynchronizer::RealTimeSynchronizer()
+: m_period(0.01)
+, m_initialTime(0)
+, m_counter(0)
+{}
 
-    unsigned RealTimeSynchronizer::numberOfParameters() { return 1; }
+unsigned RealTimeSynchronizer::numberOfParameters() { return 1; }
 
-    bool RealTimeSynchronizer::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // INPUTS
-        // ======
-        //
-        // No inputs
-        //
+bool RealTimeSynchronizer::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // INPUTS
+    // ======
+    //
+    // No inputs
+    //
 
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            Log::getSingleton().error("Failed to set input port number to 0.");
-            return false;
-        }
-
-        // OUTPUTS
-        // =======
-        //
-        // No outputs
-        //
+    if (!blockInfo->setNumberOfInputPorts(0)) {
+        Log::getSingleton().error("Failed to set input port number to 0.");
+        return false;
+    }
 
-        if (!blockInfo->setNumberOfOutputPorts(0)) {
-            Log::getSingleton().error("Failed to set output port number.");
-            return false;
-        }
+    // OUTPUTS
+    // =======
+    //
+    // No outputs
+    //
 
-        return true;
+    if (!blockInfo->setNumberOfOutputPorts(0)) {
+        Log::getSingleton().error("Failed to set output port number.");
+        return false;
     }
 
-    bool RealTimeSynchronizer::initialize(BlockInformation* blockInfo)
-    {
-        if (!blockInfo->getScalarParameterAtIndex(PARAM_PERIOD, m_period)) {
-            Log::getSingleton().error("Failed to get input parametes.");
-            return false;
-        }
-
-        if (m_period < 0) {
-            Log::getSingleton().error("Period must be greater than 0.");
-            return false;
-        }
+    return true;
+}
 
-        m_counter = 0;
-        return true;
+bool RealTimeSynchronizer::initialize(const BlockInformation* blockInfo)
+{
+    if (!blockInfo->getScalarParameterAtIndex(PARAM_PERIOD, m_period)) {
+        Log::getSingleton().error("Failed to get input parametes.");
+        return false;
     }
 
-    bool RealTimeSynchronizer::terminate(BlockInformation* blockInfo)
-    {
-        return true;
+    if (m_period < 0) {
+        Log::getSingleton().error("Period must be greater than 0.");
+        return false;
     }
 
-    bool RealTimeSynchronizer::output(BlockInformation* blockInfo)
-    {
-        if (m_counter == 0) {
-            m_initialTime = yarp::os::Time::now();
-        }
+    m_counter = 0;
+    return true;
+}
 
-        //read current time
-        double currentTime = yarp::os::Time::now() - m_initialTime;
-        double desiredTime = m_counter* m_period;
+bool RealTimeSynchronizer::terminate(const BlockInformation* blockInfo)
+{
+    return true;
+}
 
-        double sleepPeriod = desiredTime - currentTime;
+bool RealTimeSynchronizer::output(const BlockInformation* blockInfo)
+{
+    if (m_counter == 0) {
+        m_initialTime = yarp::os::Time::now();
+    }
 
-        //sleep for the remaining time
-        if (sleepPeriod > 0) {
-            yarp::os::Time::delay(sleepPeriod);
-        }
+    //read current time
+    double currentTime = yarp::os::Time::now() - m_initialTime;
+    double desiredTime = m_counter* m_period;
 
-        m_counter++;
+    double sleepPeriod = desiredTime - currentTime;
 
-        return true;
+    //sleep for the remaining time
+    if (sleepPeriod > 0) {
+        yarp::os::Time::delay(sleepPeriod);
     }
+
+    m_counter++;
+
+    return true;
 }
diff --git a/toolbox/src/SetLowLevelPID.cpp b/toolbox/src/SetLowLevelPID.cpp
index 9448b4eb0..b2d9772c4 100644
--- a/toolbox/src/SetLowLevelPID.cpp
+++ b/toolbox/src/SetLowLevelPID.cpp
@@ -6,235 +6,234 @@
 #include <yarp/dev/ControlBoardPid.h>
 #include <algorithm>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string SetLowLevelPID::ClassName = "SetLowLevelPID";
+const std::string SetLowLevelPID::ClassName = "SetLowLevelPID";
 
-    unsigned SetLowLevelPID::numberOfParameters()
-    {
-        return WBBlock::numberOfParameters()
-        + 1  // WBTPIDConfig object
-        + 1; // Control type
-    }
+unsigned SetLowLevelPID::numberOfParameters()
+{
+    return WBBlock::numberOfParameters()
+    + 1  // WBTPIDConfig object
+    + 1; // Control type
+}
 
-    bool SetLowLevelPID::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+bool SetLowLevelPID::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
 
-        // INPUTS
-        // ======
-        //
-        // No inputs
-        //
+    // INPUTS
+    // ======
+    //
+    // No inputs
+    //
 
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
+    if (!blockInfo->setNumberOfInputPorts(0)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
+    }
 
-        // OUTPUTS
-        // =======
-        //
-        // No outputs
-        //
+    // OUTPUTS
+    // =======
+    //
+    // No outputs
+    //
 
-        if (!blockInfo->setNumberOfOutputPorts(0)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
+    if (!blockInfo->setNumberOfOutputPorts(0)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
+    }
+
+    return true;
+}
 
-        return true;
+bool SetLowLevelPID::readWBTPidConfigObject(const BlockInformation* blockInfo)
+{
+    AnyStruct s;
+    if (!blockInfo->getStructAtIndex(WBBlock::numberOfParameters() + 1, s)) {
+        Log::getSingleton().error("Failed to retrieve the struct with parameters.");
+        return false;
     }
 
-    bool SetLowLevelPID::readWBTPidConfigObject(BlockInformation* blockInfo)
-    {
-        AnyStruct s;
-        if (!blockInfo->getStructAtIndex(WBBlock::numberOfParameters() + 1, s)) {
-            Log::getSingleton().error("Failed to retrieve the struct with parameters.");
-            return false;
-        }
+    // Check the existence of all the fields
+    try {
+        s.at("P");
+        s.at("I");
+        s.at("D");
+        s.at("jointList");
+    }
+    catch (const std::out_of_range& e) {
+        Log::getSingleton().error("Cannot retrieve one or more parameter from parameter's struct.");
+        return false;
+    }
 
-        // Check the existence of all the fields
-        try {
-            s.at("P");
-            s.at("I");
-            s.at("D");
-            s.at("jointList");
-        }
-        catch (const std::out_of_range& e) {
-            Log::getSingleton().error("Cannot retrieve one or more parameter from parameter's struct.");
-            return false;
-        }
+    // Proportional gains
+    std::vector<double> Pvector;
+    if (!s["P"]->asVectorDouble(Pvector)) {
+        Log::getSingleton().error("Cannot retrieve vector from P parameter.");
+        return false;
+    }
 
-        // Proportional gains
-        std::vector<double> Pvector;
-        if (!s["P"]->asVectorDouble(Pvector)) {
-            Log::getSingleton().error("Cannot retrieve vector from P parameter.");
-            return false;
-        }
+    // Integral gains
+    std::vector<double> Ivector;
+    if (!s["I"]->asVectorDouble(Ivector)) {
+        Log::getSingleton().error("Cannot retrieve vector from I parameter.");
+        return false;
+    }
 
-        // Integral gains
-        std::vector<double> Ivector;
-        if (!s["I"]->asVectorDouble(Ivector)) {
-            Log::getSingleton().error("Cannot retrieve vector from I parameter.");
-            return false;
-        }
+    // Derivative gains
+    std::vector<double> Dvector;
+    if (!s["D"]->asVectorDouble(Dvector)) {
+        Log::getSingleton().error("Cannot retrieve vector from D parameter.");
+        return false;
+    }
 
-        // Derivative gains
-        std::vector<double> Dvector;
-        if (!s["D"]->asVectorDouble(Dvector)) {
-            Log::getSingleton().error("Cannot retrieve vector from D parameter.");
-            return false;
-        }
+    // Considered joint names
+    AnyCell jointPidsCell;
+    if (!s["jointList"]->asAnyCell(jointPidsCell)) {
+        Log::getSingleton().error("Cannot retrieve string from jointList parameter.");
+        return false;
+    }
 
-        // Considered joint names
-        AnyCell jointPidsCell;
-        if (!s["jointList"]->asAnyCell(jointPidsCell)) {
-            Log::getSingleton().error("Cannot retrieve string from jointList parameter.");
+    // From AnyCell to vector<string>
+    std::vector<std::string> jointNamesFromParameters;
+    for (auto cell: jointPidsCell) {
+        std::string joint;
+        if (!cell->asString(joint)) {
+            Log::getSingleton().error("Failed to convert jointList from cell to strings.");
             return false;
         }
+        jointNamesFromParameters.push_back(joint);
+    }
 
-        // From AnyCell to vector<string>
-        std::vector<std::string> jointNamesFromParameters;
-        for (auto cell: jointPidsCell) {
-            std::string joint;
-            if (!cell->asString(joint)) {
-                Log::getSingleton().error("Failed to convert jointList from cell to strings.");
-                return false;
-            }
-            jointNamesFromParameters.push_back(joint);
-        }
-
-        assert(Pvector.size() == Ivector.size() == Dvector.size() == jointNamesFromParameters.size());
-
-        // Store this data into a private member map
-        for (unsigned i = 0; i < jointNamesFromParameters.size(); ++i) {
-            // Check the processed joint is actually a controlledJoint
-            const auto& controlledJoints = getConfiguration().getControlledJoints();
-            auto findElement = std::find(std::begin(controlledJoints),
-                                         std::end(controlledJoints),
-                                         jointNamesFromParameters[i]);
-            if (findElement != std::end(controlledJoints)) {
-                m_pidJointsFromParameters[jointNamesFromParameters[i]] = {Pvector[i], Ivector[i], Dvector[i]};
-            }
-            else {
-                Log::getSingleton().warning("Attempted to set PID of joint " + jointNamesFromParameters[i] +
-                                            " non currently controlled. Skipping it.");
-            }
+    assert(Pvector.size() == Ivector.size() == Dvector.size() == jointNamesFromParameters.size());
 
+    // Store this data into a private member map
+    for (unsigned i = 0; i < jointNamesFromParameters.size(); ++i) {
+        // Check the processed joint is actually a controlledJoint
+        const auto& controlledJoints = getConfiguration().getControlledJoints();
+        auto findElement = std::find(std::begin(controlledJoints),
+                                     std::end(controlledJoints),
+                                     jointNamesFromParameters[i]);
+        if (findElement != std::end(controlledJoints)) {
+            m_pidJointsFromParameters[jointNamesFromParameters[i]] = {Pvector[i], Ivector[i], Dvector[i]};
         }
-
-        if (m_pidJointsFromParameters.size() != jointNamesFromParameters.size()) {
-            Log::getSingleton().warning("PID have been passed only for a subset of the controlled joints.");
+        else {
+            Log::getSingleton().warning("Attempted to set PID of joint " + jointNamesFromParameters[i] +
+                                        " non currently controlled. Skipping it.");
         }
 
-        return true;
     }
 
-    bool SetLowLevelPID::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
-
-        // Reading the control type
-        std::string controlType;
-        if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 2, controlType)) {
-            Log::getSingleton().error("Could not read control type parameter.");
-            return false;
-        }
+    if (m_pidJointsFromParameters.size() != jointNamesFromParameters.size()) {
+        Log::getSingleton().warning("PID have been passed only for a subset of the controlled joints.");
+    }
 
-        if (controlType == "Position") {
-            m_controlType = yarp::dev::VOCAB_PIDTYPE_POSITION;
-        }
-        else if (controlType == "Torque") {
-            m_controlType = yarp::dev::VOCAB_PIDTYPE_TORQUE;
-        }
-        else {
-            Log::getSingleton().error("Control type not recognized.");
-            return false;
-        }
+    return true;
+}
 
-        // Reading the WBTPIDConfig matlab class
-        if (!readWBTPidConfigObject(blockInfo)) {
-            Log::getSingleton().error("Failed to parse the WBTPIDConfig object.");
-            return 1;
-        }
+bool SetLowLevelPID::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
 
-        // Retain the RemoteControlBoardRemapper
-        if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
-            Log::getSingleton().error("Failed to retain the control board remapper.");
-            return false;
-        }
+    // Reading the control type
+    std::string controlType;
+    if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 2, controlType)) {
+        Log::getSingleton().error("Could not read control type parameter.");
+        return false;
+    }
 
-        const unsigned& dofs = getConfiguration().getNumberOfDoFs();
+    if (controlType == "Position") {
+        m_controlType = yarp::dev::VOCAB_PIDTYPE_POSITION;
+    }
+    else if (controlType == "Torque") {
+        m_controlType = yarp::dev::VOCAB_PIDTYPE_TORQUE;
+    }
+    else {
+        Log::getSingleton().error("Control type not recognized.");
+        return false;
+    }
 
-        // Initialize the vector size to the number of dofs
-        m_defaultPidValues.resize(dofs);
+    // Reading the WBTPIDConfig matlab class
+    if (!readWBTPidConfigObject(blockInfo)) {
+        Log::getSingleton().error("Failed to parse the WBTPIDConfig object.");
+        return 1;
+    }
 
-        // Get the interface
-        std::weak_ptr<yarp::dev::IPidControl> iPidControl;
-        if (!getRobotInterface()->getInterface(iPidControl)) {
-            Log::getSingleton().error("Failed to get IPidControl interface.");
-            return false;
-        }
+    // Retain the RemoteControlBoardRemapper
+    if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
+        Log::getSingleton().error("Failed to retain the control board remapper.");
+        return false;
+    }
 
-        // Store the default gains
-        if (!iPidControl.lock()->getPids(m_controlType, m_defaultPidValues.data())) {
-            Log::getSingleton().error("Failed to get default data from IPidControl.");
-            return false;
-        }
+    const unsigned& dofs = getConfiguration().getNumberOfDoFs();
 
-        // Initialize the vector of the applied pid gains with the default gains
-        m_appliedPidValues = m_defaultPidValues;
-
-        // Override the PID with the gains specified as block parameters
-        for (unsigned i = 0; i < dofs; ++i) {
-            const std::string jointName = getConfiguration().getControlledJoints()[i];
-            // If the pid has been passed, set the new gains
-            if (m_pidJointsFromParameters.find(jointName) != m_pidJointsFromParameters.end()) {
-                PidData gains = m_pidJointsFromParameters[jointName];
-                m_appliedPidValues[i].setKp(std::get<PGAIN>(gains));
-                m_appliedPidValues[i].setKi(std::get<IGAIN>(gains));
-                m_appliedPidValues[i].setKd(std::get<DGAIN>(gains));
-            }
-        }
+    // Initialize the vector size to the number of dofs
+    m_defaultPidValues.resize(dofs);
 
-        // Apply the new pid gains
-        if (!iPidControl.lock()->setPids(m_controlType, m_appliedPidValues.data())) {
-            Log::getSingleton().error("Failed to set PID values.");
-            return false;
-        }
+    // Get the interface
+    std::weak_ptr<yarp::dev::IPidControl> iPidControl;
+    if (!getRobotInterface()->getInterface(iPidControl)) {
+        Log::getSingleton().error("Failed to get IPidControl interface.");
+        return false;
+    }
 
-        return true;
+    // Store the default gains
+    if (!iPidControl.lock()->getPids(m_controlType, m_defaultPidValues.data())) {
+        Log::getSingleton().error("Failed to get default data from IPidControl.");
+        return false;
     }
 
-    bool SetLowLevelPID::terminate(BlockInformation* blockInfo)
-    {
-        bool ok = true;
+    // Initialize the vector of the applied pid gains with the default gains
+    m_appliedPidValues = m_defaultPidValues;
 
-        // Get the IPidControl interface
-        std::weak_ptr<yarp::dev::IPidControl> iPidControl;
-        ok = ok & getRobotInterface()->getInterface(iPidControl);
-        if (!ok) {
-            Log::getSingleton().error("Failed to get IPidControl interface.");
+    // Override the PID with the gains specified as block parameters
+    for (unsigned i = 0; i < dofs; ++i) {
+        const std::string jointName = getConfiguration().getControlledJoints()[i];
+        // If the pid has been passed, set the new gains
+        if (m_pidJointsFromParameters.find(jointName) != m_pidJointsFromParameters.end()) {
+            PidData gains = m_pidJointsFromParameters[jointName];
+            m_appliedPidValues[i].setKp(std::get<PGAIN>(gains));
+            m_appliedPidValues[i].setKi(std::get<IGAIN>(gains));
+            m_appliedPidValues[i].setKd(std::get<DGAIN>(gains));
         }
+    }
 
-        // Reset default pid gains
-        ok = ok & iPidControl.lock()->setPids(m_controlType, m_defaultPidValues.data());
-        if (!ok) {
-            Log::getSingleton().error("Failed to set default PID values.");
-        }
+    // Apply the new pid gains
+    if (!iPidControl.lock()->setPids(m_controlType, m_appliedPidValues.data())) {
+        Log::getSingleton().error("Failed to set PID values.");
+        return false;
+    }
 
-        // Release the RemoteControlBoardRemapper
-        ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
-        if (!ok) {
-            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
-        }
+    return true;
+}
+
+bool SetLowLevelPID::terminate(const BlockInformation* blockInfo)
+{
+    bool ok = true;
+
+    // Get the IPidControl interface
+    std::weak_ptr<yarp::dev::IPidControl> iPidControl;
+    ok = ok & getRobotInterface()->getInterface(iPidControl);
+    if (!ok) {
+        Log::getSingleton().error("Failed to get IPidControl interface.");
+    }
 
-        return ok && WBBlock::terminate(blockInfo);
+    // Reset default pid gains
+    ok = ok & iPidControl.lock()->setPids(m_controlType, m_defaultPidValues.data());
+    if (!ok) {
+        Log::getSingleton().error("Failed to set default PID values.");
     }
 
-    bool SetLowLevelPID::output(BlockInformation* blockInfo)
-    {
-        return true;
+    // Release the RemoteControlBoardRemapper
+    ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+    if (!ok) {
+        Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
     }
+
+    return ok && WBBlock::terminate(blockInfo);
+}
+
+bool SetLowLevelPID::output(const BlockInformation* blockInfo)
+{
+    return true;
 }
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 3858a55a5..c739b0e44 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -9,266 +9,265 @@
 #define _USE_MATH_DEFINES
 #include <cmath>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string SetReferences::ClassName = "SetReferences";
+const std::string SetReferences::ClassName = "SetReferences";
 
-    SetReferences::SetReferences()
-    : m_resetControlMode(true)
-    {}
+SetReferences::SetReferences()
+: m_resetControlMode(true)
+{}
 
-    void rad2deg(std::vector<double>& v)
-    {
-        const double rad2deg = 180.0 / (2 * M_PI);
-        for (auto& element : v) {
-            element *= rad2deg;
-        }
+void rad2deg(std::vector<double>& v)
+{
+    const double rad2deg = 180.0 / (2 * M_PI);
+    for (auto& element : v) {
+        element *= rad2deg;
     }
+}
+
+unsigned SetReferences::numberOfParameters()
+{
+    return WBBlock::numberOfParameters() + 1;
+}
+
+bool SetReferences::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // Memory allocation / Saving data not allowed here
 
-    unsigned SetReferences::numberOfParameters()
-    {
-        return WBBlock::numberOfParameters() + 1;
+    if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+
+    // INPUTS
+    // ======
+    //
+    // 1) Joint refereces (1xDoFs vector)
+    //
+
+    // Number of inputs
+    if (!blockInfo->setNumberOfInputPorts(1)) {
+        Log::getSingleton().error("Failed to configure the number of input ports.");
+        return false;
     }
 
-    bool SetReferences::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // Memory allocation / Saving data not allowed here
+    // Size and type
+    bool success = blockInfo->setInputPortVectorSize(0, dofs);
+    blockInfo->setInputPortType(0, PortDataTypeDouble);
 
-        if (!WBBlock::configureSizeAndPorts(blockInfo)) return false;
+    if (!success) {
+        Log::getSingleton().error("Failed to configure input ports.");
+        return false;
+    }
 
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    // OUTPUTS
+    // =======
+    //
+    // No outputs
+    //
 
-        // INPUTS
-        // ======
-        //
-        // 1) Joint refereces (1xDoFs vector)
-        //
+    if (!blockInfo->setNumberOfOutputPorts(0)) {
+        Log::getSingleton().error("Failed to configure the number of output ports.");
+        return false;
+    }
 
-        // Number of inputs
-        if (!blockInfo->setNumberOfInputPorts(1)) {
-            Log::getSingleton().error("Failed to configure the number of input ports.");
-            return false;
-        }
+    return true;
+}
 
-        // Size and type
-        bool success = blockInfo->setInputPortVectorSize(0, dofs);
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
+bool SetReferences::initialize(const BlockInformation* blockInfo)
+{
+    if (!WBBlock::initialize(blockInfo)) return false;
 
-        if (!success) {
-            Log::getSingleton().error("Failed to configure input ports.");
-            return false;
-        }
+    // Reading the control type
+    std::string controlType;
+    if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1,
+                                              controlType)) {
+        Log::getSingleton().error("Could not read control type parameter.");
+        return false;
+    }
 
-        // OUTPUTS
-        // =======
-        //
-        // No outputs
-        //
+    // Initialize the std::vectors
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    m_controlModes.assign(dofs, VOCAB_CM_UNKNOWN);
 
-        if (!blockInfo->setNumberOfOutputPorts(0)) {
-            Log::getSingleton().error("Failed to configure the number of output ports.");
-            return false;
-        }
+    // IControlMode.h
+    if (controlType == "Position") {
+        m_controlModes.assign(dofs, VOCAB_CM_POSITION);
+    }
+    else if (controlType == "Position Direct") {
+        m_controlModes.assign(dofs, VOCAB_CM_POSITION_DIRECT);
+    }
+    else if (controlType == "Velocity") {
+        m_controlModes.assign(dofs, VOCAB_CM_VELOCITY);
+    }
+    else if (controlType == "Torque") {
+        m_controlModes.assign(dofs, VOCAB_CM_TORQUE);
+    }
+    else if (controlType == "PWM") {
+        m_controlModes.assign(dofs, VOCAB_CM_PWM);
+    }
+    else if (controlType == "Current") {
+        m_controlModes.assign(dofs, VOCAB_CM_CURRENT);
+    }
+    else {
+        Log::getSingleton().error("Control Mode not supported.");
+        return false;
+    }
 
-        return true;
+    // Retain the ControlBoardRemapper
+    if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
+        Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+        return false;
     }
 
-    bool SetReferences::initialize(BlockInformation* blockInfo)
-    {
-        if (!WBBlock::initialize(blockInfo)) return false;
+    m_resetControlMode = true;
+    return true;
+}
 
-        // Reading the control type
-        std::string controlType;
-        if (!blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1,
-                                                  controlType)) {
-            Log::getSingleton().error("Could not read control type parameter.");
-            return false;
-        }
+bool SetReferences::terminate(const BlockInformation* blockInfo)
+{
+    using namespace yarp::dev;
+    bool ok = true;
 
-        // Initialize the std::vectors
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-        m_controlModes.assign(dofs, VOCAB_CM_UNKNOWN);
+    // Get the interface
+    std::weak_ptr<IControlMode2> icmd2;
+    ok = ok & getRobotInterface()->getInterface(icmd2);
+    if (!ok) {
+        Log::getSingleton().error("Failed to get the IControlMode2 interface.");
+    }
 
-        // IControlMode.h
-        if (controlType == "Position") {
-            m_controlModes.assign(dofs, VOCAB_CM_POSITION);
-        }
-        else if (controlType == "Position Direct") {
-            m_controlModes.assign(dofs, VOCAB_CM_POSITION_DIRECT);
-        }
-        else if (controlType == "Velocity") {
-            m_controlModes.assign(dofs, VOCAB_CM_VELOCITY);
-        }
-        else if (controlType == "Torque") {
-            m_controlModes.assign(dofs, VOCAB_CM_TORQUE);
-        }
-        else if (controlType == "PWM") {
-            m_controlModes.assign(dofs, VOCAB_CM_PWM);
-        }
-        else if (controlType == "Current") {
-            m_controlModes.assign(dofs, VOCAB_CM_CURRENT);
-        }
-        else {
-            Log::getSingleton().error("Control Mode not supported.");
-            return false;
-        }
+    // Set  all the controlledJoints VOCAB_CM_POSITION
+    const unsigned dofs = getConfiguration().getNumberOfDoFs();
+    m_controlModes.assign(dofs, VOCAB_CM_POSITION);
 
-        // Retain the ControlBoardRemapper
-        if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
-            Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
-            return false;
-        }
+    ok = ok & icmd2.lock()->setControlModes(m_controlModes.data());
+    if (!ok) {
+        Log::getSingleton().error("Failed to set control mode.");
+    }
 
-        m_resetControlMode = true;
-        return true;
+    // Release the RemoteControlBoardRemapper
+    ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+    if (!ok) {
+        Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
     }
 
-    bool SetReferences::terminate(BlockInformation* blockInfo)
-    {
-        using namespace yarp::dev;
-        bool ok = true;
+    return ok && WBBlock::terminate(blockInfo);
+}
+
+bool SetReferences::initializeInitialConditions(const BlockInformation* /*blockInfo*/)
+{
+    // Simply reset the variable m_resetControlMode.
+    // It will be read at the first cycle of output.
+    m_resetControlMode = true;
+    return true;
+}
+
+bool SetReferences::output(const BlockInformation* blockInfo)
+{
+    using namespace yarp::dev;
 
+    // Set the control mode at the first run
+    if (m_resetControlMode) {
+        m_resetControlMode = false;
         // Get the interface
         std::weak_ptr<IControlMode2> icmd2;
-        ok = ok & getRobotInterface()->getInterface(icmd2);
-        if (!ok) {
+        if (!getRobotInterface()->getInterface(icmd2)) {
             Log::getSingleton().error("Failed to get the IControlMode2 interface.");
+            return false;
         }
-
-        // Set  all the controlledJoints VOCAB_CM_POSITION
-        const unsigned dofs = getConfiguration().getNumberOfDoFs();
-        m_controlModes.assign(dofs, VOCAB_CM_POSITION);
-
-        ok = ok & icmd2.lock()->setControlModes(m_controlModes.data());
-        if (!ok) {
+        // Set the control mode to all the controlledJoints
+        if (!icmd2.lock()->setControlModes(m_controlModes.data())) {
             Log::getSingleton().error("Failed to set control mode.");
+            return false;
         }
-
-        // Release the RemoteControlBoardRemapper
-        ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
-        if (!ok) {
-            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
-        }
-
-        return ok && WBBlock::terminate(blockInfo);
     }
 
-    bool SetReferences::initializeInitialConditions(BlockInformation* /*blockInfo*/)
-    {
-        // Simply reset the variable m_resetControlMode.
-        // It will be read at the first cycle of output.
-        m_resetControlMode = true;
-        return true;
-    }
+    // Get the signal
+    Signal references = blockInfo->getInputPortSignal(0);
+    unsigned signalWidth = blockInfo->getInputPortWidth(0);
+    std::vector<double> referencesVector = references.getStdVector(signalWidth);
 
-    bool SetReferences::output(BlockInformation* blockInfo)
-    {
-        using namespace yarp::dev;
-
-        // Set the control mode at the first run
-        if (m_resetControlMode) {
-            m_resetControlMode = false;
+    bool ok = false;
+    // TODO: here only the first element is checked
+    switch (m_controlModes.front()) {
+        case VOCAB_CM_UNKNOWN:
+            Log::getSingleton().error("Control mode has not been successfully set.");
+            return false;
+            break;
+        case VOCAB_CM_POSITION: {
             // Get the interface
-            std::weak_ptr<IControlMode2> icmd2;
-            if (!getRobotInterface()->getInterface(icmd2)) {
-                Log::getSingleton().error("Failed to get the IControlMode2 interface.");
+            std::weak_ptr<IPositionControl> interface;
+            if (!getRobotInterface()->getInterface(interface)) {
+                Log::getSingleton().error("Failed to get IPositionControl interface.");
                 return false;
             }
-            // Set the control mode to all the controlledJoints
-            if (!icmd2.lock()->setControlModes(m_controlModes.data())) {
-                Log::getSingleton().error("Failed to set control mode.");
+            // Convert from rad to deg
+            rad2deg(referencesVector);
+            // Set the references
+            ok = interface.lock()->positionMove(referencesVector.data());
+            break;
+        }
+        case VOCAB_CM_POSITION_DIRECT: {
+            // Get the interface
+            std::weak_ptr<IPositionDirect> interface;
+            if (!getRobotInterface()->getInterface(interface)) {
+                Log::getSingleton().error("Failed to get IPositionDirect interface.");
                 return false;
             }
+            // Convert from rad to deg
+            rad2deg(referencesVector);
+            // Set the references
+            ok = interface.lock()->setPositions(referencesVector.data());
+            break;
         }
-
-        // Get the signal
-        Signal references = blockInfo->getInputPortSignal(0);
-        unsigned signalWidth = blockInfo->getInputPortWidth(0);
-        std::vector<double> referencesVector = references.getStdVector(signalWidth);
-
-        bool ok = false;
-        // TODO: here only the first element is checked
-        switch (m_controlModes.front()) {
-            case VOCAB_CM_UNKNOWN:
-                Log::getSingleton().error("Control mode has not been successfully set.");
+        case VOCAB_CM_VELOCITY: {
+            // Get the interface
+            std::weak_ptr<IVelocityControl> interface;
+            if (!getRobotInterface()->getInterface(interface)) {
+                Log::getSingleton().error("Failed to get IVelocityControl interface.");
                 return false;
-                break;
-            case VOCAB_CM_POSITION: {
-                // Get the interface
-                std::weak_ptr<IPositionControl> interface;
-                if (!getRobotInterface()->getInterface(interface)) {
-                    Log::getSingleton().error("Failed to get IPositionControl interface.");
-                    return false;
-                }
-                // Convert from rad to deg
-                rad2deg(referencesVector);
-                // Set the references
-                ok = interface.lock()->positionMove(referencesVector.data());
-                break;
-            }
-            case VOCAB_CM_POSITION_DIRECT: {
-                // Get the interface
-                std::weak_ptr<IPositionDirect> interface;
-                if (!getRobotInterface()->getInterface(interface)) {
-                    Log::getSingleton().error("Failed to get IPositionDirect interface.");
-                    return false;
-                }
-                // Convert from rad to deg
-                rad2deg(referencesVector);
-                // Set the references
-                ok = interface.lock()->setPositions(referencesVector.data());
-                break;
-            }
-            case VOCAB_CM_VELOCITY: {
-                // Get the interface
-                std::weak_ptr<IVelocityControl> interface;
-                if (!getRobotInterface()->getInterface(interface)) {
-                    Log::getSingleton().error("Failed to get IVelocityControl interface.");
-                    return false;
-                }
-                // Convert from rad to deg
-                rad2deg(referencesVector);
-                // Set the references
-                ok = interface.lock()->velocityMove(referencesVector.data());
-                break;
             }
-            case VOCAB_CM_TORQUE: {
-                // Get the interface
-                std::weak_ptr<ITorqueControl> interface;
-                if (!getRobotInterface()->getInterface(interface)) {
-                    Log::getSingleton().error("Failed to get ITorqueControl interface.");
-                    return false;
-                }
-                ok = interface.lock()->setRefTorques(referencesVector.data());
-                break;
-            }
-            case VOCAB_CM_PWM: {
-                // Get the interface
-                std::weak_ptr<IPWMControl> interface;
-                if (!getRobotInterface()->getInterface(interface)) {
-                    Log::getSingleton().error("Failed to get IPWMControl interface.");
-                    return false;
-                }
-                ok = interface.lock()->setRefDutyCycles(referencesVector.data());
-                break;
+            // Convert from rad to deg
+            rad2deg(referencesVector);
+            // Set the references
+            ok = interface.lock()->velocityMove(referencesVector.data());
+            break;
+        }
+        case VOCAB_CM_TORQUE: {
+            // Get the interface
+            std::weak_ptr<ITorqueControl> interface;
+            if (!getRobotInterface()->getInterface(interface)) {
+                Log::getSingleton().error("Failed to get ITorqueControl interface.");
+                return false;
             }
-            case VOCAB_CM_CURRENT: {
-                // Get the interface
-                std::weak_ptr<ICurrentControl> interface;
-                if (!getRobotInterface()->getInterface(interface)) {
-                    Log::getSingleton().error("Failed to get ICurrentControl interface.");
-                    return false;
-                }
-                ok = interface.lock()->setRefCurrents(referencesVector.data());
-                break;
+            ok = interface.lock()->setRefTorques(referencesVector.data());
+            break;
+        }
+        case VOCAB_CM_PWM: {
+            // Get the interface
+            std::weak_ptr<IPWMControl> interface;
+            if (!getRobotInterface()->getInterface(interface)) {
+                Log::getSingleton().error("Failed to get IPWMControl interface.");
+                return false;
             }
+            ok = interface.lock()->setRefDutyCycles(referencesVector.data());
+            break;
         }
-
-        if (!ok) {
-            Log::getSingleton().error("Failed to set references.");
-            return false;
+        case VOCAB_CM_CURRENT: {
+            // Get the interface
+            std::weak_ptr<ICurrentControl> interface;
+            if (!getRobotInterface()->getInterface(interface)) {
+                Log::getSingleton().error("Failed to get ICurrentControl interface.");
+                return false;
+            }
+            ok = interface.lock()->setRefCurrents(referencesVector.data());
+            break;
         }
+    }
 
-        return true;
+    if (!ok) {
+        Log::getSingleton().error("Failed to set references.");
+        return false;
     }
+
+    return true;
 }
diff --git a/toolbox/src/SimulatorSynchronizer.cpp b/toolbox/src/SimulatorSynchronizer.cpp
index 741a48ad6..20f43456b 100644
--- a/toolbox/src/SimulatorSynchronizer.cpp
+++ b/toolbox/src/SimulatorSynchronizer.cpp
@@ -7,140 +7,139 @@
 #include <yarp/os/Port.h>
 #include <cmath>
 
-namespace wbt {
+using namespace wbt;
 
-    struct SimulatorSynchronizer::RPCData
-    {
-        struct {
-            std::string clientPortName;
-            std::string serverPortName;
+struct SimulatorSynchronizer::RPCData
+{
+    struct {
+        std::string clientPortName;
+        std::string serverPortName;
 
-            unsigned numberOfSteps;
-        } configuration;
+        unsigned numberOfSteps;
+    } configuration;
 
-        yarp::os::Port clientPort;
-        gazebo::ClockServer clockServer;
-    };
+    yarp::os::Port clientPort;
+    gazebo::ClockServer clockServer;
+};
 
-    const std::string SimulatorSynchronizer::ClassName = "SimulatorSynchronizer";
+const std::string SimulatorSynchronizer::ClassName = "SimulatorSynchronizer";
 
-    const unsigned SimulatorSynchronizer::PARAM_PERIOD     = 1;
-    const unsigned SimulatorSynchronizer::PARAM_GZCLK_PORT = 2;
-    const unsigned SimulatorSynchronizer::PARAM_RPC_PORT   = 3;
+const unsigned SimulatorSynchronizer::PARAM_PERIOD     = 1;
+const unsigned SimulatorSynchronizer::PARAM_GZCLK_PORT = 2;
+const unsigned SimulatorSynchronizer::PARAM_RPC_PORT   = 3;
 
-    SimulatorSynchronizer::SimulatorSynchronizer()
-    : m_period(0.01)
-    , m_firstRun(true)
-    , m_rpcData(0)
-    {}
+SimulatorSynchronizer::SimulatorSynchronizer()
+: m_period(0.01)
+, m_firstRun(true)
+, m_rpcData(0)
+{}
 
-    unsigned SimulatorSynchronizer::numberOfParameters() { return 3; }
+unsigned SimulatorSynchronizer::numberOfParameters() { return 3; }
 
-    std::vector<std::string> SimulatorSynchronizer::additionalBlockOptions()
-    {
-        return std::vector<std::string>(1, wbt::BlockOptionPrioritizeOrder);
-    }
-
-    bool SimulatorSynchronizer::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // INPUTS
-        // ======
-        //
-        // No inputs
-        //
+std::vector<std::string> SimulatorSynchronizer::additionalBlockOptions()
+{
+    return std::vector<std::string>(1, wbt::BlockOptionPrioritizeOrder);
+}
 
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            Log::getSingleton().error("Failed to set input port number to 0.");
-            return false;
-        }
+bool SimulatorSynchronizer::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // INPUTS
+    // ======
+    //
+    // No inputs
+    //
+
+    if (!blockInfo->setNumberOfInputPorts(0)) {
+        Log::getSingleton().error("Failed to set input port number to 0.");
+        return false;
+    }
 
-        // OUTPUT
-        // ======
-        //
-        // No outputs
-        //
+    // OUTPUT
+    // ======
+    //
+    // No outputs
+    //
 
-        if (!blockInfo->setNumberOfOutputPorts(0)) {
-            Log::getSingleton().error("Failed to set output port number.");
-            return false;
-        }
-
-        return true;
+    if (!blockInfo->setNumberOfOutputPorts(0)) {
+        Log::getSingleton().error("Failed to set output port number.");
+        return false;
     }
 
-    bool SimulatorSynchronizer::initialize(BlockInformation* blockInfo)
-    {
-        std::string serverPortName;
-        std::string clientPortName;
+    return true;
+}
 
-        bool ok = true;
-        ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_PERIOD, m_period);
-        ok = ok & blockInfo->getStringParameterAtIndex(PARAM_GZCLK_PORT, serverPortName);
-        ok = ok & blockInfo->getStringParameterAtIndex(PARAM_RPC_PORT, clientPortName);
+bool SimulatorSynchronizer::initialize(const BlockInformation* blockInfo)
+{
+    std::string serverPortName;
+    std::string clientPortName;
 
-        if (!ok) {
-            Log::getSingleton().error("Error reading RPC parameters.");
-            return false;
-        }
+    bool ok = true;
+    ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_PERIOD, m_period);
+    ok = ok & blockInfo->getStringParameterAtIndex(PARAM_GZCLK_PORT, serverPortName);
+    ok = ok & blockInfo->getStringParameterAtIndex(PARAM_RPC_PORT, clientPortName);
 
-        yarp::os::Network::init();
-        if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork()) {
-            Log::getSingleton().error("Error initializing Yarp network.");
-            return false;
-        }
+    if (!ok) {
+        Log::getSingleton().error("Error reading RPC parameters.");
+        return false;
+    }
 
-        m_rpcData = new struct RPCData();
-        if (!m_rpcData) {
-            Log::getSingleton().error("Error creating RPC data structure.");
-            return false;
-        }
+    yarp::os::Network::init();
+    if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork()) {
+        Log::getSingleton().error("Error initializing Yarp network.");
+        return false;
+    }
+
+    m_rpcData = new struct RPCData();
+    if (!m_rpcData) {
+        Log::getSingleton().error("Error creating RPC data structure.");
+        return false;
+    }
 
-        m_rpcData->configuration.clientPortName = clientPortName;
-        m_rpcData->configuration.serverPortName = serverPortName;
+    m_rpcData->configuration.clientPortName = clientPortName;
+    m_rpcData->configuration.serverPortName = serverPortName;
 
-        m_firstRun = true;
+    m_firstRun = true;
 
-        return true;
-    }
+    return true;
+}
 
-    bool SimulatorSynchronizer::terminate(BlockInformation* /*S*/)
-    {
-        if (m_rpcData) {
-            if (m_rpcData->clientPort.isOpen()) {
-                m_rpcData->clockServer.continueSimulation();
-                if (!yarp::os::Network::disconnect(m_rpcData->configuration.clientPortName,
-                                                   m_rpcData->configuration.serverPortName)) {
-                    Log::getSingleton().error("Error disconnecting from simulator clock server.");
-                }
-                m_rpcData->clientPort.close();
+bool SimulatorSynchronizer::terminate(const BlockInformation* /*S*/)
+{
+    if (m_rpcData) {
+        if (m_rpcData->clientPort.isOpen()) {
+            m_rpcData->clockServer.continueSimulation();
+            if (!yarp::os::Network::disconnect(m_rpcData->configuration.clientPortName,
+                                               m_rpcData->configuration.serverPortName)) {
+                Log::getSingleton().error("Error disconnecting from simulator clock server.");
             }
-            delete m_rpcData;
-            m_rpcData = nullptr;
+            m_rpcData->clientPort.close();
         }
-        yarp::os::Network::fini();
-        return true;
+        delete m_rpcData;
+        m_rpcData = nullptr;
     }
+    yarp::os::Network::fini();
+    return true;
+}
 
-    bool SimulatorSynchronizer::output(BlockInformation* /*S*/)
-    {
-        if (m_firstRun) {
-            m_firstRun = false;
-
-            if (!m_rpcData->clientPort.open(m_rpcData->configuration.clientPortName) ||
-                !yarp::os::Network::connect(m_rpcData->configuration.clientPortName,
-                                            m_rpcData->configuration.serverPortName)) {
-                Log::getSingleton().error("Error connecting to simulator clock server.");
-                return false;
-            }
-
-            m_rpcData->clockServer.yarp().attachAsClient(m_rpcData->clientPort);
+bool SimulatorSynchronizer::output(const BlockInformation* /*S*/)
+{
+    if (m_firstRun) {
+        m_firstRun = false;
 
-            double stepSize = m_rpcData->clockServer.getStepSize();
-            m_rpcData->configuration.numberOfSteps = static_cast<unsigned>(m_period / stepSize);
-            m_rpcData->clockServer.pauseSimulation();
+        if (!m_rpcData->clientPort.open(m_rpcData->configuration.clientPortName) ||
+            !yarp::os::Network::connect(m_rpcData->configuration.clientPortName,
+                                        m_rpcData->configuration.serverPortName)) {
+            Log::getSingleton().error("Error connecting to simulator clock server.");
+            return false;
         }
-        m_rpcData->clockServer.stepSimulationAndWait(m_rpcData->configuration.numberOfSteps);
 
-        return true;
+        m_rpcData->clockServer.yarp().attachAsClient(m_rpcData->clientPort);
+
+        double stepSize = m_rpcData->clockServer.getStepSize();
+        m_rpcData->configuration.numberOfSteps = static_cast<unsigned>(m_period / stepSize);
+        m_rpcData->clockServer.pauseSimulation();
     }
+    m_rpcData->clockServer.stepSimulationAndWait(m_rpcData->configuration.numberOfSteps);
+
+    return true;
 }
diff --git a/toolbox/src/YarpClock.cpp b/toolbox/src/YarpClock.cpp
index b504287df..67592823e 100644
--- a/toolbox/src/YarpClock.cpp
+++ b/toolbox/src/YarpClock.cpp
@@ -7,64 +7,63 @@
 #include <yarp/os/Network.h>
 #include <yarp/os/Time.h>
 
-namespace wbt {
+using namespace wbt;
 
-    const std::string YarpClock::ClassName = "YarpClock";
+const std::string YarpClock::ClassName = "YarpClock";
 
-    unsigned YarpClock::numberOfParameters() { return 0; }
+unsigned YarpClock::numberOfParameters() { return 0; }
 
-    bool YarpClock::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // INPUTS
-        // ======
-        //
-        // No inputs
-        //
+bool YarpClock::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // INPUTS
+    // ======
+    //
+    // No inputs
+    //
 
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            Log::getSingleton().error("Failed to set input port number to 0.");
-            return false;
-        }
-
-        // OUTPUT
-        // ======
-        //
-        // 1) The yarp time. In short, it streams yarp::os::Time::now().
-        //
-
-        if (!blockInfo->setNumberOfOutputPorts(1)) {
-            Log::getSingleton().error("Failed to set output port number.");
-            return false;
-        }
+    if (!blockInfo->setNumberOfInputPorts(0)) {
+        Log::getSingleton().error("Failed to set input port number to 0.");
+        return false;
+    }
 
-        blockInfo->setOutputPortVectorSize(0, 1);
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+    // OUTPUT
+    // ======
+    //
+    // 1) The yarp time. In short, it streams yarp::os::Time::now().
+    //
 
-        return true;
+    if (!blockInfo->setNumberOfOutputPorts(1)) {
+        Log::getSingleton().error("Failed to set output port number.");
+        return false;
     }
 
-    bool YarpClock::initialize(BlockInformation* blockInfo)
-    {
-        yarp::os::Network::init();
+    blockInfo->setOutputPortVectorSize(0, 1);
+    blockInfo->setOutputPortType(0, PortDataTypeDouble);
 
-        if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork(5.0)) {
-            Log::getSingleton().error("YARP server wasn't found active!!");
-            return false;
-        }
+    return true;
+}
 
-        return true;
-    }
+bool YarpClock::initialize(const BlockInformation* blockInfo)
+{
+    yarp::os::Network::init();
 
-    bool YarpClock::terminate(BlockInformation* /*S*/)
-    {
-        yarp::os::Network::fini();
-        return true;
+    if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork(5.0)) {
+        Log::getSingleton().error("YARP server wasn't found active!!");
+        return false;
     }
 
-    bool YarpClock::output(BlockInformation* blockInfo)
-    {
-        Signal signal = blockInfo->getOutputPortSignal(0);
-        signal.set(0, yarp::os::Time::now());
-        return true;
-    }
+    return true;
+}
+
+bool YarpClock::terminate(const BlockInformation* /*S*/)
+{
+    yarp::os::Network::fini();
+    return true;
+}
+
+bool YarpClock::output(const BlockInformation* blockInfo)
+{
+    Signal signal = blockInfo->getOutputPortSignal(0);
+    signal.set(0, yarp::os::Time::now());
+    return true;
 }
diff --git a/toolbox/src/YarpRead.cpp b/toolbox/src/YarpRead.cpp
index 5542b9a42..683af090f 100644
--- a/toolbox/src/YarpRead.cpp
+++ b/toolbox/src/YarpRead.cpp
@@ -12,207 +12,206 @@
 #include <algorithm>
 #include <iostream>
 
-namespace wbt {
-
-    const std::string YarpRead::ClassName = "YarpRead";
-
-    const unsigned YarpRead::PARAM_IDX_PORTNAME    = 1; // port name
-    const unsigned YarpRead::PARAM_IDX_PORTSIZE    = 2; // Size of the port you're reading
-    const unsigned YarpRead::PARAM_IDX_WAITDATA    = 3; // boolean for blocking reading
-    const unsigned YarpRead::PARAM_IDX_READ_TS     = 4; // boolean to stream timestamp
-    const unsigned YarpRead::PARAM_IDX_AUTOCONNECT = 5; // Autoconnect boolean
-    const unsigned YarpRead::PARAM_IDX_ERR_NO_PORT = 6; // Error on missing port if autoconnect is on boolean
-
-    YarpRead::YarpRead()
-    : m_autoconnect(false)
-    , m_blocking(false)
-    , m_shouldReadTimestamp(false)
-    , m_errorOnMissingPort(true)
-    , m_port(0)
-    {}
-
-    unsigned YarpRead::numberOfParameters() { return 6; }
-
-    bool YarpRead::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // INPUTS
-        // ======
-        //
-        // No inputs
-        //
-
-        if (!blockInfo->setNumberOfInputPorts(0)) {
-            Log::getSingleton().error("Failed to set input port number to 0.");
-            return false;
-        }
+using namespace wbt;
+
+const std::string YarpRead::ClassName = "YarpRead";
+
+const unsigned YarpRead::PARAM_IDX_PORTNAME    = 1; // port name
+const unsigned YarpRead::PARAM_IDX_PORTSIZE    = 2; // Size of the port you're reading
+const unsigned YarpRead::PARAM_IDX_WAITDATA    = 3; // boolean for blocking reading
+const unsigned YarpRead::PARAM_IDX_READ_TS     = 4; // boolean to stream timestamp
+const unsigned YarpRead::PARAM_IDX_AUTOCONNECT = 5; // Autoconnect boolean
+const unsigned YarpRead::PARAM_IDX_ERR_NO_PORT = 6; // Error on missing port if autoconnect is on boolean
+
+YarpRead::YarpRead()
+: m_autoconnect(false)
+, m_blocking(false)
+, m_shouldReadTimestamp(false)
+, m_errorOnMissingPort(true)
+, m_port(0)
+{}
+
+unsigned YarpRead::numberOfParameters() { return 6; }
+
+bool YarpRead::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // INPUTS
+    // ======
+    //
+    // No inputs
+    //
+
+    if (!blockInfo->setNumberOfInputPorts(0)) {
+        Log::getSingleton().error("Failed to set input port number to 0.");
+        return false;
+    }
 
-        // OUTPUTS
-        // =======
-        //
-        // 1) Vector with the data read from the port (1 x signalSize)
-        // 2) Optional: Timestamp read from the port
-        // 3) Optional: If autoconnect is disabled, this output becomes 1 when data starts arriving
-        //              (and hence it means that the user connected manually the port)
-        //
+    // OUTPUTS
+    // =======
+    //
+    // 1) Vector with the data read from the port (1 x signalSize)
+    // 2) Optional: Timestamp read from the port
+    // 3) Optional: If autoconnect is disabled, this output becomes 1 when data starts arriving
+    //              (and hence it means that the user connected manually the port)
+    //
 
-        bool shouldReadTimestamp;
-        bool autoconnect;
-        double signalSize;
+    bool shouldReadTimestamp;
+    bool autoconnect;
+    double signalSize;
 
-        bool ok = false;
+    bool ok = false;
 
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, shouldReadTimestamp);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, autoconnect);
-        ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_PORTSIZE, signalSize);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, shouldReadTimestamp);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, autoconnect);
+    ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_PORTSIZE, signalSize);
 
-        if (!ok) {
-            Log::getSingleton().error("Failed to read input parameters.");
-            return false;
-        }
+    if (!ok) {
+        Log::getSingleton().error("Failed to read input parameters.");
+        return false;
+    }
 
-        if (signalSize < 0) {
-            Log::getSingleton().error("Signal size must be non negative.");
-            return false;
-        }
+    if (signalSize < 0) {
+        Log::getSingleton().error("Signal size must be non negative.");
+        return false;
+    }
 
-        int numberOfOutputPorts = 1;
-        numberOfOutputPorts += static_cast<unsigned>(shouldReadTimestamp); //timestamp is the second port
-        numberOfOutputPorts += static_cast<unsigned>(!autoconnect); //!autoconnect => additional port with 1/0 depending on the connection status
+    int numberOfOutputPorts = 1;
+    numberOfOutputPorts += static_cast<unsigned>(shouldReadTimestamp); //timestamp is the second port
+    numberOfOutputPorts += static_cast<unsigned>(!autoconnect); //!autoconnect => additional port with 1/0 depending on the connection status
 
-        if (!blockInfo->setNumberOfOutputPorts(numberOfOutputPorts)) {
-            Log::getSingleton().error("Failed to set output port number.");
-            return false;
-        }
+    if (!blockInfo->setNumberOfOutputPorts(numberOfOutputPorts)) {
+        Log::getSingleton().error("Failed to set output port number.");
+        return false;
+    }
 
-        blockInfo->setOutputPortVectorSize(0, static_cast<int>(signalSize));
-        blockInfo->setOutputPortType(0, PortDataTypeDouble);
+    blockInfo->setOutputPortVectorSize(0, static_cast<int>(signalSize));
+    blockInfo->setOutputPortType(0, PortDataTypeDouble);
 
-        int portIndex = 1;
-        if (shouldReadTimestamp) {
-            blockInfo->setOutputPortVectorSize(portIndex, 2);
-            blockInfo->setOutputPortType(portIndex, PortDataTypeDouble);
-            portIndex++;
-        }
-        if (!autoconnect) {
-            blockInfo->setOutputPortVectorSize(portIndex, 1);
-            blockInfo->setOutputPortType(portIndex, PortDataTypeInt8); //use double anyway. Simplifies simulink stuff
-            portIndex++;
-        }
-        return true;
+    int portIndex = 1;
+    if (shouldReadTimestamp) {
+        blockInfo->setOutputPortVectorSize(portIndex, 2);
+        blockInfo->setOutputPortType(portIndex, PortDataTypeDouble);
+        portIndex++;
     }
+    if (!autoconnect) {
+        blockInfo->setOutputPortVectorSize(portIndex, 1);
+        blockInfo->setOutputPortType(portIndex, PortDataTypeInt8); //use double anyway. Simplifies simulink stuff
+        portIndex++;
+    }
+    return true;
+}
 
-    bool YarpRead::initialize(BlockInformation* blockInfo)
-    {
-        using namespace yarp::os;
-        using namespace yarp::sig;
+bool YarpRead::initialize(const BlockInformation* blockInfo)
+{
+    using namespace yarp::os;
+    using namespace yarp::sig;
 
-        Network::init();
+    Network::init();
 
-        if (!Network::initialized() || !Network::checkNetwork(5.0)) {
-            Log::getSingleton().error("YARP server wasn't found active!!");
-            return false;
-        }
+    if (!Network::initialized() || !Network::checkNetwork(5.0)) {
+        Log::getSingleton().error("YARP server wasn't found active!!");
+        return false;
+    }
 
-        bool ok = true;
+    bool ok = true;
 
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, m_shouldReadTimestamp);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_WAITDATA, m_blocking);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT, m_errorOnMissingPort);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, m_shouldReadTimestamp);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_WAITDATA, m_blocking);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT, m_errorOnMissingPort);
 
-        if (!ok) {
-            Log::getSingleton().error("Failed to read input parameters.");
-            return false;
-        }
+    if (!ok) {
+        Log::getSingleton().error("Failed to read input parameters.");
+        return false;
+    }
 
-        std::string portName;
-        if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_PORTNAME, portName)) {
-            Log::getSingleton().error("Cannot retrieve string from port name parameter.");
-            return false;
-        }
+    std::string portName;
+    if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_PORTNAME, portName)) {
+        Log::getSingleton().error("Cannot retrieve string from port name parameter.");
+        return false;
+    }
 
-        std::string sourcePortName;
-        std::string destinationPortName;
+    std::string sourcePortName;
+    std::string destinationPortName;
 
-        // Autoconnect: the block opens a temporary input port ..., and it connects to an existing
-        //              port portName (which is streaming data).
-        if (m_autoconnect) {
-            sourcePortName = portName;
-            destinationPortName = "...";
-        }
-        // Manual connection: the block opens an input port portName, and waits a manual connection to an
-        //                    output port.
-        else {
-            destinationPortName = portName;
-        }
+    // Autoconnect: the block opens a temporary input port ..., and it connects to an existing
+    //              port portName (which is streaming data).
+    if (m_autoconnect) {
+        sourcePortName = portName;
+        destinationPortName = "...";
+    }
+    // Manual connection: the block opens an input port portName, and waits a manual connection to an
+    //                    output port.
+    else {
+        destinationPortName = portName;
+    }
 
-        m_port = new BufferedPort<Vector>();
+    m_port = new BufferedPort<Vector>();
 
-        if (!m_port || !m_port->open(destinationPortName)) {
-            Log::getSingleton().error("Error while opening yarp port.");
-            return false;
-        }
+    if (!m_port || !m_port->open(destinationPortName)) {
+        Log::getSingleton().error("Error while opening yarp port.");
+        return false;
+    }
 
-        if (m_autoconnect) {
-            if (!Network::connect(sourcePortName, m_port->getName())) {
-                Log::getSingleton().warning("Failed to connect " +
-                                            sourcePortName +
-                                            " to "
-                                            + m_port->getName());
-                if (m_errorOnMissingPort) {
-                    Log::getSingleton().error("Failed connecting ports.");
-                    return false;
-                }
+    if (m_autoconnect) {
+        if (!Network::connect(sourcePortName, m_port->getName())) {
+            Log::getSingleton().warning("Failed to connect " +
+                                        sourcePortName +
+                                        " to "
+                                        + m_port->getName());
+            if (m_errorOnMissingPort) {
+                Log::getSingleton().error("Failed connecting ports.");
+                return false;
             }
         }
-        return true;
     }
+    return true;
+}
 
-    bool YarpRead::terminate(BlockInformation* /*blockInfo*/)
-    {
-        if (m_port) {
-            m_port->close();
-            delete m_port;
-            m_port = nullptr;
-        }
-        yarp::os::Network::fini();
-        return true;
+bool YarpRead::terminate(const BlockInformation* /*blockInfo*/)
+{
+    if (m_port) {
+        m_port->close();
+        delete m_port;
+        m_port = nullptr;
     }
+    yarp::os::Network::fini();
+    return true;
+}
 
-    bool YarpRead::output(BlockInformation* blockInfo)
-    {
-        int timeStampPortIndex = 1;
-        int connectionStatusPortIndex = 1;
+bool YarpRead::output(const BlockInformation* blockInfo)
+{
+    int timeStampPortIndex = 1;
+    int connectionStatusPortIndex = 1;
 
-        yarp::sig::Vector* v = m_port->read(m_blocking); // Read from the port.  Waits until data arrives.
+    yarp::sig::Vector* v = m_port->read(m_blocking); // Read from the port.  Waits until data arrives.
 
-        if (v) {
-            if (m_shouldReadTimestamp) {
-                connectionStatusPortIndex++;
-                yarp::os::Stamp timestamp;
-                m_port->getEnvelope(timestamp);
+    if (v) {
+        if (m_shouldReadTimestamp) {
+            connectionStatusPortIndex++;
+            yarp::os::Stamp timestamp;
+            m_port->getEnvelope(timestamp);
 
-                Signal pY1 = blockInfo->getOutputPortSignal(timeStampPortIndex);
-                pY1.set(0, timestamp.getCount());
-                pY1.set(1, timestamp.getTime());
-            }
+            Signal pY1 = blockInfo->getOutputPortSignal(timeStampPortIndex);
+            pY1.set(0, timestamp.getCount());
+            pY1.set(1, timestamp.getTime());
+        }
 
-            Signal signal = blockInfo->getOutputPortSignal(0);
+        Signal signal = blockInfo->getOutputPortSignal(0);
 
-            // Crop the buffer if it exceeds the OutputPortWidth.
-            signal.setBuffer(v->data(), std::min(blockInfo->getOutputPortWidth(0), (unsigned)v->size()));
+        // Crop the buffer if it exceeds the OutputPortWidth.
+        signal.setBuffer(v->data(), std::min(blockInfo->getOutputPortWidth(0), (unsigned)v->size()));
 
-            if (!m_autoconnect) {
-                Signal statusPort = blockInfo->getOutputPortSignal(connectionStatusPortIndex);
-                statusPort.set(0, 1); //somebody wrote in the port => the port is connected
+        if (!m_autoconnect) {
+            Signal statusPort = blockInfo->getOutputPortSignal(connectionStatusPortIndex);
+            statusPort.set(0, 1); //somebody wrote in the port => the port is connected
 
-                //TODO implement a sort of "timeout" paramter
-                //At the current state this is equal to timeout = inf
-                //Otherwise we can check the timeout and if nobody sent data in the last X secs
-                //we set the port to zero again
-            }
+            //TODO implement a sort of "timeout" paramter
+            //At the current state this is equal to timeout = inf
+            //Otherwise we can check the timeout and if nobody sent data in the last X secs
+            //we set the port to zero again
         }
-
-        return true;
     }
+
+    return true;
 }
diff --git a/toolbox/src/YarpWrite.cpp b/toolbox/src/YarpWrite.cpp
index f557eccbb..3deba6dcc 100644
--- a/toolbox/src/YarpWrite.cpp
+++ b/toolbox/src/YarpWrite.cpp
@@ -9,149 +9,148 @@
 #include <yarp/os/Stamp.h>
 #include <yarp/sig/Vector.h>
 
-namespace wbt {
-
-    const std::string YarpWrite::ClassName = "YarpWrite";
-
-    const unsigned YarpWrite::PARAM_IDX_PORTNAME    = 1; // Port name
-    const unsigned YarpWrite::PARAM_IDX_AUTOCONNECT = 2; // Autoconnect boolean
-    const unsigned YarpWrite::PARAM_IDX_ERR_NO_PORT = 3; // Error on missing port if autoconnect is true
-
-    YarpWrite::YarpWrite()
-    : m_autoconnect(false)
-    , m_errorOnMissingPort(true)
-    , m_destinationPortName("")
-    , m_port(nullptr)
-    {}
-
-    unsigned YarpWrite::numberOfParameters() { return 3; }
-
-    bool YarpWrite::configureSizeAndPorts(BlockInformation* blockInfo)
-    {
-        // INPUT
-        // =====
-        //
-        // 1) The signal to stream to the specified yarp port
-        //
-
-        if (!blockInfo->setNumberOfInputPorts(1)) {
-            Log::getSingleton().error("Failed to set input port number to 0.");
-            return false;
-        }
-        blockInfo->setInputPortVectorSize(0, -1);
-        blockInfo->setInputPortType(0, PortDataTypeDouble);
-
-        // OUTPUT
-        // ======
-        //
-        // No outputs
-        //
-
-        if (!blockInfo->setNumberOfOutputPorts(0)) {
-            Log::getSingleton().error("Failed to set output port number.");
-            return false;
-        }
-
-        return true;
+using namespace wbt;
+
+const std::string YarpWrite::ClassName = "YarpWrite";
+
+const unsigned YarpWrite::PARAM_IDX_PORTNAME    = 1; // Port name
+const unsigned YarpWrite::PARAM_IDX_AUTOCONNECT = 2; // Autoconnect boolean
+const unsigned YarpWrite::PARAM_IDX_ERR_NO_PORT = 3; // Error on missing port if autoconnect is true
+
+YarpWrite::YarpWrite()
+: m_autoconnect(false)
+, m_errorOnMissingPort(true)
+, m_destinationPortName("")
+, m_port(nullptr)
+{}
+
+unsigned YarpWrite::numberOfParameters() { return 3; }
+
+bool YarpWrite::configureSizeAndPorts(BlockInformation* blockInfo)
+{
+    // INPUT
+    // =====
+    //
+    // 1) The signal to stream to the specified yarp port
+    //
+
+    if (!blockInfo->setNumberOfInputPorts(1)) {
+        Log::getSingleton().error("Failed to set input port number to 0.");
+        return false;
+    }
+    blockInfo->setInputPortVectorSize(0, -1);
+    blockInfo->setInputPortType(0, PortDataTypeDouble);
+
+    // OUTPUT
+    // ======
+    //
+    // No outputs
+    //
+
+    if (!blockInfo->setNumberOfOutputPorts(0)) {
+        Log::getSingleton().error("Failed to set output port number.");
+        return false;
     }
 
-    bool YarpWrite::initialize(BlockInformation* blockInfo)
-    {
-        using namespace yarp::os;
-        using namespace yarp::sig;
+    return true;
+}
 
-        Network::init();
+bool YarpWrite::initialize(const BlockInformation* blockInfo)
+{
+    using namespace yarp::os;
+    using namespace yarp::sig;
 
-        if (!Network::initialized() || !Network::checkNetwork(5.0)){
-            Log::getSingleton().error("YARP server wasn't found active!!");
-            return false;
-        }
+    Network::init();
 
-        bool ok = true;
+    if (!Network::initialized() || !Network::checkNetwork(5.0)){
+        Log::getSingleton().error("YARP server wasn't found active!!");
+        return false;
+    }
 
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
-        ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT,
-                                                        m_errorOnMissingPort);
+    bool ok = true;
 
-        if (!ok) {
-            Log::getSingleton().error("Failed to read input parameters.");
-            return false;
-        }
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
+    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT,
+                                                    m_errorOnMissingPort);
 
-        std::string portParameter;
-        if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_PORTNAME, portParameter)) {
-            Log::getSingleton().error("Error reading port name parameter.");
-            return false;
-        }
-
-        std::string sourcePortName;
+    if (!ok) {
+        Log::getSingleton().error("Failed to read input parameters.");
+        return false;
+    }
 
-        // Autoconnect: the block opens a temporary output port ..., and it connects to an existing
-        //              port portName (which will receive data).
-        if (m_autoconnect) {
-            sourcePortName = "...";
-            m_destinationPortName = portParameter;
-        }
-        // Manual connection: the block opens an output port portName, and waits a manual connection to an
-        //                    input port.
-        else {
-            sourcePortName = portParameter;
-        }
+    std::string portParameter;
+    if (!blockInfo->getStringParameterAtIndex(PARAM_IDX_PORTNAME, portParameter)) {
+        Log::getSingleton().error("Error reading port name parameter.");
+        return false;
+    }
 
-        m_port = new BufferedPort<Vector>();
+    std::string sourcePortName;
 
-        if (!m_port || !m_port->open(sourcePortName)) {
-            Log::getSingleton().error("Error while opening yarp port.");
-            return false;
-        }
+    // Autoconnect: the block opens a temporary output port ..., and it connects to an existing
+    //              port portName (which will receive data).
+    if (m_autoconnect) {
+        sourcePortName = "...";
+        m_destinationPortName = portParameter;
+    }
+    // Manual connection: the block opens an output port portName, and waits a manual connection to an
+    //                    input port.
+    else {
+        sourcePortName = portParameter;
+    }
 
-        if (m_autoconnect) {
-            if (!Network::connect(m_port->getName(), m_destinationPortName)) {
-                Log::getSingleton().warning("Failed to connect " +
-                                            m_port->getName() +
-                                            " to " +
-                                            m_destinationPortName);
-                if (m_errorOnMissingPort) {
-                    Log::getSingleton().error("Failed connecting ports.");
-                    return false;
-                }
-            }
-        }
+    m_port = new BufferedPort<Vector>();
 
-        // Initialize the size of the internal buffer handled by m_port
-        yarp::sig::Vector& outputVector = m_port->prepare();
-        outputVector.resize(blockInfo->getInputPortWidth(0));
-        return true;
+    if (!m_port || !m_port->open(sourcePortName)) {
+        Log::getSingleton().error("Error while opening yarp port.");
+        return false;
     }
 
-    bool YarpWrite::terminate(BlockInformation* /*S*/)
-    {
-        if (m_port) {
-            if (m_autoconnect) {
-                yarp::os::Network::disconnect(m_port->getName(), m_destinationPortName);
+    if (m_autoconnect) {
+        if (!Network::connect(m_port->getName(), m_destinationPortName)) {
+            Log::getSingleton().warning("Failed to connect " +
+                                        m_port->getName() +
+                                        " to " +
+                                        m_destinationPortName);
+            if (m_errorOnMissingPort) {
+                Log::getSingleton().error("Failed connecting ports.");
+                return false;
             }
-            m_port->close();
-            delete m_port;
-            m_port = nullptr;
         }
-        yarp::os::Network::fini();
-        return true;
     }
 
-    bool YarpWrite::output(BlockInformation* blockInfo)
-    {
-        if (!m_port) return false;
-        yarp::sig::Vector& outputVector = m_port->prepare();
-        outputVector.resize(blockInfo->getInputPortWidth(0)); //this should be a no-op
-
-        Signal signal = blockInfo->getInputPortSignal(0);
+    // Initialize the size of the internal buffer handled by m_port
+    yarp::sig::Vector& outputVector = m_port->prepare();
+    outputVector.resize(blockInfo->getInputPortWidth(0));
+    return true;
+}
 
-        for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-            outputVector[i] = signal.get(i).doubleData();
+bool YarpWrite::terminate(const BlockInformation* /*S*/)
+{
+    if (m_port) {
+        if (m_autoconnect) {
+            yarp::os::Network::disconnect(m_port->getName(), m_destinationPortName);
         }
+        m_port->close();
+        delete m_port;
+        m_port = nullptr;
+    }
+    yarp::os::Network::fini();
+    return true;
+}
 
-        m_port->write();
+bool YarpWrite::output(const BlockInformation* blockInfo)
+{
+    if (!m_port) return false;
+    yarp::sig::Vector& outputVector = m_port->prepare();
+    outputVector.resize(blockInfo->getInputPortWidth(0)); //this should be a no-op
 
-        return true;
+    Signal signal = blockInfo->getInputPortSignal(0);
+
+    for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
+        outputVector[i] = signal.get(i).doubleData();
     }
+
+    m_port->write();
+
+    return true;
 }
diff --git a/toolbox/src/base/Block.cpp b/toolbox/src/base/Block.cpp
index b7d36396a..fd2e88731 100644
--- a/toolbox/src/base/Block.cpp
+++ b/toolbox/src/base/Block.cpp
@@ -1,15 +1,17 @@
 #include "Block.h"
 #include "toolbox.h"
 
-wbt::Block::~Block() {}
-std::vector<std::string> wbt::Block::additionalBlockOptions() { return std::vector<std::string>(); }
-void wbt::Block::parameterAtIndexIsTunable(unsigned /*index*/, bool &tunable) { tunable = false; }
-bool wbt::Block::checkParameters(wbt::BlockInformation* /*blockInfo*/) { return true; }
+using namespace wbt;
 
-unsigned wbt::Block::numberOfDiscreteStates() { return 0; }
-unsigned wbt::Block::numberOfContinuousStates() { return 0; }
+Block::~Block() {}
+std::vector<std::string> Block::additionalBlockOptions() { return std::vector<std::string>(); }
+void Block::parameterAtIndexIsTunable(unsigned /*index*/, bool &tunable) { tunable = false; }
+bool Block::checkParameters(const BlockInformation* /*blockInfo*/) { return true; }
 
-bool wbt::Block::updateDiscreteState(wbt::BlockInformation* /*blockInfo*/) { return true; }
-bool wbt::Block::stateDerivative(wbt::BlockInformation* /*blockInfo*/) { return true; }
+unsigned Block::numberOfDiscreteStates() { return 0; }
+unsigned Block::numberOfContinuousStates() { return 0; }
 
-bool wbt::Block::initializeInitialConditions(wbt::BlockInformation* /*blockInfo*/) { return true; }
+bool Block::updateDiscreteState(const BlockInformation* /*blockInfo*/) { return true; }
+bool Block::stateDerivative(const BlockInformation* /*blockInfo*/) { return true; }
+
+bool Block::initializeInitialConditions(const BlockInformation* /*blockInfo*/) { return true; }
diff --git a/toolbox/src/base/BlockInformation.cpp b/toolbox/src/base/BlockInformation.cpp
index 5fa160eef..5e52eb899 100644
--- a/toolbox/src/base/BlockInformation.cpp
+++ b/toolbox/src/base/BlockInformation.cpp
@@ -2,5 +2,7 @@
 
 const std::string wbt::BlockOptionPrioritizeOrder = "wbt.BlockOptionPrioritizeOrder";
 
-wbt::BlockInformation::~BlockInformation() {}
-bool wbt::BlockInformation::optionFromKey(const std::string& key, double& option) const { return false; }
+bool wbt::BlockInformation::optionFromKey(const std::string& key, double& option) const
+{
+    return false;
+}
diff --git a/toolbox/src/base/Signal.cpp b/toolbox/src/base/Signal.cpp
index 9d5f6adbc..67e6d6b42 100644
--- a/toolbox/src/base/Signal.cpp
+++ b/toolbox/src/base/Signal.cpp
@@ -1,324 +1,320 @@
 #include "Signal.h"
-
 #include <cstring>
 
-namespace wbt {
+using namespace wbt;
 
-    void Signal::initSignalType(wbt::PortDataType type, bool constPort)
-    {
-        this->portType = type;
-        this->isConstPort = constPort;
-    }
+void Signal::initSignalType(wbt::PortDataType type, bool constPort)
+{
+    this->portType = type;
+    this->isConstPort = constPort;
+}
 
-    void Signal::setContiguousBuffer(void* buffer)
-    {
-        contiguousData = buffer;
-        this->isContiguous = true;
-    }
-    void Signal::setContiguousBuffer(const void* buffer)
-    {
-        contiguousData = const_cast<void*>(buffer);
-        this->isContiguous = true;
-    }
+void Signal::setContiguousBuffer(void* buffer)
+{
+    contiguousData = buffer;
+    this->isContiguous = true;
+}
+void Signal::setContiguousBuffer(const void* buffer)
+{
+    contiguousData = const_cast<void*>(buffer);
+    this->isContiguous = true;
+}
 
-    void Signal::setNonContiguousBuffer(void** buffer)
-    {
-        nonContiguousData = buffer;
-        this->isContiguous = false;
-    }
+void Signal::setNonContiguousBuffer(void** buffer)
+{
+    nonContiguousData = buffer;
+    this->isContiguous = false;
+}
 
-    void Signal::setNonContiguousBuffer(const void* const* buffer)
-    {
-        nonContiguousData = const_cast<void**>(buffer);
-        this->isContiguous = false;
-    }
+void Signal::setNonContiguousBuffer(const void* const* buffer)
+{
+    nonContiguousData = const_cast<void**>(buffer);
+    this->isContiguous = false;
+}
 
 
-    const Data Signal::get(unsigned index) const
-    {
-        Data data;
-        switch (portType) {
-            case PortDataTypeDouble:
-                if (isContiguous) {
-                    data.doubleData((static_cast<double*>(contiguousData))[index]);
-                }
-                else {
-                    const double* buffer = static_cast<const double*>(*nonContiguousData);
-                    data.doubleData(static_cast<const double>(buffer[index]));
-                }
-                break;
-            case PortDataTypeSingle:
-                if (isContiguous) {
-                    data.floatData((static_cast<float*>(contiguousData))[index]);
-                }
-                else {
-                    const float* buffer = static_cast<const float*>(*nonContiguousData);
-                    data.floatData(static_cast<const float>(buffer[index]));
-                }
-                break;
-            case PortDataTypeInt8:
-                if (isContiguous) {
-                    data.int8Data((static_cast<int8_t*>(contiguousData))[index]);
-                }
-                else {
-                    const int8_t* buffer = static_cast<const int8_t*>(*nonContiguousData);
-                    data.int8Data(static_cast<const int8_t>(buffer[index]));
-                }
-                break;
-            case PortDataTypeUInt8:
-                if (isContiguous) {
-                    data.uint8Data((static_cast<uint8_t*>(contiguousData))[index]);
-                }
-                else {
-                    const uint8_t* buffer = static_cast<const uint8_t*>(*nonContiguousData);
-                    data.uint8Data(static_cast<const uint8_t>(buffer[index]));
-                }
-                break;
-            case PortDataTypeInt16:
-                if (isContiguous) {
-                    data.int16Data((static_cast<int16_t*>(contiguousData))[index]);
-                }
-                else {
-                    const int16_t* buffer = static_cast<const int16_t*>(*nonContiguousData);
-                    data.int16Data(static_cast<const int16_t>(buffer[index]));
-                }
-                break;
-            case PortDataTypeUInt16:
-                if (isContiguous) {
-                    data.uint16Data((static_cast<uint16_t*>(contiguousData))[index]);
-                }
-                else {
-                    const uint16_t* buffer = static_cast<const uint16_t*>(*nonContiguousData);
-                    data.uint16Data(static_cast<const uint16_t>(buffer[index]));
-                }
-                break;
-            case PortDataTypeInt32:
-                if (isContiguous) {
-                    data.int32Data((static_cast<int32_t*>(contiguousData))[index]);
-                }
-                else {
-                    const int32_t* buffer = static_cast<const int32_t*>(*nonContiguousData);
-                    data.int32Data(static_cast<const int32_t>(buffer[index]));
-                }
-                break;
-            case PortDataTypeUInt32:
-                if (isContiguous) {
-                    data.uint32Data((static_cast<uint32_t*>(contiguousData))[index]);
-                }
-                else {
-                    const uint32_t* buffer = static_cast<const uint32_t*>(*nonContiguousData);
-                    data.uint32Data(static_cast<const uint32_t>(buffer[index]));
-                }
-                break;
-            case PortDataTypeBoolean:
-                if (isContiguous) {
-                    data.booleanData((static_cast<bool*>(contiguousData))[index]);
-                }
-                else {
-                    const bool* buffer = static_cast<const bool*>(*nonContiguousData);
-                    data.booleanData(static_cast<const bool>(buffer[index]));
-                }
-        }
-        return data;
+const Data Signal::get(unsigned index) const
+{
+    Data data;
+    switch (portType) {
+        case PortDataTypeDouble:
+            if (isContiguous) {
+                data.doubleData((static_cast<double*>(contiguousData))[index]);
+            }
+            else {
+                const double* buffer = static_cast<const double*>(*nonContiguousData);
+                data.doubleData(static_cast<const double>(buffer[index]));
+            }
+            break;
+        case PortDataTypeSingle:
+            if (isContiguous) {
+                data.floatData((static_cast<float*>(contiguousData))[index]);
+            }
+            else {
+                const float* buffer = static_cast<const float*>(*nonContiguousData);
+                data.floatData(static_cast<const float>(buffer[index]));
+            }
+            break;
+        case PortDataTypeInt8:
+            if (isContiguous) {
+                data.int8Data((static_cast<int8_t*>(contiguousData))[index]);
+            }
+            else {
+                const int8_t* buffer = static_cast<const int8_t*>(*nonContiguousData);
+                data.int8Data(static_cast<const int8_t>(buffer[index]));
+            }
+            break;
+        case PortDataTypeUInt8:
+            if (isContiguous) {
+                data.uint8Data((static_cast<uint8_t*>(contiguousData))[index]);
+            }
+            else {
+                const uint8_t* buffer = static_cast<const uint8_t*>(*nonContiguousData);
+                data.uint8Data(static_cast<const uint8_t>(buffer[index]));
+            }
+            break;
+        case PortDataTypeInt16:
+            if (isContiguous) {
+                data.int16Data((static_cast<int16_t*>(contiguousData))[index]);
+            }
+            else {
+                const int16_t* buffer = static_cast<const int16_t*>(*nonContiguousData);
+                data.int16Data(static_cast<const int16_t>(buffer[index]));
+            }
+            break;
+        case PortDataTypeUInt16:
+            if (isContiguous) {
+                data.uint16Data((static_cast<uint16_t*>(contiguousData))[index]);
+            }
+            else {
+                const uint16_t* buffer = static_cast<const uint16_t*>(*nonContiguousData);
+                data.uint16Data(static_cast<const uint16_t>(buffer[index]));
+            }
+            break;
+        case PortDataTypeInt32:
+            if (isContiguous) {
+                data.int32Data((static_cast<int32_t*>(contiguousData))[index]);
+            }
+            else {
+                const int32_t* buffer = static_cast<const int32_t*>(*nonContiguousData);
+                data.int32Data(static_cast<const int32_t>(buffer[index]));
+            }
+            break;
+        case PortDataTypeUInt32:
+            if (isContiguous) {
+                data.uint32Data((static_cast<uint32_t*>(contiguousData))[index]);
+            }
+            else {
+                const uint32_t* buffer = static_cast<const uint32_t*>(*nonContiguousData);
+                data.uint32Data(static_cast<const uint32_t>(buffer[index]));
+            }
+            break;
+        case PortDataTypeBoolean:
+            if (isContiguous) {
+                data.booleanData((static_cast<bool*>(contiguousData))[index]);
+            }
+            else {
+                const bool* buffer = static_cast<const bool*>(*nonContiguousData);
+                data.booleanData(static_cast<const bool>(buffer[index]));
+            }
     }
+    return data;
+}
 
-    void* Signal::getContiguousBuffer()
-    {
-        if (!isContiguous) return nullptr;
-        return this->contiguousData;
-    }
+void* Signal::getContiguousBuffer()
+{
+    if (!isContiguous) return nullptr;
+    return this->contiguousData;
+}
 
-    std::vector<double> Signal::getStdVector(unsigned length) const
-    {
-        std::vector<double> v(length);
-        for (unsigned i = 0; i < length; ++i) {
-            v[i] = get(i).doubleData();
-        }
-        return v;
+std::vector<double> Signal::getStdVector(unsigned length) const
+{
+    std::vector<double> v(length);
+    for (unsigned i = 0; i < length; ++i) {
+        v[i] = get(i).doubleData();
     }
+    return v;
+}
 
-    //the missing are cast
-    void Signal::set(unsigned index, double data)
-    {
-        if (isConstPort) return;
+//the missing are cast
+void Signal::set(unsigned index, double data)
+{
+    if (isConstPort) return;
 
-        switch (portType) {
-            case PortDataTypeDouble:
-            {
-                double* buffer = static_cast<double*>(contiguousData);
-                buffer[index] = data;
-                break;
-            }
-            case PortDataTypeSingle:
-            {
-                float* buffer = static_cast<float*>(contiguousData);
-                buffer[index] = data;
-                break;
-            }
-            default:
-                break;
+    switch (portType) {
+        case PortDataTypeDouble:
+        {
+            double* buffer = static_cast<double*>(contiguousData);
+            buffer[index] = data;
+            break;
+        }
+        case PortDataTypeSingle:
+        {
+            float* buffer = static_cast<float*>(contiguousData);
+            buffer[index] = data;
+            break;
         }
+        default:
+            break;
     }
+}
 
-    void Signal::setBuffer(const double* data, const unsigned length, unsigned startIndex)
-    {
-        if (isConstPort) return;
-        unsigned dataSize = 0;
-        const void* address = data;
+void Signal::setBuffer(const double* data, const unsigned length, unsigned startIndex)
+{
+    if (isConstPort) return;
+    unsigned dataSize = 0;
+    const void* address = data;
 
-        switch (portType) {
-            case PortDataTypeDouble:
-            {
-                dataSize = sizeof(double);
-                address = static_cast<const double*>(address) + startIndex;
-                break;
-            }
-            case PortDataTypeSingle:
-            {
-                dataSize = sizeof(float);
-                address = static_cast<const float*>(address) + startIndex;
-                break;
-            }
-            default:
-                break;
+    switch (portType) {
+        case PortDataTypeDouble:
+        {
+            dataSize = sizeof(double);
+            address = static_cast<const double*>(address) + startIndex;
+            break;
         }
+        case PortDataTypeSingle:
+        {
+            dataSize = sizeof(float);
+            address = static_cast<const float*>(address) + startIndex;
+            break;
+        }
+        default:
+            break;
+    }
 
-        memcpy(contiguousData, address, dataSize * length);
+    memcpy(contiguousData, address, dataSize * length);
 
-    }
+}
 
-    void Signal::set(unsigned index, int32_t data)
-    {
-        //signed integer function
-        switch (portType) {
-            case PortDataTypeInt32:
-            {
-                int32_t* buffer = static_cast<int32_t*>(contiguousData);
-                buffer[index] = data;
-                break;
-            }
-            case PortDataTypeInt16:
-            {
-                int16_t* buffer = static_cast<int16_t*>(contiguousData);
-                buffer[index] = data;
-                break;
-            }
-            case PortDataTypeInt8:
-            {
-                int8_t* buffer = static_cast<int8_t*>(contiguousData);
-                buffer[index] = data;
-                break;
-            }
-            default:
-                break;
+void Signal::set(unsigned index, int32_t data)
+{
+    //signed integer function
+    switch (portType) {
+        case PortDataTypeInt32:
+        {
+            int32_t* buffer = static_cast<int32_t*>(contiguousData);
+            buffer[index] = data;
+            break;
         }
+        case PortDataTypeInt16:
+        {
+            int16_t* buffer = static_cast<int16_t*>(contiguousData);
+            buffer[index] = data;
+            break;
+        }
+        case PortDataTypeInt8:
+        {
+            int8_t* buffer = static_cast<int8_t*>(contiguousData);
+            buffer[index] = data;
+            break;
+        }
+        default:
+            break;
     }
+}
 
-    void Signal::setBuffer(const int32_t* data, const unsigned length, unsigned startIndex)
-    {
-        if (isConstPort) return;
-        unsigned dataSize = 0;
-        const void* address = data;
+void Signal::setBuffer(const int32_t* data, const unsigned length, unsigned startIndex)
+{
+    if (isConstPort) return;
+    unsigned dataSize = 0;
+    const void* address = data;
 
-        switch (portType) {
-            case PortDataTypeInt32:
-            {
-                dataSize = sizeof(int32_t);
-                address = static_cast<const int32_t*>(address) + startIndex;
-                break;
-            }
-            case PortDataTypeInt16:
-            {
-                dataSize = sizeof(int16_t);
-                address = static_cast<const int16_t*>(address) + startIndex;
-                break;
-            }
-            case PortDataTypeInt8:
-            {
-                dataSize = sizeof(int8_t);
-                address = static_cast<const int8_t*>(address) + startIndex;
-                break;
-            }
-            default:
-                break;
+    switch (portType) {
+        case PortDataTypeInt32:
+        {
+            dataSize = sizeof(int32_t);
+            address = static_cast<const int32_t*>(address) + startIndex;
+            break;
         }
-
-        memcpy(contiguousData, address, dataSize* length);
-    }
-
-    void Signal::set(unsigned index, uint32_t data)
-    {
-        //signed integer function
-        switch (portType) {
-            case PortDataTypeUInt32:
-            {
-                uint32_t* buffer = static_cast<uint32_t*>(contiguousData);
-                buffer[index] = data;
-                break;
-            }
-            case PortDataTypeUInt16:
-            {
-                uint16_t* buffer = static_cast<uint16_t*>(contiguousData);
-                buffer[index] = data;
-                break;
-            }
-            case PortDataTypeUInt8:
-            {
-                uint8_t* buffer = static_cast<uint8_t*>(contiguousData);
-                buffer[index] = data;
-                break;
-            }
-            default:
-                break;
+        case PortDataTypeInt16:
+        {
+            dataSize = sizeof(int16_t);
+            address = static_cast<const int16_t*>(address) + startIndex;
+            break;
         }
+        case PortDataTypeInt8:
+        {
+            dataSize = sizeof(int8_t);
+            address = static_cast<const int8_t*>(address) + startIndex;
+            break;
+        }
+        default:
+            break;
     }
 
-    void Signal::setBuffer(const uint32_t* data, const unsigned length, unsigned startIndex)
-    {
-        if (isConstPort) return;
-        unsigned dataSize = 0;
-        const void* address = data;
+    memcpy(contiguousData, address, dataSize* length);
+}
 
-        switch (portType) {
-            case PortDataTypeUInt32:
-            {
-                dataSize = sizeof(uint32_t);
-                address = data + startIndex;
-                break;
-            }
-            case PortDataTypeUInt16:
-            {
-                dataSize = sizeof(uint16_t);
-                address = data + startIndex;
-                break;
-            }
-            case PortDataTypeUInt8:
-            {
-                dataSize = sizeof(uint8_t);
-                address = data + startIndex;
-                break;
-            }
-            default:
-                break;
+void Signal::set(unsigned index, uint32_t data)
+{
+    //signed integer function
+    switch (portType) {
+        case PortDataTypeUInt32:
+        {
+            uint32_t* buffer = static_cast<uint32_t*>(contiguousData);
+            buffer[index] = data;
+            break;
         }
-
-        memcpy(contiguousData, address, dataSize* length);
+        case PortDataTypeUInt16:
+        {
+            uint16_t* buffer = static_cast<uint16_t*>(contiguousData);
+            buffer[index] = data;
+            break;
+        }
+        case PortDataTypeUInt8:
+        {
+            uint8_t* buffer = static_cast<uint8_t*>(contiguousData);
+            buffer[index] = data;
+            break;
+        }
+        default:
+            break;
     }
+}
+
+void Signal::setBuffer(const uint32_t* data, const unsigned length, unsigned startIndex)
+{
+    if (isConstPort) return;
+    unsigned dataSize = 0;
+    const void* address = data;
 
-    void Signal::set(unsigned index, bool data)
-    {
-        bool* buffer = static_cast<bool*>(contiguousData);
-        buffer[index] = data;
+    switch (portType) {
+        case PortDataTypeUInt32:
+        {
+            dataSize = sizeof(uint32_t);
+            address = data + startIndex;
+            break;
+        }
+        case PortDataTypeUInt16:
+        {
+            dataSize = sizeof(uint16_t);
+            address = data + startIndex;
+            break;
+        }
+        case PortDataTypeUInt8:
+        {
+            dataSize = sizeof(uint8_t);
+            address = data + startIndex;
+            break;
+        }
+        default:
+            break;
     }
 
-    void Signal::setBuffer(const bool* data, const unsigned length, unsigned startIndex)
-    {
-        if (isConstPort) return;
-        unsigned dataSize = sizeof(bool);
-        const void* address = static_cast<const bool*>(data) + startIndex;
+    memcpy(contiguousData, address, dataSize* length);
+}
 
-        memcpy(contiguousData, address, dataSize* length);
-    }
+void Signal::set(unsigned index, bool data)
+{
+    bool* buffer = static_cast<bool*>(contiguousData);
+    buffer[index] = data;
+}
 
+void Signal::setBuffer(const bool* data, const unsigned length, unsigned startIndex)
+{
+    if (isConstPort) return;
+    unsigned dataSize = sizeof(bool);
+    const void* address = static_cast<const bool*>(data) + startIndex;
 
+    memcpy(contiguousData, address, dataSize* length);
 }
diff --git a/toolbox/src/base/SimulinkBlockInformation.cpp b/toolbox/src/base/SimulinkBlockInformation.cpp
index 48ccdde51..2b9688738 100644
--- a/toolbox/src/base/SimulinkBlockInformation.cpp
+++ b/toolbox/src/base/SimulinkBlockInformation.cpp
@@ -5,191 +5,191 @@
 #include <string>
 #include <vector>
 
-namespace wbt {
+using namespace wbt;
 
-    SimulinkBlockInformation::SimulinkBlockInformation(SimStruct* S)
-    : simstruct(S)
-    {}
+SimulinkBlockInformation::SimulinkBlockInformation(SimStruct* S)
+: simstruct(S)
+{}
 
-    bool SimulinkBlockInformation::optionFromKey(const std::string& key, double& option) const
-    {
-        if (key == wbt::BlockOptionPrioritizeOrder) {
-            option = SS_OPTION_PLACE_ASAP;
-            return true;
-        }
-
-        return false;
+bool SimulinkBlockInformation::optionFromKey(const std::string& key, double& option) const
+{
+    if (key == wbt::BlockOptionPrioritizeOrder) {
+        option = SS_OPTION_PLACE_ASAP;
+        return true;
     }
 
-    //Parameters methods
-    bool SimulinkBlockInformation::getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter)
-    {
-        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
-        return MxAnyType(blockParam).asString(stringParameter);
-    }
+    return false;
+}
 
-    bool SimulinkBlockInformation::getStructAtIndex(unsigned parameterIndex, AnyStruct& map)
-    {
-        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
-        return MxAnyType(blockParam).asAnyStruct(map);
-    }
+//Parameters methods
+bool SimulinkBlockInformation::getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) const
+{
+    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+    return MxAnyType(blockParam).asString(stringParameter);
+}
 
+bool SimulinkBlockInformation::getStructAtIndex(unsigned parameterIndex, AnyStruct& map) const
+{
+    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+    return MxAnyType(blockParam).asAnyStruct(map);
+}
 
-    bool SimulinkBlockInformation::getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec)
-    {
-        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
-        return MxAnyType(blockParam).asVectorDouble(vec);
-    }
 
-    bool SimulinkBlockInformation::getScalarParameterAtIndex(unsigned parameterIndex, double& value)
-    {
-        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
-        return MxAnyType(blockParam).asDouble(value);
-    }
+bool SimulinkBlockInformation::getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) const
+{
+    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+    return MxAnyType(blockParam).asVectorDouble(vec);
+}
 
-    bool SimulinkBlockInformation::getBooleanParameterAtIndex(unsigned parameterIndex, bool& value)
-    {
-        const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
-        return MxAnyType(blockParam).asBool(value);
-    }
 
-    //Port information methods
-    bool SimulinkBlockInformation::setNumberOfInputPorts(unsigned numberOfPorts)
-    {
-        return ssSetNumInputPorts(simstruct, numberOfPorts);
-    }
+bool SimulinkBlockInformation::getScalarParameterAtIndex(unsigned parameterIndex, double& value) const
+{
+    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+    return MxAnyType(blockParam).asDouble(value);
+}
 
-    bool SimulinkBlockInformation::setNumberOfOutputPorts(unsigned numberOfPorts)
-    {
-        return ssSetNumOutputPorts(simstruct, numberOfPorts);
-    }
+bool SimulinkBlockInformation::getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) const
+{
+    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+    return MxAnyType(blockParam).asBool(value);
+}
 
-    bool SimulinkBlockInformation::setInputPortVectorSize(unsigned portNumber, int portSize)
-    {
-        if (portSize == -1) portSize = DYNAMICALLY_SIZED;
-        return ssSetInputPortVectorDimension(simstruct,  portNumber, portSize);
-    }
+//Port information methods
+bool SimulinkBlockInformation::setNumberOfInputPorts(unsigned numberOfPorts)
+{
+    return ssSetNumInputPorts(simstruct, numberOfPorts);
+}
 
-    bool SimulinkBlockInformation::setInputPortMatrixSize(unsigned portNumber, int rows, int columns)
-    {
-        if (rows == -1) rows = DYNAMICALLY_SIZED;
-        if (columns == -1) columns = DYNAMICALLY_SIZED;
-        return ssSetInputPortMatrixDimensions(simstruct,  portNumber, rows, columns);
-    }
+bool SimulinkBlockInformation::setNumberOfOutputPorts(unsigned numberOfPorts)
+{
+    return ssSetNumOutputPorts(simstruct, numberOfPorts);
+}
 
-    bool SimulinkBlockInformation::setOutputPortVectorSize(unsigned portNumber, int portSize)
-    {
-        if (portSize == -1) portSize = DYNAMICALLY_SIZED;
-        return ssSetOutputPortVectorDimension(simstruct,  portNumber, portSize);
-    }
+bool SimulinkBlockInformation::setInputPortVectorSize(unsigned portNumber, int portSize)
+{
+    if (portSize == -1) portSize = DYNAMICALLY_SIZED;
+    return ssSetInputPortVectorDimension(simstruct,  portNumber, portSize);
+}
 
-    bool SimulinkBlockInformation::setOutputPortMatrixSize(unsigned portNumber, int rows, int columns)
-    {
-        if (rows == -1) rows = DYNAMICALLY_SIZED;
-        if (columns == -1) columns = DYNAMICALLY_SIZED;
-        return ssSetOutputPortMatrixDimensions(simstruct,  portNumber, rows, columns);
-    }
+bool SimulinkBlockInformation::setInputPortMatrixSize(unsigned portNumber, int rows, int columns)
+{
+    if (rows == -1) rows = DYNAMICALLY_SIZED;
+    if (columns == -1) columns = DYNAMICALLY_SIZED;
+    return ssSetInputPortMatrixDimensions(simstruct,  portNumber, rows, columns);
+}
 
-    bool SimulinkBlockInformation::setInputPortType(unsigned portNumber, PortDataType portType)
-    {
-        //for now force Direct feedthrough.. If needed create a separate method
-        ssSetInputPortDirectFeedThrough(simstruct, portNumber, 1);
-        int matlabDataType = -1;
-        switch (portType) {
-            case PortDataTypeDouble:
-                matlabDataType = SS_DOUBLE;
-                break;
-                case PortDataTypeSingle:
-                matlabDataType = SS_SINGLE;
-                break;
-            case PortDataTypeInt8:
-                matlabDataType = SS_INT8;
-                break;
-            case PortDataTypeUInt8:
-                matlabDataType = SS_UINT8;
-                break;
-            case PortDataTypeInt16:
-                matlabDataType = SS_INT16;
-                break;
-            case PortDataTypeUInt16:
-                matlabDataType = SS_UINT16;
-                break;
-            case PortDataTypeInt32:
-                matlabDataType = SS_INT32;
-                break;
-            case PortDataTypeUInt32:
-                matlabDataType = SS_UINT32;
-                break;
-            case PortDataTypeBoolean:
-                matlabDataType = SS_BOOLEAN;
-                break;
-        }
-        return ssSetInputPortDataType(simstruct, portNumber, matlabDataType);
-    }
+bool SimulinkBlockInformation::setOutputPortVectorSize(unsigned portNumber, int portSize)
+{
+    if (portSize == -1) portSize = DYNAMICALLY_SIZED;
+    return ssSetOutputPortVectorDimension(simstruct,  portNumber, portSize);
+}
 
-    bool SimulinkBlockInformation::setOutputPortType(unsigned portNumber, PortDataType portType)
-    {
-        int matlabDataType = -1;
-        switch (portType) {
-            case PortDataTypeDouble:
-                matlabDataType = SS_DOUBLE;
-                break;
+bool SimulinkBlockInformation::setOutputPortMatrixSize(unsigned portNumber, int rows, int columns)
+{
+    if (rows == -1) rows = DYNAMICALLY_SIZED;
+    if (columns == -1) columns = DYNAMICALLY_SIZED;
+    return ssSetOutputPortMatrixDimensions(simstruct,  portNumber, rows, columns);
+}
+
+bool SimulinkBlockInformation::setInputPortType(unsigned portNumber, PortDataType portType)
+{
+    //for now force Direct feedthrough.. If needed create a separate method
+    ssSetInputPortDirectFeedThrough(simstruct, portNumber, 1);
+    int matlabDataType = -1;
+    switch (portType) {
+        case PortDataTypeDouble:
+            matlabDataType = SS_DOUBLE;
+            break;
             case PortDataTypeSingle:
-                matlabDataType = SS_SINGLE;
-                break;
-            case PortDataTypeInt8:
-                matlabDataType = SS_INT8;
-                break;
-            case PortDataTypeUInt8:
-                matlabDataType = SS_UINT8;
-                break;
-            case PortDataTypeInt16:
-                matlabDataType = SS_INT16;
-                break;
-            case PortDataTypeUInt16:
-                matlabDataType = SS_UINT16;
-                break;
-            case PortDataTypeInt32:
-                matlabDataType = SS_INT32;
-                break;
-            case PortDataTypeUInt32:
-                matlabDataType = SS_UINT32;
-                break;
-            case PortDataTypeBoolean:
-                matlabDataType = SS_BOOLEAN;
-                break;
-        }
-        return ssSetOutputPortDataType(simstruct, portNumber, matlabDataType);
-    }
+            matlabDataType = SS_SINGLE;
+            break;
+        case PortDataTypeInt8:
+            matlabDataType = SS_INT8;
+            break;
+        case PortDataTypeUInt8:
+            matlabDataType = SS_UINT8;
+            break;
+        case PortDataTypeInt16:
+            matlabDataType = SS_INT16;
+            break;
+        case PortDataTypeUInt16:
+            matlabDataType = SS_UINT16;
+            break;
+        case PortDataTypeInt32:
+            matlabDataType = SS_INT32;
+            break;
+        case PortDataTypeUInt32:
+            matlabDataType = SS_UINT32;
+            break;
+        case PortDataTypeBoolean:
+            matlabDataType = SS_BOOLEAN;
+            break;
+    }
+    return ssSetInputPortDataType(simstruct, portNumber, matlabDataType);
+}
 
-    //Port data
-    unsigned SimulinkBlockInformation::getInputPortWidth(unsigned portNumber)
-    {
-        return ssGetInputPortWidth(simstruct, portNumber);
-    }
+bool SimulinkBlockInformation::setOutputPortType(unsigned portNumber, PortDataType portType)
+{
+    int matlabDataType = -1;
+    switch (portType) {
+        case PortDataTypeDouble:
+            matlabDataType = SS_DOUBLE;
+            break;
+        case PortDataTypeSingle:
+            matlabDataType = SS_SINGLE;
+            break;
+        case PortDataTypeInt8:
+            matlabDataType = SS_INT8;
+            break;
+        case PortDataTypeUInt8:
+            matlabDataType = SS_UINT8;
+            break;
+        case PortDataTypeInt16:
+            matlabDataType = SS_INT16;
+            break;
+        case PortDataTypeUInt16:
+            matlabDataType = SS_UINT16;
+            break;
+        case PortDataTypeInt32:
+            matlabDataType = SS_INT32;
+            break;
+        case PortDataTypeUInt32:
+            matlabDataType = SS_UINT32;
+            break;
+        case PortDataTypeBoolean:
+            matlabDataType = SS_BOOLEAN;
+            break;
+    }
+    return ssSetOutputPortDataType(simstruct, portNumber, matlabDataType);
+}
 
-    unsigned SimulinkBlockInformation::getOutputPortWidth(unsigned portNumber)
-    {
-        return ssGetOutputPortWidth(simstruct, portNumber);
-    }
+//Port data
+unsigned SimulinkBlockInformation::getInputPortWidth(unsigned portNumber) const
+{
+    return ssGetInputPortWidth(simstruct, portNumber);
+}
 
-    wbt::Signal SimulinkBlockInformation::getInputPortSignal(unsigned portNumber)
-    {
-        Signal signal;
-        InputPtrsType port = ssGetInputPortSignalPtrs(simstruct, portNumber);
-        bool isConstPort = true;
-        signal.initSignalType(PortDataTypeDouble, isConstPort);
-        signal.setNonContiguousBuffer(port);
-        return signal;
-    }
+unsigned SimulinkBlockInformation::getOutputPortWidth(unsigned portNumber) const
+{
+    return ssGetOutputPortWidth(simstruct, portNumber);
+}
+
+wbt::Signal SimulinkBlockInformation::getInputPortSignal(unsigned portNumber) const
+{
+    Signal signal;
+    InputPtrsType port = ssGetInputPortSignalPtrs(simstruct, portNumber);
+    bool isConstPort = true;
+    signal.initSignalType(PortDataTypeDouble, isConstPort);
+    signal.setNonContiguousBuffer(port);
+    return signal;
+}
 
-    wbt::Signal SimulinkBlockInformation::getOutputPortSignal(unsigned portNumber)
-    {
-        Signal signal;
-        bool isConstPort = false;
-        signal.initSignalType(PortDataTypeDouble, isConstPort);
-        signal.setContiguousBuffer(ssGetOutputPortSignal(simstruct, portNumber));
-        return signal;
-    }
 
+wbt::Signal SimulinkBlockInformation::getOutputPortSignal(unsigned portNumber) const
+{
+    Signal signal;
+    bool isConstPort = false;
+    signal.initSignalType(PortDataTypeDouble, isConstPort);
+    signal.setContiguousBuffer(ssGetOutputPortSignal(simstruct, portNumber));
+    return signal;
 }
diff --git a/toolbox/src/base/ToolboxSingleton.cpp b/toolbox/src/base/ToolboxSingleton.cpp
index a3d7981b5..19042b281 100644
--- a/toolbox/src/base/ToolboxSingleton.cpp
+++ b/toolbox/src/base/ToolboxSingleton.cpp
@@ -8,115 +8,103 @@
 #include <yarp/os/ResourceFinder.h>
 #include <yarp/os/Network.h>
 
-// TODO: remove nesting
-namespace wbt {
+using namespace wbt;
 
-    // CONSTRUCTOR / DESTRUCTOR
-    // ========================
+// CONSTRUCTOR / DESTRUCTOR
+// ========================
 
-    ToolboxSingleton::ToolboxSingleton() {}
-    ToolboxSingleton::~ToolboxSingleton() {}
+ToolboxSingleton::ToolboxSingleton() {}
+ToolboxSingleton::~ToolboxSingleton() {}
 
-    // UTILITIES
-    // =========
+// UTILITIES
+// =========
 
-    int ToolboxSingleton::numberOfDoFs(const std::string& confKey)
-    {
-        if (!isKeyValid(confKey))
-            return -1;
-        else
-            return m_interfaces[confKey]->getConfiguration().getNumberOfDoFs();
-    }
+int ToolboxSingleton::numberOfDoFs(const std::string& confKey)
+{
+    if (!isKeyValid(confKey))
+        return -1;
+    else
+        return m_interfaces[confKey]->getConfiguration().getNumberOfDoFs();
+}
 
-    bool ToolboxSingleton::isKeyValid(const std::string& confKey)
-    {
-        if (m_interfaces.find(confKey) != m_interfaces.end()) {
-            if (m_interfaces[confKey])
-                return true;
-            else
-                return false;
-        }
-        else {
+bool ToolboxSingleton::isKeyValid(const std::string& confKey)
+{
+    if (m_interfaces.find(confKey) != m_interfaces.end()) {
+        if (m_interfaces[confKey])
+            return true;
+        else
             return false;
-        }
     }
+    else {
+        return false;
+    }
+}
 
-    // GET METHODS
-    // ===========
+// GET METHODS
+// ===========
 
-    ToolboxSingleton& ToolboxSingleton::sharedInstance()
-    {
-        static ToolboxSingleton instance;
-        return instance;
-    }
+ToolboxSingleton& ToolboxSingleton::sharedInstance()
+{
+    static ToolboxSingleton instance;
+    return instance;
+}
+
+const Configuration& ToolboxSingleton::getConfiguration(const std::string& confKey)
+{
+    return getRobotInterface(confKey)->getConfiguration();
+}
 
-    const Configuration& ToolboxSingleton::getConfiguration(const std::string& confKey)
-    {
-        return getRobotInterface(confKey)->getConfiguration();
+const std::shared_ptr<RobotInterface> ToolboxSingleton::getRobotInterface(const std::string& confKey)
+{
+    if (!isKeyValid(confKey)) {
+        return nullptr;
     }
 
-    const std::shared_ptr<RobotInterface> ToolboxSingleton::getRobotInterface(const std::string& confKey)
-    {
-        if (!isKeyValid(confKey)) {
-            return nullptr;
-        }
+    return m_interfaces[confKey];
+}
 
-        return m_interfaces[confKey];
+const std::shared_ptr<iDynTree::KinDynComputations> ToolboxSingleton::getModel(const std::string& confKey)
+{
+    if (!isKeyValid(confKey)) {
+        return nullptr;
     }
 
-    const std::shared_ptr<iDynTree::KinDynComputations> ToolboxSingleton::getModel(const std::string& confKey)
-    {
-        if (!isKeyValid(confKey)) {
-            return nullptr;
-        }
+    return m_interfaces[confKey]->getKinDynComputations();
+}
 
-        return m_interfaces[confKey]->getKinDynComputations();
-    }
+// TOOLBOXSINGLETON CONFIGURATION
+// ==============================
 
-    // TOOLBOXSINGLETON CONFIGURATION
-    // ==============================
+bool ToolboxSingleton::storeConfiguration(const std::string& confKey, const Configuration& config)
+{
+    if (!config.isValid()) {
+        return false;
+    }
 
-    bool ToolboxSingleton::storeConfiguration(const std::string& confKey, const Configuration& config)
-    {
-        if (!config.isValid()) {
-            return false;
-        }
-
-        // Add the new Configuration object and override an existing key if it already exist.
-        // Note: Simulink doesn't flush memory unless Matlab is closed, and static objects stay in memory.
-        //       This may cause problems if the config block's mask is changed after the first compilation.
-        if (m_interfaces.find(confKey) == m_interfaces.end()) {
-            m_interfaces[confKey] = std::make_shared<RobotInterface>(config);
-            return static_cast<bool>(m_interfaces[confKey]);
-        }
-
-        if (!(m_interfaces[confKey]->getConfiguration() == config)) {
-            assert(m_interfaces[confKey]);
-
-            // Check that at top there are 2 instances of the model:
-            // the private member of RobotInterface and the one returned
-            // by the model() called by the assert itself
-            assert(getModel(confKey).use_count() <= 2);
-            // TODO: and also m_robotDeviceCounter should be max 1
-            //
-            // TODO: domani: quando finisce la simulazione (terminate) dovrei avere
-            //       dentro tutti i Configuration al massimo 1 sia di model che di
-            //       device (e le interfacce tutte chiuse?)
-
-            // Delete the old configuration (calling the destructor for cleaning garbage)
-            m_interfaces[confKey].reset();
-            m_interfaces.erase(confKey);
-
-            // Allocate a new configuration
-            m_interfaces[confKey] = std::make_shared<RobotInterface>(config);
-            return static_cast<bool>(m_interfaces[confKey]);
-        }
-
-        return true;
+    // Add the new Configuration object and override an existing key if it already exist.
+    // Note: Simulink doesn't flush memory unless Matlab is closed, and static objects stay in memory.
+    //       This may cause problems if the config block's mask is changed after the first compilation.
+    if (m_interfaces.find(confKey) == m_interfaces.end()) {
+        m_interfaces[confKey] = std::make_shared<RobotInterface>(config);
+        return static_cast<bool>(m_interfaces[confKey]);
     }
 
-    void ToolboxSingleton::eraseConfiguration(const std::string& confKey)
-    {
+    if (!(m_interfaces[confKey]->getConfiguration() == config)) {
+        assert(m_interfaces[confKey]);
+
+        // Delete the old configuration (calling the destructor for cleaning garbage)
+        m_interfaces[confKey].reset();
         m_interfaces.erase(confKey);
+
+        // Allocate a new configuration
+        m_interfaces[confKey] = std::make_shared<RobotInterface>(config);
+        return static_cast<bool>(m_interfaces[confKey]);
     }
+
+    return true;
+}
+
+void ToolboxSingleton::eraseConfiguration(const std::string& confKey)
+{
+    m_interfaces.erase(confKey);
 }
diff --git a/toolbox/src/base/WBBlock.cpp b/toolbox/src/base/WBBlock.cpp
index 27f9913f2..cf49a66de 100644
--- a/toolbox/src/base/WBBlock.cpp
+++ b/toolbox/src/base/WBBlock.cpp
@@ -30,7 +30,7 @@ iDynTreeRobotState::iDynTreeRobotState(const unsigned& dofs, const std::vector<d
 
 unsigned WBBlock::numberOfParameters() { return 2; }
 
-bool WBBlock::getWBToolboxParameters(Configuration& config, BlockInformation* blockInfo)
+bool WBBlock::getWBToolboxParameters(Configuration& config, const BlockInformation* blockInfo)
 {
     // Infos
     // =====
@@ -206,7 +206,7 @@ bool WBBlock::configureSizeAndPorts(BlockInformation* blockInfo)
     return true;
 }
 
-bool WBBlock::initialize(BlockInformation* blockInfo)
+bool WBBlock::initialize(const BlockInformation* blockInfo)
 {
     // CONFIGURE the ToolboxSingleton
     // ==============================
@@ -235,7 +235,7 @@ bool WBBlock::initialize(BlockInformation* blockInfo)
     return true;
 }
 
-bool WBBlock::terminate(BlockInformation* /*blockInfo*/)
+bool WBBlock::terminate(const BlockInformation* /*blockInfo*/)
 {
     return true;
 }
diff --git a/toolbox/src/base/factory.cpp b/toolbox/src/base/factory.cpp
index e30b81379..2d1d5f828 100644
--- a/toolbox/src/base/factory.cpp
+++ b/toolbox/src/base/factory.cpp
@@ -1,46 +1,48 @@
 #include "toolbox.h"
 
-wbt::Block* wbt::Block::instantiateBlockWithClassName(std::string blockClassName)
+using namespace wbt;
+
+Block* Block::instantiateBlockWithClassName(std::string blockClassName)
 {
-    wbt::Block *block = NULL;
+    Block* block = nullptr;
 
-    if (blockClassName == wbt::YarpRead::ClassName) {
-        block = new wbt::YarpRead();
-    } else if (blockClassName == wbt::YarpWrite::ClassName) {
-        block = new wbt::YarpWrite();
-    } else if (blockClassName == wbt::ModelPartitioner::ClassName) {
-        block = new wbt::ModelPartitioner();
-    } else if (blockClassName == wbt::YarpClock::ClassName) {
-        block = new wbt::YarpClock();
-    } else if (blockClassName == wbt::MassMatrix::ClassName) {
-        block = new wbt::MassMatrix();
-    } else if (blockClassName == wbt::ForwardKinematics::ClassName) {
-        block = new wbt::ForwardKinematics();
-    } else if (blockClassName == wbt::SetReferences::ClassName) {
-        block = new wbt::SetReferences();
-    } else if (blockClassName == wbt::RealTimeSynchronizer::ClassName) {
-        block = new wbt::RealTimeSynchronizer();
-    } else if (blockClassName == wbt::SimulatorSynchronizer::ClassName) {
-        block = new wbt::SimulatorSynchronizer();
-    } else if (blockClassName == wbt::Jacobian::ClassName) {
-        block = new wbt::Jacobian();
-    } else if (blockClassName == wbt::GetMeasurement::ClassName) {
-        block = new wbt::GetMeasurement();
-    } else if (blockClassName == wbt::InverseDynamics::ClassName) {
-        block = new wbt::InverseDynamics();
-    } else if (blockClassName == wbt::DotJNu::ClassName) {
-        block = new wbt::DotJNu();
-    } else if (blockClassName == wbt::GetLimits::ClassName) {
-        block = new wbt::GetLimits();
-    } else if (blockClassName == wbt::CentroidalMomentum::ClassName) {
-        block = new wbt::CentroidalMomentum();
-    } else if (blockClassName == wbt::SetLowLevelPID::ClassName) {
-        block = new wbt::SetLowLevelPID();
+    if (blockClassName == YarpRead::ClassName) {
+        block = new YarpRead();
+    } else if (blockClassName == YarpWrite::ClassName) {
+        block = new YarpWrite();
+    } else if (blockClassName == ModelPartitioner::ClassName) {
+        block = new ModelPartitioner();
+    } else if (blockClassName == YarpClock::ClassName) {
+        block = new YarpClock();
+    } else if (blockClassName == MassMatrix::ClassName) {
+        block = new MassMatrix();
+    } else if (blockClassName == ForwardKinematics::ClassName) {
+        block = new ForwardKinematics();
+    } else if (blockClassName == SetReferences::ClassName) {
+        block = new SetReferences();
+    } else if (blockClassName == RealTimeSynchronizer::ClassName) {
+        block = new RealTimeSynchronizer();
+    } else if (blockClassName == SimulatorSynchronizer::ClassName) {
+        block = new SimulatorSynchronizer();
+    } else if (blockClassName == Jacobian::ClassName) {
+        block = new Jacobian();
+    } else if (blockClassName == GetMeasurement::ClassName) {
+        block = new GetMeasurement();
+    } else if (blockClassName == InverseDynamics::ClassName) {
+        block = new InverseDynamics();
+    } else if (blockClassName == DotJNu::ClassName) {
+        block = new DotJNu();
+    } else if (blockClassName == GetLimits::ClassName) {
+        block = new GetLimits();
+    } else if (blockClassName == CentroidalMomentum::ClassName) {
+        block = new CentroidalMomentum();
+    } else if (blockClassName == SetLowLevelPID::ClassName) {
+        block = new SetLowLevelPID();
     }
 #ifdef WBT_USES_ICUB
-    else if (blockClassName == wbt::MinimumJerkTrajectoryGenerator::ClassName) {
-        block = new wbt::MinimumJerkTrajectoryGenerator();
-    } 
+    else if (blockClassName == MinimumJerkTrajectoryGenerator::ClassName) {
+        block = new MinimumJerkTrajectoryGenerator();
+    }
 #endif
 #ifdef WBT_USES_IPOPT
     else if (blockClassName == wbt::InverseKinematics::ClassName) {

From 579174b529735fee79cb233305a10e8912653a62 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 13 Nov 2017 08:52:47 +0000
Subject: [PATCH 40/92] Switched to std::array for storing the gravity vector

---
 toolbox/include/base/Configuration.h | 9 +++++----
 toolbox/include/base/WBBlock.h       | 3 ++-
 toolbox/src/base/Configuration.cpp   | 6 +++---
 toolbox/src/base/WBBlock.cpp         | 8 ++++++--
 4 files changed, 16 insertions(+), 10 deletions(-)

diff --git a/toolbox/include/base/Configuration.h b/toolbox/include/base/Configuration.h
index 192656cdf..9b70142ac 100644
--- a/toolbox/include/base/Configuration.h
+++ b/toolbox/include/base/Configuration.h
@@ -2,6 +2,7 @@
 #define WBT_TOOLBOXCONFIG_H
 
 #include <vector>
+#include <array>
 #include <string>
 
 namespace wbt {
@@ -25,7 +26,7 @@ class wbt::Configuration
     std::string m_localName; ///< Prefix appended to the opened ports
     std::vector<std::string> m_controlledJoints;   ///< Subset of controlled joints
     std::vector<std::string> m_controlBoardsNames; ///< Names of the used ControlBoard names
-    std::vector<double> m_gravityVector; ///< The gravity vector
+    std::array<double ,3> m_gravityVector; ///< The gravity vector
     size_t m_dofs; //< DoFs extracted my m_controlBoardsNames vector
 
 public:
@@ -50,7 +51,7 @@ class wbt::Configuration
                        std::vector<std::string> controlledJoints,
                        std::vector<std::string> controlBoardsNames,
                        std::string localName,
-                       std::vector<double> gravityVector);
+                       std::array<double, 3> gravityVector);
 
     /**
      * Set the name of the robot
@@ -88,7 +89,7 @@ class wbt::Configuration
      * Set the gravity vector
      * @param gravityVector The gravity vector
      */
-    void setGravityVector(const std::vector<double>& gravityVector);
+    void setGravityVector(const std::array<double, 3>& gravityVector);
 
     // GET METHODS
     // ===========
@@ -133,7 +134,7 @@ class wbt::Configuration
      *
      * @return The gravity vector
      */
-    const std::vector<double>& getGravityVector() const;
+    const std::array<double, 3>& getGravityVector() const;
 
     /**
      * Get the configured number of DoFs
diff --git a/toolbox/include/base/WBBlock.h b/toolbox/include/base/WBBlock.h
index b3d5cf33c..227795a1c 100644
--- a/toolbox/include/base/WBBlock.h
+++ b/toolbox/include/base/WBBlock.h
@@ -3,6 +3,7 @@
 
 #include "Block.h"
 #include <string>
+#include <array>
 #include <memory>
 #include <iDynTree/Core/VectorFixSize.h>
 #include <iDynTree/Core/VectorDynSize.h>
@@ -36,7 +37,7 @@ struct iDynTreeRobotState {
     iDynTreeRobotState() = default;
     ~iDynTreeRobotState() = default;
 
-    iDynTreeRobotState(const unsigned& dofs, const std::vector<double>& gravity);
+    iDynTreeRobotState(const unsigned& dofs, const std::array<double, 3>& gravity);
 };
 
 /**
diff --git a/toolbox/src/base/Configuration.cpp b/toolbox/src/base/Configuration.cpp
index d28857016..a963a3b41 100644
--- a/toolbox/src/base/Configuration.cpp
+++ b/toolbox/src/base/Configuration.cpp
@@ -14,7 +14,7 @@ void Configuration::setParameters(std::string robotName,
                                   std::vector<std::string> controlledJoints,
                                   std::vector<std::string> controlBoardsNames,
                                   std::string localName,
-                                  std::vector<double> gravityVector)
+                                  std::array<double, 3> gravityVector)
 {
     setRobotName(robotName);
     setUrdfFile(urdfFile);
@@ -50,7 +50,7 @@ void Configuration::setLocalName(const std::string& localName)
     m_localName = localName;
 }
 
-void Configuration::setGravityVector(const std::vector<double>& gravityVector)
+void Configuration::setGravityVector(const std::array<double, 3>& gravityVector)
 {
     m_gravityVector = gravityVector;
 }
@@ -83,7 +83,7 @@ const std::string& Configuration::getLocalName() const
     return m_localName;
 }
 
-const std::vector<double>& Configuration::getGravityVector() const
+const std::array<double, 3>& Configuration::getGravityVector() const
 {
     return m_gravityVector;
 }
diff --git a/toolbox/src/base/WBBlock.cpp b/toolbox/src/base/WBBlock.cpp
index cf49a66de..0c344e33f 100644
--- a/toolbox/src/base/WBBlock.cpp
+++ b/toolbox/src/base/WBBlock.cpp
@@ -19,7 +19,7 @@ const unsigned WBBlock::ConfigurationParameterIndex = 1; // Struct from Simulink
 const unsigned WBBlock::ConfBlockNameParameterIndex = 2; // Absolute name of the block containing the
                                                          // configuration
 
-iDynTreeRobotState::iDynTreeRobotState(const unsigned& dofs, const std::vector<double>& gravity)
+iDynTreeRobotState::iDynTreeRobotState(const unsigned& dofs, const std::array<double, 3>& gravity)
 : m_gravity(gravity.data(), 3)
 , m_jointsVelocity(dofs)
 , m_jointsPosition(dofs)
@@ -130,6 +130,10 @@ bool WBBlock::getWBToolboxParameters(Configuration& config, const BlockInformati
         Log::getSingleton().error("Cannot retrieve vector from GravityVector parameter.");
         return false;
     }
+    std::array<double, 3> gravityArray;
+    for (auto i : gravityVector) {
+        gravityArray[i] = i;
+    }
 
     // Create the ToolboxConfig object
     // ===============================
@@ -140,7 +144,7 @@ bool WBBlock::getWBToolboxParameters(Configuration& config, const BlockInformati
     config.setControlledJoints(controlledJoints);
     config.setControlBoardsNames(controlBoardsNames);
     config.setLocalName(localName);
-    config.setGravityVector(gravityVector);
+    config.setGravityVector(gravityArray);
 
     return true;
 }

From 8c61547526f4bcbfc782c4a18bb5bc0e9b2595cb Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 13 Nov 2017 08:55:21 +0000
Subject: [PATCH 41/92] Switched to std::unique_ptr for PolyDriver member

The RemoteControlBoardRemapper is never shared, and it makes sense for RobotInterface being the only one maintaining its ownership
---
 toolbox/include/base/RobotInterface.h | 2 +-
 toolbox/src/base/RobotInterface.cpp   | 3 ++-
 2 files changed, 3 insertions(+), 2 deletions(-)

diff --git a/toolbox/include/base/RobotInterface.h b/toolbox/include/base/RobotInterface.h
index 83da54cde..1c1fb4ab2 100644
--- a/toolbox/include/base/RobotInterface.h
+++ b/toolbox/include/base/RobotInterface.h
@@ -86,7 +86,7 @@ struct wbt::YarpDevices
 class wbt::RobotInterface
 {
 private:
-    std::shared_ptr<yarp::dev::PolyDriver> m_robotDevice;
+    std::unique_ptr<yarp::dev::PolyDriver> m_robotDevice;
     std::shared_ptr<iDynTree::KinDynComputations> m_kinDynComp;
     wbt::YarpDevices m_yarpDevices;
 
diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
index 59633f63b..9c2d859fa 100644
--- a/toolbox/src/base/RobotInterface.cpp
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -378,7 +378,8 @@ bool RobotInterface::initializeRemoteControlBoardRemapper()
     remoteCBOpts.put("writeStrict","on");
 
     // Allocate the device driver
-    m_robotDevice = std::make_shared<yarp::dev::PolyDriver>();
+    assert(!m_robotDevice);
+    m_robotDevice = std::unique_ptr<yarp::dev::PolyDriver>(new yarp::dev::PolyDriver());
 
     if (!m_robotDevice) {
         return false;

From a3c61c55870d6a4aa42bd0887d82fd0759f88944 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 13 Nov 2017 08:56:53 +0000
Subject: [PATCH 42/92] Changed the name of the getDevice template to
 getInterfaceFromTemplate

Before the name was misleading
---
 toolbox/include/base/RobotInterface.h |  3 ++-
 toolbox/src/base/RobotInterface.cpp   | 22 +++++++++++-----------
 2 files changed, 13 insertions(+), 12 deletions(-)

diff --git a/toolbox/include/base/RobotInterface.h b/toolbox/include/base/RobotInterface.h
index 1c1fb4ab2..6b85789d3 100644
--- a/toolbox/include/base/RobotInterface.h
+++ b/toolbox/include/base/RobotInterface.h
@@ -132,7 +132,8 @@ class wbt::RobotInterface
      * @return        The dynamic(ally)_cast device
      * @tparam T      The type of the retured device
      */
-    template <typename T> std::weak_ptr<T> getDevice(std::shared_ptr<T> device);
+    template <typename T>
+    std::weak_ptr<T> getInterfaceFromTemplate(std::shared_ptr<T> device);
 
     /**
      * Creates the map between joints (specified as either names or idyntree indices) and
diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
index 9c2d859fa..4e1fccbb0 100644
--- a/toolbox/src/base/RobotInterface.cpp
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -195,70 +195,70 @@ const std::shared_ptr<iDynTree::KinDynComputations> RobotInterface::getKinDynCom
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IControlMode2>& interface)
 {
-    interface = getDevice(m_yarpDevices.iControlMode2);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iControlMode2);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPositionControl>& interface)
 {
-    interface = getDevice(m_yarpDevices.iPositionControl);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iPositionControl);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPositionDirect>& interface)
 {
-    interface = getDevice(m_yarpDevices.iPositionDirect);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iPositionDirect);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IVelocityControl>& interface)
 {
-    interface = getDevice(m_yarpDevices.iVelocityControl);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iVelocityControl);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::ITorqueControl>& interface)
 {
-    interface = getDevice(m_yarpDevices.iTorqueControl);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iTorqueControl);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPWMControl>& interface)
 {
-    interface = getDevice(m_yarpDevices.iPWMControl);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iPWMControl);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::ICurrentControl>& interface)
 {
-    interface = getDevice(m_yarpDevices.iCurrentControl);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iCurrentControl);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IEncoders>& interface)
 {
-    interface = getDevice(m_yarpDevices.iEncoders);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iEncoders);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IControlLimits2>& interface)
 {
-    interface = getDevice(m_yarpDevices.iControlLimits2);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iControlLimits2);
     return !interface.expired();
 }
 
 template <>
 bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPidControl>& interface)
 {
-    interface = getDevice(m_yarpDevices.iPidControl);
+    interface = getInterfaceFromTemplate(m_yarpDevices.iPidControl);
     return !interface.expired();
 }
 
@@ -399,7 +399,7 @@ bool RobotInterface::initializeRemoteControlBoardRemapper()
 // =============
 
 template <typename T>
-std::weak_ptr<T> RobotInterface::getDevice(std::shared_ptr<T> device)
+std::weak_ptr<T> RobotInterface::getInterfaceFromTemplate(std::shared_ptr<T> device)
 {
     if (!device) {
         // Blocks which require the RemoteControlBoardRemapper need to retain / release it

From 1dd9789559789d12aca826525b8b118ed99a236d Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 13 Nov 2017 09:00:35 +0000
Subject: [PATCH 43/92] Removed Eigen from AnyType and MxAnyType

This interface exposes vector and matrix data as std::vector. The C++11 std::vector::data() method might be used from the user to gather the raw buffer for initializing Eigen objects if needed.
---
 MxAnyType/CMakeLists.txt      |  4 ----
 MxAnyType/include/AnyType.h   |  6 ------
 MxAnyType/include/MxAnyType.h |  1 -
 MxAnyType/src/MxAnyType.cpp   | 16 +++++-----------
 4 files changed, 5 insertions(+), 22 deletions(-)

diff --git a/MxAnyType/CMakeLists.txt b/MxAnyType/CMakeLists.txt
index 8d3250642..4faaebad7 100644
--- a/MxAnyType/CMakeLists.txt
+++ b/MxAnyType/CMakeLists.txt
@@ -32,10 +32,6 @@ if (CMAKE_SYSTEM_PROCESSOR STREQUAL "x86_64")
     set_target_properties(${VARS_PREFIX} PROPERTIES COMPILE_FLAGS "-fPIC")
 endif()
 
-# Find Eigen
-find_package(Eigen3 REQUIRED)
-target_include_directories(${VARS_PREFIX} PUBLIC "${EIGEN3_INCLUDE_DIR}")
-
 # Find Matlab resources
 find_package(Matlab REQUIRED MX_LIBRARY)
 # target_include_directories(${VARS_PREFIX} SYSTEM PUBLIC "${Matlab_INCLUDE_DIRS}") // TODO: when committing
diff --git a/MxAnyType/include/AnyType.h b/MxAnyType/include/AnyType.h
index 1637b38b8..a13d1d03a 100644
--- a/MxAnyType/include/AnyType.h
+++ b/MxAnyType/include/AnyType.h
@@ -1,7 +1,6 @@
 #ifndef ANYTYPE_H
 #define ANYTYPE_H
 
-#include <Eigen/Core>
 #include <vector>
 #include <unordered_map>
 #include <memory>
@@ -15,13 +14,9 @@ typedef std::unordered_map<std::string, AnyTypeSPtr> AnyStruct;
 class AnyType
 {
 protected:
-    // void* m_AnyData;
 
 public:
-    // AnyType() : m_AnyData(nullptr) {};
     AnyType() = default;
-    // virtual void* getAnyDataPtr() const = 0;
-
     virtual ~AnyType() = default;
 
     // Integers
@@ -60,7 +55,6 @@ class AnyType
     // virtual bool asMatrixDouble(Eigen::MatrixXd mat) = 0;
 
     // Vector
-    virtual bool asVectorDouble(Eigen::VectorXd& vec)     = 0;
     virtual bool asVectorDouble(std::vector<double>& vec) = 0;
 };
 
diff --git a/MxAnyType/include/MxAnyType.h b/MxAnyType/include/MxAnyType.h
index 21fc7090f..b8990b741 100644
--- a/MxAnyType/include/MxAnyType.h
+++ b/MxAnyType/include/MxAnyType.h
@@ -92,7 +92,6 @@ class MxAnyType : public AnyType
     // VECTOR
     // ======
 
-    bool asVectorDouble(Eigen::VectorXd& vec) override;
     bool asVectorDouble(std::vector<double>& vec) override;
 };
 
diff --git a/MxAnyType/src/MxAnyType.cpp b/MxAnyType/src/MxAnyType.cpp
index 77a2f10f4..55e7fe61c 100644
--- a/MxAnyType/src/MxAnyType.cpp
+++ b/MxAnyType/src/MxAnyType.cpp
@@ -184,8 +184,9 @@ bool MxAnyType::asAnyCell(AnyCell& cell)
 // VECTOR
 // ======
 
-// TODO tests with other types (uint8) https://it.mathworks.com/help/matlab/apiref/mxgetdata.html (Descriptio)
-bool MxAnyType::asVectorDouble(Eigen::VectorXd& vec)
+// TODO:
+// Tests with other types (uint8) https://it.mathworks.com/help/matlab/apiref/mxgetdata.html (Description)
+bool MxAnyType::asVectorDouble(std::vector<double>& vec)
 {
     if (!mx) return false;
     if (!mxIsDouble(mx)) return false;
@@ -200,14 +201,7 @@ bool MxAnyType::asVectorDouble(Eigen::VectorXd& vec)
     double* buffer = mxGetPr(mx);
     if (!buffer) return false;
 
-    vec = Eigen::Map<Eigen::VectorXd>(buffer, md.nElem);
-    return true;
-}
-
-bool MxAnyType::asVectorDouble(std::vector<double>& vec)
-{
-    Eigen::VectorXd vecEigen;
-    if (!asVectorDouble(vecEigen)) return false;
-    vec.assign(vecEigen.data(), vecEigen.data() + vecEigen.rows() * vecEigen.cols());
+    vec.reserve(md.rows * md.cols);
+    vec.assign(buffer, buffer + md.rows * md.cols);
     return true;
 }

From d4dd040fc443c44f691e98a119acef03337e9c6d Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 13 Nov 2017 09:32:24 +0000
Subject: [PATCH 44/92] Disabled InverseKinematics block

The algorithm used by IK will be ported in another task from iKin to iDynTree
---
 toolbox/CMakeLists.txt | 32 ++++++++++++++++----------------
 1 file changed, 16 insertions(+), 16 deletions(-)

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 93f3a71b7..007f2d0e5 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -80,11 +80,11 @@ configure_block(BLOCK_NAME "Base"
             include/base/RobotInterface.h
             )
 
-configure_block(BLOCK_NAME "Inverse Kinematics"
-    GROUP "Model"
-    LIST_PREFIX WBT
-    SOURCES src/RemoteInverseKinematics.cpp
-    HEADERS include/RemoteInverseKinematics.h)
+# configure_block(BLOCK_NAME "Inverse Kinematics"
+#     GROUP "Model"
+#     LIST_PREFIX WBT
+#     SOURCES src/RemoteInverseKinematics.cpp
+#     HEADERS include/RemoteInverseKinematics.h)
 
 option(WBT_USES_ICUB "Build models which need iCub library (e.g. Minimum Jerk Traj. Generator)" ON)
 if (WBT_USES_ICUB)
@@ -97,17 +97,17 @@ if (WBT_USES_ICUB)
         SOURCES src/MinimumJerkTrajectoryGenerator.cpp
         HEADERS include/MinimumJerkTrajectoryGenerator.h)
 
-    if (${ICUB_USE_IPOPT})
-        find_package(iDynTree REQUIRED)
-        add_definitions(-DWBT_USES_IPOPT)
-        configure_block(BLOCK_NAME "Inverse Kinematics"
-            GROUP "Model"
-            LIST_PREFIX WBT
-            SOURCES src/InverseKinematics.cpp 
-            HEADERS include/InverseKinematics.h)
-
-        include_directories(SYSTEM ${iKin_INCLUDE_DIRS})
-    endif()
+    # if (${ICUB_USE_IPOPT})
+    #     find_package(iDynTree REQUIRED)
+    #     add_definitions(-DWBT_USES_IPOPT)
+    #     configure_block(BLOCK_NAME "Inverse Kinematics"
+    #         GROUP "Model"
+    #         LIST_PREFIX WBT
+    #         SOURCES src/InverseKinematics.cpp
+    #         HEADERS include/InverseKinematics.h)
+    #
+    #     include_directories(SYSTEM ${iKin_INCLUDE_DIRS})
+    # endif()
 
     include_directories(SYSTEM ${ctrlLib_INCLUDE_DIRS})
 endif()

From f2f31caaf43fd979448c56e1ee4b533cf5e8fd2c Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 13 Nov 2017 13:16:03 +0000
Subject: [PATCH 45/92] Switched to smart pointers for private members of all
 the blocks

---
 toolbox/include/CentroidalMomentum.h          |  5 +++-
 toolbox/include/DotJNu.h                      |  5 +++-
 toolbox/include/ForwardKinematics.h           |  3 ++
 toolbox/include/GetLimits.h                   |  1 +
 toolbox/include/InverseDynamics.h             |  9 ++++--
 toolbox/include/Jacobian.h                    |  6 ++--
 toolbox/include/MassMatrix.h                  |  5 ++--
 .../include/MinimumJerkTrajectoryGenerator.h  |  8 +++--
 toolbox/include/ModelPartitioner.h            |  1 +
 toolbox/include/SetReferences.h               |  1 +
 toolbox/include/SimulatorSynchronizer.h       |  3 +-
 toolbox/include/YarpClock.h                   |  3 ++
 toolbox/include/YarpRead.h                    |  4 ++-
 toolbox/include/YarpWrite.h                   |  4 ++-
 toolbox/src/CentroidalMomentum.cpp            | 13 ++------
 toolbox/src/DotJNu.cpp                        | 13 ++------
 toolbox/src/InverseDynamics.cpp               | 30 +++++--------------
 toolbox/src/Jacobian.cpp                      | 19 +++---------
 toolbox/src/MassMatrix.cpp                    | 13 ++------
 .../src/MinimumJerkTrajectoryGenerator.cpp    | 24 ++++-----------
 toolbox/src/SimulatorSynchronizer.cpp         |  5 +---
 toolbox/src/YarpRead.cpp                      |  5 +---
 toolbox/src/YarpWrite.cpp                     |  5 +---
 23 files changed, 72 insertions(+), 113 deletions(-)

diff --git a/toolbox/include/CentroidalMomentum.h b/toolbox/include/CentroidalMomentum.h
index 754e4249b..bfb620a60 100644
--- a/toolbox/include/CentroidalMomentum.h
+++ b/toolbox/include/CentroidalMomentum.h
@@ -2,6 +2,7 @@
 #define WBT_CENTROIDALMOMENTUM_H
 
 #include "WBBlock.h"
+#include <memory>
 
 namespace wbt {
     class CentroidalMomentum;
@@ -14,7 +15,7 @@ namespace iDynTree {
 class wbt::CentroidalMomentum : public wbt::WBBlock
 {
 private:
-    iDynTree::SpatialMomentum* m_centroidalMomentum;
+    std::unique_ptr<iDynTree::SpatialMomentum> m_centroidalMomentum;
 
     static const unsigned INPUT_IDX_BASE_POSE;
     static const unsigned INPUT_IDX_JOINTCONF;
@@ -24,7 +25,9 @@ class wbt::CentroidalMomentum : public wbt::WBBlock
 
 public:
     static const std::string ClassName;
+
     CentroidalMomentum();
+    ~CentroidalMomentum() override = default;
 
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
diff --git a/toolbox/include/DotJNu.h b/toolbox/include/DotJNu.h
index 9c70fe864..409a185af 100644
--- a/toolbox/include/DotJNu.h
+++ b/toolbox/include/DotJNu.h
@@ -2,6 +2,7 @@
 #define WBT_DOTJDOTQ_H
 
 #include "WBBlock.h"
+#include <memory>
 #include <iDynTree/Model/Indices.h>
 #include <iDynTree/Core/VectorFixSize.h>
 
@@ -13,7 +14,7 @@ class wbt::DotJNu : public wbt::WBBlock
 {
 private:
     // Output
-    iDynTree::Vector6* m_dotJNu;
+    std::unique_ptr<iDynTree::Vector6> m_dotJNu;
 
     // Other variables
     bool m_frameIsCoM;
@@ -27,7 +28,9 @@ class wbt::DotJNu : public wbt::WBBlock
 
 public:
     static const std::string ClassName;
+    
     DotJNu();
+    ~DotJNu() override = default;
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
diff --git a/toolbox/include/ForwardKinematics.h b/toolbox/include/ForwardKinematics.h
index 4a683e761..4cf69167a 100644
--- a/toolbox/include/ForwardKinematics.h
+++ b/toolbox/include/ForwardKinematics.h
@@ -2,6 +2,7 @@
 #define WBT_FORWARDKINEMATICS_H
 
 #include "WBBlock.h"
+#include <memory>
 #include <iDynTree/Model/Indices.h>
 
 namespace wbt {
@@ -20,7 +21,9 @@ class wbt::ForwardKinematics : public wbt::WBBlock
 
 public:
     static const std::string ClassName;
+
     ForwardKinematics();
+    ~ForwardKinematics() override = default;
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
diff --git a/toolbox/include/GetLimits.h b/toolbox/include/GetLimits.h
index fcabddeb0..3a0310fe9 100644
--- a/toolbox/include/GetLimits.h
+++ b/toolbox/include/GetLimits.h
@@ -27,6 +27,7 @@ class wbt::GetLimits : public wbt::WBBlock
 
 public:
     static const std::string ClassName;
+    
     GetLimits() = default;
     ~GetLimits() override = default;
 
diff --git a/toolbox/include/InverseDynamics.h b/toolbox/include/InverseDynamics.h
index 63c8e8a3e..afb1d2ca5 100644
--- a/toolbox/include/InverseDynamics.h
+++ b/toolbox/include/InverseDynamics.h
@@ -2,6 +2,7 @@
 #define WBT_INVERSEDYNAMICS_H
 
 #include "WBBlock.h"
+#include <memory>
 #include <iDynTree/Core/VectorFixSize.h>
 
 namespace wbt {
@@ -16,11 +17,11 @@ namespace iDynTree {
 class wbt::InverseDynamics : public wbt::WBBlock
 {
 private:
-    iDynTree::Vector6*       m_baseAcceleration;
-    iDynTree::VectorDynSize* m_jointsAcceleration;
+    std::unique_ptr<iDynTree::Vector6>       m_baseAcceleration;
+    std::unique_ptr<iDynTree::VectorDynSize> m_jointsAcceleration;
 
     // Output
-    iDynTree::FreeFloatingGeneralizedTorques* m_torques;
+    std::unique_ptr<iDynTree::FreeFloatingGeneralizedTorques> m_torques;
 
     static const unsigned INPUT_IDX_BASE_POSE;
     static const unsigned INPUT_IDX_JOINTCONF;
@@ -32,7 +33,9 @@ class wbt::InverseDynamics : public wbt::WBBlock
 
 public:
     static const std::string ClassName;
+
     InverseDynamics();
+    ~InverseDynamics() override = default;
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
diff --git a/toolbox/include/Jacobian.h b/toolbox/include/Jacobian.h
index 5db8f6d95..a38a968c6 100644
--- a/toolbox/include/Jacobian.h
+++ b/toolbox/include/Jacobian.h
@@ -2,6 +2,7 @@
 #define WBT_JACOBIAN_H
 
 #include "WBBlock.h"
+#include <memory>
 #include <iDynTree/Model/Indices.h>
 
 namespace wbt {
@@ -16,10 +17,10 @@ class wbt::Jacobian : public wbt::WBBlock
 {
 private:
     // Support variables
-    iDynTree::MatrixDynSize* m_jacobianCOM;
+    std::unique_ptr<iDynTree::MatrixDynSize> m_jacobianCOM;
 
     // Output
-    iDynTree::MatrixDynSize* m_jacobian;
+    std::unique_ptr<iDynTree::MatrixDynSize> m_jacobian;
 
     // Other variables
     bool m_frameIsCoM;
@@ -32,6 +33,7 @@ class wbt::Jacobian : public wbt::WBBlock
 public:
     static const std::string ClassName;
     Jacobian();
+    ~Jacobian() override = default;
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
diff --git a/toolbox/include/MassMatrix.h b/toolbox/include/MassMatrix.h
index 4ebea06b8..cd048c74d 100644
--- a/toolbox/include/MassMatrix.h
+++ b/toolbox/include/MassMatrix.h
@@ -2,6 +2,7 @@
 #define WBT_MASSMATRIX_H
 
 #include "WBBlock.h"
+#include <memory>
 
 namespace wbt {
     class MassMatrix;
@@ -14,7 +15,7 @@ namespace iDynTree {
 class wbt::MassMatrix : public wbt::WBBlock
 {
 private:
-    iDynTree::MatrixDynSize* m_massMatrix;
+    std::unique_ptr<iDynTree::MatrixDynSize> m_massMatrix;
 
     static const unsigned INPUT_IDX_BASE_POSE;
     static const unsigned INPUT_IDX_JOINTCONF;
@@ -23,7 +24,7 @@ class wbt::MassMatrix : public wbt::WBBlock
 public:
     static const std::string ClassName;
     MassMatrix();
-    ~MassMatrix() = default;
+    ~MassMatrix() override = default;
 
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
 
diff --git a/toolbox/include/MinimumJerkTrajectoryGenerator.h b/toolbox/include/MinimumJerkTrajectoryGenerator.h
index 5d175e7ab..1e0250a25 100644
--- a/toolbox/include/MinimumJerkTrajectoryGenerator.h
+++ b/toolbox/include/MinimumJerkTrajectoryGenerator.h
@@ -1,4 +1,5 @@
 #include "Block.h"
+#include <memory>
 
 #ifndef WBT_MINJERKTRAJGENERATOR_H
 #define WBT_MINJERKTRAJGENERATOR_H
@@ -25,6 +26,7 @@ class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block {
     static const std::string ClassName;
 
     MinimumJerkTrajectoryGenerator();
+    ~MinimumJerkTrajectoryGenerator() override = default;
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
@@ -34,7 +36,7 @@ class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block {
 
 private:
 
-    iCub::ctrl::minJerkTrajGen* m_generator;
+    std::unique_ptr<iCub::ctrl::minJerkTrajGen> m_generator;
 
     int m_outputFirstDerivativeIndex;
     int m_outputSecondDerivativeIndex;
@@ -45,8 +47,8 @@ class wbt::MinimumJerkTrajectoryGenerator : public wbt::Block {
     bool m_explicitInitialValue;
     bool m_externalSettlingTime;
     bool m_resetOnSettlingTimeChange;
-    yarp::sig::Vector* m_initialValues;
-    yarp::sig::Vector* m_reference;
+    std::unique_ptr<yarp::sig::Vector> m_initialValues;
+    std::unique_ptr<yarp::sig::Vector> m_reference;
 
     static const unsigned PARAM_IDX_SAMPLE_TIME;           // Sample Time (double)
     static const unsigned PARAM_IDX_SETTLING_TIME;         // Settling Time (double)
diff --git a/toolbox/include/ModelPartitioner.h b/toolbox/include/ModelPartitioner.h
index 2a8b5c435..32c57c098 100644
--- a/toolbox/include/ModelPartitioner.h
+++ b/toolbox/include/ModelPartitioner.h
@@ -19,6 +19,7 @@ class wbt::ModelPartitioner : public wbt::WBBlock
 
 public:
     static const std::string ClassName;
+    
     ModelPartitioner() = default;
     ~ModelPartitioner() override = default;
 
diff --git a/toolbox/include/SetReferences.h b/toolbox/include/SetReferences.h
index d599a1410..74b5c4b19 100644
--- a/toolbox/include/SetReferences.h
+++ b/toolbox/include/SetReferences.h
@@ -19,6 +19,7 @@ class wbt::SetReferences : public wbt::WBBlock
     static const std::string ClassName;
 
     SetReferences();
+    ~SetReferences() override = default;
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
diff --git a/toolbox/include/SimulatorSynchronizer.h b/toolbox/include/SimulatorSynchronizer.h
index f307c8fc7..7b7793870 100644
--- a/toolbox/include/SimulatorSynchronizer.h
+++ b/toolbox/include/SimulatorSynchronizer.h
@@ -2,6 +2,7 @@
 #define WBT_SIMULATORSYNCHRONIZER_H
 
 #include "Block.h"
+#include <memory>
 
 namespace wbt {
     class SimulatorSynchronizer;
@@ -27,7 +28,7 @@ class wbt::SimulatorSynchronizer : public wbt::Block
     bool m_firstRun;
 
     struct RPCData;
-    RPCData* m_rpcData;
+    std::unique_ptr<RPCData> m_rpcData;
 
     static const unsigned PARAM_PERIOD;     // Period
     static const unsigned PARAM_GZCLK_PORT; // Gazebo clock port
diff --git a/toolbox/include/YarpClock.h b/toolbox/include/YarpClock.h
index c4857e8e0..430c78838 100644
--- a/toolbox/include/YarpClock.h
+++ b/toolbox/include/YarpClock.h
@@ -12,6 +12,9 @@ class wbt::YarpClock : public wbt::Block
 public:
     static const std::string ClassName;
 
+    YarpClock() = default;
+    ~YarpClock() override = default;
+
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
     bool initialize(const BlockInformation* blockInfo) override;
diff --git a/toolbox/include/YarpRead.h b/toolbox/include/YarpRead.h
index 6fed985ad..33d9f6e64 100644
--- a/toolbox/include/YarpRead.h
+++ b/toolbox/include/YarpRead.h
@@ -2,6 +2,7 @@
 #define WBT_YARPREAD_H
 
 #include "Block.h"
+#include <memory>
 
 namespace wbt {
     class YarpRead;
@@ -23,6 +24,7 @@ class wbt::YarpRead : public wbt::Block
     static const std::string ClassName;
 
     YarpRead();
+    ~YarpRead() override = default;
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
@@ -36,7 +38,7 @@ class wbt::YarpRead : public wbt::Block
     bool m_shouldReadTimestamp;
     bool m_errorOnMissingPort;
 
-    yarp::os::BufferedPort<yarp::sig::Vector>* m_port;
+    std::unique_ptr<yarp::os::BufferedPort<yarp::sig::Vector>> m_port;
 
     static const unsigned PARAM_IDX_PORTNAME; // port name
     static const unsigned PARAM_IDX_PORTSIZE; // Size of the port you're reading
diff --git a/toolbox/include/YarpWrite.h b/toolbox/include/YarpWrite.h
index 4d9e8238b..206567dff 100644
--- a/toolbox/include/YarpWrite.h
+++ b/toolbox/include/YarpWrite.h
@@ -2,6 +2,7 @@
 #define WBT_YARPWRITE_H
 
 #include "Block.h"
+#include <memory>
 
 namespace wbt {
     class YarpWrite;
@@ -23,6 +24,7 @@ class wbt::YarpWrite : public wbt::Block
     static const std::string ClassName;
 
     YarpWrite();
+    ~YarpWrite() override = default;
 
     unsigned numberOfParameters() override;
     bool configureSizeAndPorts(BlockInformation* blockInfo) override;
@@ -35,7 +37,7 @@ class wbt::YarpWrite : public wbt::Block
     bool m_errorOnMissingPort;
 
     std::string m_destinationPortName;
-    yarp::os::BufferedPort<yarp::sig::Vector>* m_port;
+    std::unique_ptr<yarp::os::BufferedPort<yarp::sig::Vector>> m_port;
 
     static const unsigned PARAM_IDX_PORTNAME;    // Port name
     static const unsigned PARAM_IDX_AUTOCONNECT; // Autoconnect boolean
diff --git a/toolbox/src/CentroidalMomentum.cpp b/toolbox/src/CentroidalMomentum.cpp
index 1294c7e19..58484cb9e 100644
--- a/toolbox/src/CentroidalMomentum.cpp
+++ b/toolbox/src/CentroidalMomentum.cpp
@@ -20,9 +20,7 @@ const unsigned CentroidalMomentum::INPUT_IDX_BASE_VEL  = 2;
 const unsigned CentroidalMomentum::INPUT_IDX_JOINT_VEL = 3;
 const unsigned CentroidalMomentum::OUTPUT_IDX_CENTRMOM = 0;
 
-CentroidalMomentum::CentroidalMomentum()
-: m_centroidalMomentum(nullptr)
-{}
+CentroidalMomentum::CentroidalMomentum() {}
 
 bool CentroidalMomentum::configureSizeAndPorts(BlockInformation* blockInfo)
 {
@@ -90,17 +88,12 @@ bool CentroidalMomentum::initialize(const BlockInformation* blockInfo)
     // OUTPUT
     // ======
 
-    m_centroidalMomentum = new iDynTree::SpatialMomentum();
-    return m_centroidalMomentum;
+    m_centroidalMomentum = std::unique_ptr<iDynTree::SpatialMomentum>(new iDynTree::SpatialMomentum());
+    return static_cast<bool>(m_centroidalMomentum);
 }
 
 bool CentroidalMomentum::terminate(const BlockInformation* blockInfo)
 {
-    if (m_centroidalMomentum) {
-        delete m_centroidalMomentum;
-        m_centroidalMomentum = 0;
-    }
-
     return WBBlock::terminate(blockInfo);
 }
 
diff --git a/toolbox/src/DotJNu.cpp b/toolbox/src/DotJNu.cpp
index 7c82c2c39..e984d7a96 100644
--- a/toolbox/src/DotJNu.cpp
+++ b/toolbox/src/DotJNu.cpp
@@ -20,8 +20,7 @@ const unsigned DotJNu::INPUT_IDX_JOINT_VEL = 3;
 const unsigned DotJNu::OUTPUT_IDX_DOTJ_NU  = 0;
 
 DotJNu::DotJNu()
-: m_dotJNu(nullptr)
-, m_frameIsCoM(false)
+: m_frameIsCoM(false)
 , m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
 {}
 
@@ -127,20 +126,14 @@ bool DotJNu::initialize(const BlockInformation* blockInfo)
 
     // OUTPUT
     // ======
-    m_dotJNu = new iDynTree::Vector6();
+    m_dotJNu = std::unique_ptr<iDynTree::Vector6>(new iDynTree::Vector6());
     m_dotJNu->zero();
 
-    return m_dotJNu;
+    return static_cast<bool>(m_dotJNu);
 }
 
 bool DotJNu::terminate(const BlockInformation* blockInfo)
 {
-    // Output
-    if (m_dotJNu) {
-        delete m_dotJNu;
-        m_dotJNu = 0;
-    }
-
     return WBBlock::terminate(blockInfo);
 }
 
diff --git a/toolbox/src/InverseDynamics.cpp b/toolbox/src/InverseDynamics.cpp
index 5aa635a93..e0303b97e 100644
--- a/toolbox/src/InverseDynamics.cpp
+++ b/toolbox/src/InverseDynamics.cpp
@@ -22,11 +22,7 @@ const unsigned InverseDynamics::INPUT_IDX_BASE_ACC  = 4;
 const unsigned InverseDynamics::INPUT_IDX_JOINT_ACC = 5;
 const unsigned InverseDynamics::OUTPUT_IDX_TORQUES  = 0;
 
-InverseDynamics::InverseDynamics()
-: m_baseAcceleration(nullptr)
-, m_jointsAcceleration(nullptr)
-, m_torques(nullptr)
-{}
+InverseDynamics::InverseDynamics() {}
 
 unsigned InverseDynamics::numberOfParameters()
 {
@@ -106,34 +102,24 @@ bool InverseDynamics::initialize(const BlockInformation* blockInfo)
     // OUTPUT / VARIABLES
     // ==================
 
+    using namespace iDynTree;
     const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-    m_baseAcceleration = new iDynTree::Vector6();
+    m_baseAcceleration = std::unique_ptr<Vector6>(new Vector6());
     m_baseAcceleration->zero();
-    m_jointsAcceleration = new iDynTree::VectorDynSize(dofs);
+    m_jointsAcceleration = std::unique_ptr<VectorDynSize>(new VectorDynSize(dofs));
     m_jointsAcceleration->zero();
 
     const auto& model = getRobotInterface()->getKinDynComputations()->model();
-    m_torques = new iDynTree::FreeFloatingGeneralizedTorques(model);
+    m_torques = std::unique_ptr<FreeFloatingGeneralizedTorques>(new FreeFloatingGeneralizedTorques(model));
 
-    return m_baseAcceleration && m_jointsAcceleration && m_torques;
+    return static_cast<bool>(m_baseAcceleration) &&
+           static_cast<bool>(m_jointsAcceleration) &&
+           static_cast<bool>(m_torques);
 }
 
 bool InverseDynamics::terminate(const BlockInformation* blockInfo)
 {
-    if (m_baseAcceleration) {
-        delete m_baseAcceleration;
-        m_baseAcceleration = nullptr;
-    }
-    if (m_jointsAcceleration) {
-        delete m_jointsAcceleration;
-        m_jointsAcceleration = nullptr;
-    }
-    if (m_torques) {
-        delete m_torques;
-        m_torques = nullptr;
-    }
-
     return WBBlock::terminate(blockInfo);
 }
 
diff --git a/toolbox/src/Jacobian.cpp b/toolbox/src/Jacobian.cpp
index 4901c7ebc..901a0a822 100644
--- a/toolbox/src/Jacobian.cpp
+++ b/toolbox/src/Jacobian.cpp
@@ -18,9 +18,7 @@ const unsigned Jacobian::INPUT_IDX_JOINTCONF = 1;
 const unsigned Jacobian::OUTPUT_IDX_FW_FRAME = 0;
 
 Jacobian::Jacobian()
-: m_jacobianCOM(nullptr)
-, m_jacobian(nullptr)
-, m_frameIsCoM(false)
+: m_frameIsCoM(false)
 , m_frameIndex(iDynTree::FRAME_INVALID_INDEX)
 {}
 
@@ -124,27 +122,18 @@ bool Jacobian::initialize(const BlockInformation* blockInfo)
 
     const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
-    m_jacobianCOM = new iDynTree::MatrixDynSize(3, 6 + dofs);
+    m_jacobianCOM = std::unique_ptr<iDynTree::MatrixDynSize>(new iDynTree::MatrixDynSize(3, 6 + dofs));
     m_jacobianCOM->zero();
 
     // Output
-    m_jacobian = new iDynTree::MatrixDynSize(6, 6 + dofs);
+    m_jacobian = std::unique_ptr<iDynTree::MatrixDynSize>(new iDynTree::MatrixDynSize(6, 6 + dofs));
     m_jacobian->zero();
 
-    return m_jacobianCOM && m_jacobian;
+    return static_cast<bool>(m_jacobianCOM) && static_cast<bool>(m_jacobian);
 }
 
 bool Jacobian::terminate(const BlockInformation* blockInfo)
 {
-    if (m_jacobianCOM) {
-        delete m_jacobianCOM;
-        m_jacobianCOM = nullptr;
-    }
-    if (m_jacobian) {
-        delete m_jacobian;
-        m_jacobian = nullptr;
-    }
-
     return WBBlock::terminate(blockInfo);
 }
 
diff --git a/toolbox/src/MassMatrix.cpp b/toolbox/src/MassMatrix.cpp
index 96f841253..a14a9f78c 100644
--- a/toolbox/src/MassMatrix.cpp
+++ b/toolbox/src/MassMatrix.cpp
@@ -17,9 +17,7 @@ const unsigned MassMatrix::INPUT_IDX_BASE_POSE = 0;
 const unsigned MassMatrix::INPUT_IDX_JOINTCONF = 1;
 const unsigned MassMatrix::OUTPUT_IDX_MASS_MAT = 0;
 
-MassMatrix::MassMatrix()
-: m_massMatrix(nullptr)
-{}
+MassMatrix::MassMatrix() {}
 
 bool MassMatrix::configureSizeAndPorts(BlockInformation* blockInfo)
 {
@@ -83,19 +81,14 @@ bool MassMatrix::initialize(const BlockInformation* blockInfo)
     const unsigned dofs = getConfiguration().getNumberOfDoFs();
 
     // Output
-    m_massMatrix = new iDynTree::MatrixDynSize(6 + dofs, 6 + dofs);
+    m_massMatrix = std::unique_ptr<iDynTree::MatrixDynSize>(new iDynTree::MatrixDynSize(6 + dofs, 6 + dofs));
     m_massMatrix->zero();
 
-    return m_massMatrix;
+    return static_cast<bool>(m_massMatrix);
 }
 
 bool MassMatrix::terminate(const BlockInformation* blockInfo)
 {
-    if (m_massMatrix) {
-        delete m_massMatrix;
-        m_massMatrix = nullptr;
-    }
-
     return WBBlock::terminate(blockInfo);
 }
 
diff --git a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
index 80505a592..d550be5fd 100644
--- a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
+++ b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
@@ -26,15 +26,12 @@ const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_EXT_SETTLINGTIME = 6;
 const unsigned MinimumJerkTrajectoryGenerator::PARAM_IDX_RESET_CHANGEST = 7;
 
 MinimumJerkTrajectoryGenerator::MinimumJerkTrajectoryGenerator()
-: m_generator(nullptr)
-, m_outputFirstDerivativeIndex(-1)
+: m_outputFirstDerivativeIndex(-1)
 , m_outputSecondDerivativeIndex(-1)
 , m_firstRun(true)
 , m_explicitInitialValue(false)
 , m_externalSettlingTime(false)
 , m_resetOnSettlingTimeChange(false)
-, m_initialValues(nullptr)
-, m_reference(nullptr)
 {}
 
 unsigned MinimumJerkTrajectoryGenerator::numberOfParameters() { return 7; }
@@ -165,10 +162,11 @@ bool MinimumJerkTrajectoryGenerator::initialize(const BlockInformation* blockInf
 
     unsigned signalSize = blockInfo->getInputPortWidth(0);
 
-    m_generator = new iCub::ctrl::minJerkTrajGen(signalSize, sampleTime, settlingTime);
+    m_generator = std::unique_ptr<iCub::ctrl::minJerkTrajGen>
+            (new iCub::ctrl::minJerkTrajGen(signalSize, sampleTime, settlingTime));
     m_previousSettlingTime = settlingTime;
-    m_initialValues = new yarp::sig::Vector(signalSize);
-    m_reference = new yarp::sig::Vector(signalSize);
+    m_initialValues = std::unique_ptr<yarp::sig::Vector>(new yarp::sig::Vector(signalSize));
+    m_reference = std::unique_ptr<yarp::sig::Vector>(new yarp::sig::Vector(signalSize));
 
     if (!m_generator || !m_initialValues || !m_reference) {
         Log::getSingleton().error("Could not allocate memory for trajectory generator.");
@@ -181,18 +179,6 @@ bool MinimumJerkTrajectoryGenerator::initialize(const BlockInformation* blockInf
 
 bool MinimumJerkTrajectoryGenerator::terminate(const BlockInformation* blockInfo)
 {
-    if (m_generator) {
-        delete m_generator;
-        m_generator = nullptr;
-    }
-    if (m_initialValues) {
-        delete m_initialValues;
-        m_initialValues = nullptr;
-    }
-    if (m_reference) {
-        delete m_reference;
-        m_reference = nullptr;
-    }
     return true;
 }
 
diff --git a/toolbox/src/SimulatorSynchronizer.cpp b/toolbox/src/SimulatorSynchronizer.cpp
index 20f43456b..2f0c834fa 100644
--- a/toolbox/src/SimulatorSynchronizer.cpp
+++ b/toolbox/src/SimulatorSynchronizer.cpp
@@ -31,7 +31,6 @@ const unsigned SimulatorSynchronizer::PARAM_RPC_PORT   = 3;
 SimulatorSynchronizer::SimulatorSynchronizer()
 : m_period(0.01)
 , m_firstRun(true)
-, m_rpcData(0)
 {}
 
 unsigned SimulatorSynchronizer::numberOfParameters() { return 3; }
@@ -89,7 +88,7 @@ bool SimulatorSynchronizer::initialize(const BlockInformation* blockInfo)
         return false;
     }
 
-    m_rpcData = new struct RPCData();
+    m_rpcData = std::unique_ptr<RPCData>(new struct RPCData());
     if (!m_rpcData) {
         Log::getSingleton().error("Error creating RPC data structure.");
         return false;
@@ -114,8 +113,6 @@ bool SimulatorSynchronizer::terminate(const BlockInformation* /*S*/)
             }
             m_rpcData->clientPort.close();
         }
-        delete m_rpcData;
-        m_rpcData = nullptr;
     }
     yarp::os::Network::fini();
     return true;
diff --git a/toolbox/src/YarpRead.cpp b/toolbox/src/YarpRead.cpp
index 683af090f..023fb7701 100644
--- a/toolbox/src/YarpRead.cpp
+++ b/toolbox/src/YarpRead.cpp
@@ -28,7 +28,6 @@ YarpRead::YarpRead()
 , m_blocking(false)
 , m_shouldReadTimestamp(false)
 , m_errorOnMissingPort(true)
-, m_port(0)
 {}
 
 unsigned YarpRead::numberOfParameters() { return 6; }
@@ -146,7 +145,7 @@ bool YarpRead::initialize(const BlockInformation* blockInfo)
         destinationPortName = portName;
     }
 
-    m_port = new BufferedPort<Vector>();
+    m_port = std::unique_ptr<BufferedPort<Vector>>(new BufferedPort<Vector>());
 
     if (!m_port || !m_port->open(destinationPortName)) {
         Log::getSingleton().error("Error while opening yarp port.");
@@ -172,8 +171,6 @@ bool YarpRead::terminate(const BlockInformation* /*blockInfo*/)
 {
     if (m_port) {
         m_port->close();
-        delete m_port;
-        m_port = nullptr;
     }
     yarp::os::Network::fini();
     return true;
diff --git a/toolbox/src/YarpWrite.cpp b/toolbox/src/YarpWrite.cpp
index 3deba6dcc..6b50029d9 100644
--- a/toolbox/src/YarpWrite.cpp
+++ b/toolbox/src/YarpWrite.cpp
@@ -21,7 +21,6 @@ YarpWrite::YarpWrite()
 : m_autoconnect(false)
 , m_errorOnMissingPort(true)
 , m_destinationPortName("")
-, m_port(nullptr)
 {}
 
 unsigned YarpWrite::numberOfParameters() { return 3; }
@@ -98,7 +97,7 @@ bool YarpWrite::initialize(const BlockInformation* blockInfo)
         sourcePortName = portParameter;
     }
 
-    m_port = new BufferedPort<Vector>();
+    m_port = std::unique_ptr<BufferedPort<Vector>>(new BufferedPort<Vector>());
 
     if (!m_port || !m_port->open(sourcePortName)) {
         Log::getSingleton().error("Error while opening yarp port.");
@@ -131,8 +130,6 @@ bool YarpWrite::terminate(const BlockInformation* /*S*/)
             yarp::os::Network::disconnect(m_port->getName(), m_destinationPortName);
         }
         m_port->close();
-        delete m_port;
-        m_port = nullptr;
     }
     yarp::os::Network::fini();
     return true;

From e0e7a9263926c64ae59aadb4d046418e94b48241 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Mon, 13 Nov 2017 13:48:53 +0000
Subject: [PATCH 46/92] Forgot class scope for two static methods

---
 toolbox/src/GetMeasurement.cpp | 2 +-
 toolbox/src/SetReferences.cpp  | 2 +-
 2 files changed, 2 insertions(+), 2 deletions(-)

diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
index 65cc1a49e..659c921d7 100644
--- a/toolbox/src/GetMeasurement.cpp
+++ b/toolbox/src/GetMeasurement.cpp
@@ -14,7 +14,7 @@ using namespace wbt;
 
 const std::string GetMeasurement::ClassName = "GetMeasurement";
 
-void deg2rad(std::vector<double>& v)
+void GetMeasurement::deg2rad(std::vector<double>& v)
 {
     const double deg2rad = (2 * M_PI) / 180.0;
     for (auto& element : v) {
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index c739b0e44..6e20ed9db 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -17,7 +17,7 @@ SetReferences::SetReferences()
 : m_resetControlMode(true)
 {}
 
-void rad2deg(std::vector<double>& v)
+void SetReferences::rad2deg(std::vector<double>& v)
 {
     const double rad2deg = 180.0 / (2 * M_PI);
     for (auto& element : v) {

From f64da6e3adfd1b5323a0bd3228f227cbda2bfe14 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 09:48:01 +0000
Subject: [PATCH 47/92] Follow links in Simulink model inspection for finding
 the Config Block

When the Config block (which is a subsystem) is included into a library, for finding the blocks contained into its subsystem, `FollowLinks` must be enabled
---
 +WBToolbox/BlockInitialization.m | 10 +++++-----
 1 file changed, 5 insertions(+), 5 deletions(-)

diff --git a/+WBToolbox/BlockInitialization.m b/+WBToolbox/BlockInitialization.m
index 5783432e0..cc335147d 100644
--- a/+WBToolbox/BlockInitialization.m
+++ b/+WBToolbox/BlockInitialization.m
@@ -13,14 +13,14 @@
     topLevel = blockNameSplit{1};
 
     % Get all the blocks from the top level of the system
-    blocks_system = find_system(topLevel,'LookUnderMasks','on');
+    blocks_system = find_system(topLevel,'LookUnderMasks','on','FollowLinks','on');
 
     % Get the name of the block's subsystem
     %[blockScopeName,~] = fileparts(blockAbsoluteName);
     %blockScopeName = gcs;
     blockScopeName = currentSystem;
 catch
-    error('[%s::Initialization] Failed to process model''s tree',char(blockAbsoluteName))
+    error('[%s::Initialization] Failed to process model''s tree', char(currentBlock))
 end
 
 % Look a config block from the block's scope going up in the tree
@@ -30,7 +30,7 @@
     rule = strcat(strrep(analyzedScope,'/','\/'),'\/\w+\/ImConfig');
     idx = cellfun(@(x) ~isequal(regexp(x,rule),[]), blocks_system);
     if (sum(idx) > 1)
-        error('[%s::Initialization] Found more than one configuration',char(blockAbsoluteName));
+        error('[%s::Initialization] Found more than one configuration', char(currentBlock));
     elseif (sum(idx) == 1)
         configBlock = blocks_system{idx};
         configBlock = fileparts(configBlock);
@@ -40,7 +40,7 @@
 end
 
 if isempty(configBlock)
-    error('[%s::Initialization] No configuration found',char(blockAbsoluteName));
+    error('[%s::Initialization] No configuration found', char(currentBlock));
 end
 
 configSource = get_param(configBlock,'ConfigSource');
@@ -55,7 +55,7 @@
     % Read the mask
     WBTConfig = WBToolbox.Mask2WBToolboxConfig(configBlock);
 else
-    error('[%s::Initialization] Read ConfigSource from Config block not recognized',char(blockAbsoluteName));
+    error('[%s::Initialization] Read ConfigSource from Config block not recognized', char(currentBlock));
 end
 
 end

From eb0e1b751746f10fa8b0318aa122c345d9299212 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 10:06:34 +0000
Subject: [PATCH 48/92] Retaining the RemoteControlBoardRemapper needs a unique
 port prefix

If there are two robot configurations in the same system which share some of the ControlBoards, the RemoteControlBoardRemapper devices cannot be allocated with the same port prefix.

As a workaround, a new function to generate an unique identifier for every Configuration object has been included. Under the hood it uses the Simulink's block name (which is unique).

Furthermore, the initialization of the Yarp Network was missing at this stage of the execution.
---
 toolbox/include/base/Configuration.h |  16 ++++-
 toolbox/src/base/Configuration.cpp   |  26 ++++++-
 toolbox/src/base/RobotInterface.cpp  | 100 ++++++++++++++++-----------
 toolbox/src/base/WBBlock.cpp         |   5 +-
 4 files changed, 101 insertions(+), 46 deletions(-)

diff --git a/toolbox/include/base/Configuration.h b/toolbox/include/base/Configuration.h
index 9b70142ac..b131ce81a 100644
--- a/toolbox/include/base/Configuration.h
+++ b/toolbox/include/base/Configuration.h
@@ -21,6 +21,7 @@ class wbt::Configuration
 {
 // TODO: check how localName is used
 private:
+    const std::string m_confKey; ///< Name of the block which this object refers to
     std::string m_robotName; ///< Name of the robot
     std::string m_urdfFile;  ///< Name of the file containing the urdf model
     std::string m_localName; ///< Prefix appended to the opened ports
@@ -30,7 +31,8 @@ class wbt::Configuration
     size_t m_dofs; //< DoFs extracted my m_controlBoardsNames vector
 
 public:
-    Configuration();
+    Configuration() = delete;
+    Configuration(const std::string& confKey);
     ~Configuration() = default;
 
     // SET METHODS
@@ -123,12 +125,22 @@ class wbt::Configuration
     const std::vector<std::string>& getControlBoardsNames() const;
 
     /**
-     * Set the prefix appended to the opened ports
+     * Set the prefix appended to the opened ports. A leading "/" is always present.
      *
      * @return Prefix appended to the opened ports
      */
     const std::string& getLocalName() const;
 
+    /**
+    * Get a string with a unique identifier, generated from the name of the config
+    * block from Simulink. It might be useful when yarp ports must have a unique prefix
+    * (e.g. two RemoteControlBoardRemappers which share a ControlBoard)
+    *
+    * @return the unique identifier
+    * @see setLocalName
+    */
+    const std::string getUniqueId() const;
+
     /**
      * Set the gravity vector
      *
diff --git a/toolbox/src/base/Configuration.cpp b/toolbox/src/base/Configuration.cpp
index a963a3b41..257a475f4 100644
--- a/toolbox/src/base/Configuration.cpp
+++ b/toolbox/src/base/Configuration.cpp
@@ -1,9 +1,11 @@
 #include "Configuration.h"
+#include <algorithm>
 
 using namespace wbt;
 
-Configuration::Configuration()
-: m_dofs(0)
+Configuration::Configuration(const std::string& confKey)
+: m_confKey(confKey)
+, m_dofs(0)
 {}
 
 // SET METHODS
@@ -48,6 +50,26 @@ void Configuration::setControlBoardsNames(const std::vector<std::string>& contro
 void Configuration::setLocalName(const std::string& localName)
 {
     m_localName = localName;
+
+    // Add the leading "/" if missing
+    if (m_localName.compare(0, 1, "/")) {
+        m_localName = "/" + m_localName;
+    }
+}
+
+const std::string Configuration::getUniqueId() const
+{
+    std::string uniqueId(m_confKey);
+
+    // Remove spaces
+    auto it = std::remove(uniqueId.begin(), uniqueId.end(), ' ');
+    uniqueId.erase(it , uniqueId.end());
+
+    // Remove '/'
+    it = std::remove(uniqueId.begin(), uniqueId.end(), '/');
+    uniqueId.erase(it , uniqueId.end());
+
+    return uniqueId;
 }
 
 void Configuration::setGravityVector(const std::array<double, 3>& gravityVector)
diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
index 4e1fccbb0..05cfcb9c0 100644
--- a/toolbox/src/base/RobotInterface.cpp
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -11,7 +11,6 @@
 #include <yarp/os/Property.h>
 
 namespace wbt {
-    static std::string vectorToString(std::vector<std::string> v, std::string prefix="");
 
     // The declaration of the following template specializations are required only by GCC
     using namespace yarp::dev;
@@ -318,6 +317,9 @@ bool RobotInterface::releaseRemoteControlBoardRemapper()
         m_robotDevice.reset();
     }
 
+    // Initialize the network
+    yarp::os::Network::init();
+
     m_robotDeviceCounter = 0;
     return true;
 }
@@ -367,32 +369,75 @@ bool RobotInterface::initializeModel()
 
 bool RobotInterface::initializeRemoteControlBoardRemapper()
 {
-    // Setup the RemoteControlBoardRemapper
+    // Initialize the network
+    yarp::os::Network::init();
+    if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork(5.0)) {
+        Log::getSingleton().error("YARP server wasn't found active!!");
+        return false;
+    }
+
+    // Object where the RemoteControlBoardRemapper options will be stored
     yarp::os::Property options;
+
+    // Name of the device
     options.put("device", "remotecontrolboardremapper");
-    options.put("axesNames", vectorToString(m_config.getControlledJoints()));
-    std::string prefix = "/" + m_config.getRobotName() + "/";
-    options.put("remoteControlBoards", vectorToString(m_config.getControlBoardsNames(), prefix));
-    options.put("localPortPrefix", m_config.getLocalName());
+
+    // Controlled joints (axes)
+    yarp::os::Bottle axesNames;
+    yarp::os::Bottle& axesList = axesNames.addList();
+    for (auto axis : m_config.getControlledJoints()) {
+        axesList.addString(axis);
+    }
+    options.put("axesNames",axesNames.get(0));
+
+    // ControlBoard names
+    yarp::os::Bottle remoteControlBoards;
+    yarp::os::Bottle& remoteControlBoardsList = remoteControlBoards.addList();
+    for (auto cb : m_config.getControlBoardsNames()) {
+        remoteControlBoardsList.addString("/" + m_config.getRobotName() + "/" + cb);
+    }
+    options.put("remoteControlBoards", remoteControlBoards.get(0));
+
+    // Prefix of the openened ports
+    // In this case appending the unique id is necessary, since multiple configuration can
+    // share some ControlBoard in their RemoteControlBoardRemappers. In this case, it is not
+    // possible using the same prefix for all the RemoteControlBoardRemapper devices.
+    options.put("localPortPrefix", m_config.getLocalName() + "/" + m_config.getUniqueId());
+
+    // Misc options
     yarp::os::Property& remoteCBOpts = options.addGroup("REMOTE_CONTROLBOARD_OPTIONS");
-    remoteCBOpts.put("writeStrict","on");
+    remoteCBOpts.put("writeStrict", "on");
 
-    // Allocate the device driver
-    assert(!m_robotDevice);
+    // If resources have been properly cleaned, there should be no allocated device.
+    // However, if blocks fail and they don't terminate, the state of the singleton
+    // could be not clean.
+    if (m_robotDevice) {
+        // Force the release
+        m_robotDeviceCounter = 1;
+        Log::getSingleton().warning("The ToolboxSingleton state is dirty. Trying to clean the state before proceeding.");
+        if (!releaseRemoteControlBoardRemapper()) {
+            Log::getSingleton().error("Failed to force the release of the RemoteControlBoardRemapper. ");
+            return false;
+        }
+    }
+
+    // Allocate the interface driver
     m_robotDevice = std::unique_ptr<yarp::dev::PolyDriver>(new yarp::dev::PolyDriver());
 
     if (!m_robotDevice) {
+        Log::getSingleton().error("Failed to instantiante an empty PolyDriver class.");
         return false;
     }
 
-    // Open the device driver
-    if (m_robotDevice->open(options) && m_robotDevice->isValid()) {
-        return true;
+    // Open the interface driver
+    if (!m_robotDevice->open(options) && !m_robotDevice->isValid()) {
+        // Remove garbage if the opening fails
+        m_robotDevice.reset();
+        Log::getSingleton().error("Failed to open the RemoteControlBoardRemapper with the options passed.");
+        return false;
     }
 
-    // Remove garbage if the opening fails
-    m_robotDevice.reset();
-    return false;
+    return true;
 }
 
 // OTHER METHODS
@@ -421,28 +466,3 @@ std::weak_ptr<T> RobotInterface::getInterfaceFromTemplate(std::shared_ptr<T> dev
     // Implicit conversion from shared_ptr to weak_ptr
     return device;
 }
-
-/**
- * Converts a vector of strings into a string format \code (element1 element2 element3) \endcode.
- * It optioanlly support appending a prefix to the elements. e.g.
- * \code ({prefix}element1 {prefix}element2 {prefix}element3)
- *
- * @param  v      The vector of strings
- * @param  prefix The optional element prefix
- * @return        The serialized string
- */
-std::string wbt::vectorToString(std::vector<std::string> v, std::string prefix)
-{
-    // Add the prefix if specified
-    if (!prefix.empty()) {
-        for (auto& str : v) {
-            str = prefix + str;
-        }
-    }
-
-    // Create a string in a format which YARP likes: (item1 item2 item3)
-    std::stringstream output;
-    std::ostream_iterator<std::string> output_iterator(output, " ");
-    std::copy(v.begin(), v.end(), output_iterator);
-    return "(" + output.str() + ")";
-}
diff --git a/toolbox/src/base/WBBlock.cpp b/toolbox/src/base/WBBlock.cpp
index 0c344e33f..d4acfbb3f 100644
--- a/toolbox/src/base/WBBlock.cpp
+++ b/toolbox/src/base/WBBlock.cpp
@@ -181,8 +181,9 @@ bool WBBlock::configureSizeAndPorts(BlockInformation* blockInfo)
         return false;
     }
 
-    // Get the configuration struct from the block
-    Configuration config;
+    // Initialize the configuration block with the unique identifier of the conf block name
+    Configuration config(confKey);
+    // Populate the configuration object with data from the Simulink's struct parameter
     if (!getWBToolboxParameters(config, blockInfo)) {
         return false;
     }

From 1f3f8a2eb5536ac914dbde49bc735642c0edff62 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 10:20:18 +0000
Subject: [PATCH 49/92] Switch from smart pointers to raw pointers for Yarp
 interfaces

Using smart pointers on yarp interfaces is not possible because their allocation is handled internally by the device from which they are asked from.

As minor edit, renamed YarpDevices variable to YarpInterfaces for the sake of clarity.
---
 toolbox/include/base/RobotInterface.h |  49 ++++++----
 toolbox/src/base/RobotInterface.cpp   | 127 +++++++++++++-------------
 2 files changed, 94 insertions(+), 82 deletions(-)

diff --git a/toolbox/include/base/RobotInterface.h b/toolbox/include/base/RobotInterface.h
index 6b85789d3..489bf0f35 100644
--- a/toolbox/include/base/RobotInterface.h
+++ b/toolbox/include/base/RobotInterface.h
@@ -31,7 +31,7 @@ namespace iDynTree {
 
 namespace wbt {
     class RobotInterface;
-    struct YarpDevices;
+    struct YarpInterfaces;
 
     typedef int jointIdx_yarp;
     typedef int jointIdx_iDynTree;
@@ -41,7 +41,7 @@ namespace wbt {
 }
 
 /**
- * \struct wbt::YarpDevices RobotInterface.h
+ * \struct wbt::YarpInterfaces RobotInterface.h
  *
  * This struct contains shared_ptrs to the devices which are (lazy) asked from the blocks.
  *
@@ -54,18 +54,31 @@ namespace wbt {
  *         containing only the reduced set in a deeper-hierarchy Simulink's subsystem.
  * @see RobotInterface::getDevice
  */
-struct wbt::YarpDevices
+struct wbt::YarpInterfaces
 {
-    std::shared_ptr<yarp::dev::IControlMode2> iControlMode2;
-    std::shared_ptr<yarp::dev::IPositionControl> iPositionControl;
-    std::shared_ptr<yarp::dev::IPositionDirect> iPositionDirect;
-    std::shared_ptr<yarp::dev::IVelocityControl> iVelocityControl;
-    std::shared_ptr<yarp::dev::ITorqueControl> iTorqueControl;
-    std::shared_ptr<yarp::dev::IPWMControl> iPWMControl;
-    std::shared_ptr<yarp::dev::ICurrentControl> iCurrentControl;
-    std::shared_ptr<yarp::dev::IEncoders> iEncoders;
-    std::shared_ptr<yarp::dev::IControlLimits2> iControlLimits2;
-    std::shared_ptr<yarp::dev::IPidControl> iPidControl;
+    yarp::dev::IControlMode2* iControlMode2;
+    yarp::dev::IPositionControl* iPositionControl;
+    yarp::dev::IPositionDirect* iPositionDirect;
+    yarp::dev::IVelocityControl* iVelocityControl;
+    yarp::dev::ITorqueControl* iTorqueControl;
+    yarp::dev::IPWMControl* iPWMControl;
+    yarp::dev::ICurrentControl* iCurrentControl;
+    yarp::dev::IEncoders* iEncoders;
+    yarp::dev::IControlLimits2* iControlLimits2;
+    yarp::dev::IPidControl* iPidControl;
+
+    YarpInterfaces()
+    : iControlMode2(nullptr)
+    , iPositionControl(nullptr)
+    , iPositionDirect(nullptr)
+    , iVelocityControl(nullptr)
+    , iTorqueControl(nullptr)
+    , iPWMControl(nullptr)
+    , iCurrentControl(nullptr)
+    , iEncoders(nullptr)
+    , iControlLimits2(nullptr)
+    , iPidControl(nullptr)
+    {}
 };
 
 // TODO o pensare come evitare di avere due conf con es position e torque nei setref con lo stesso robot.
@@ -80,7 +93,7 @@ struct wbt::YarpDevices
  * with the specified robot (real or model).
  *
  * @see wbt::Configuration
- * @see wbt::YarpDevices
+ * @see wbt::YarpInterfaces
  * @see iDynTree::KinDynComputations
  */
 class wbt::RobotInterface
@@ -88,7 +101,7 @@ class wbt::RobotInterface
 private:
     std::unique_ptr<yarp::dev::PolyDriver> m_robotDevice;
     std::shared_ptr<iDynTree::KinDynComputations> m_kinDynComp;
-    wbt::YarpDevices m_yarpDevices;
+    wbt::YarpInterfaces m_yarpInterfaces;
 
     // Maps used to store infos about yarp's and idyntree's internal joint indexing
     std::shared_ptr<JointsMapIndex> m_jointsMapIndex;
@@ -133,7 +146,7 @@ class wbt::RobotInterface
      * @tparam T      The type of the retured device
      */
     template <typename T>
-    std::weak_ptr<T> getInterfaceFromTemplate(std::shared_ptr<T> device);
+    T* getInterfaceFromTemplate(T*& device);
 
     /**
      * Creates the map between joints (specified as either names or idyntree indices) and
@@ -196,7 +209,7 @@ class wbt::RobotInterface
      * @tparam T             The type of interface
      */
     template <typename T>
-    bool getInterface(std::weak_ptr<T>& interface);
+    bool getInterface(T*& interface);
 
     // LAZY EVALUATION
     // ===============
@@ -205,7 +218,7 @@ class wbt::RobotInterface
      * Handles the internal counter for using the RemoteControlBoardRemapper
      *
      * @attention All the blocks which need to use any of the interfaces provided by
-     *            wbt::YarpDevices must call this function in their initialize() method.
+     *            wbt::YarpInterfaces must call this function in their initialize() method.
      * @see releaseRemoteControlBoardRemapper
      *
      * @return True if success
diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
index 05cfcb9c0..bfda124ca 100644
--- a/toolbox/src/base/RobotInterface.cpp
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -14,16 +14,16 @@ namespace wbt {
 
     // The declaration of the following template specializations are required only by GCC
     using namespace yarp::dev;
-    template <> bool RobotInterface::getInterface(std::weak_ptr<IControlMode2>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<IPositionControl>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<IPositionDirect>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<IVelocityControl>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<ITorqueControl>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<IPWMControl>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<ICurrentControl>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<IEncoders>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<IControlLimits2>& interface);
-    template <> bool RobotInterface::getInterface(std::weak_ptr<IPidControl>& interface);
+    template <> bool RobotInterface::getInterface(IControlMode2*& interface);
+    template <> bool RobotInterface::getInterface(IPositionControl*& interface);
+    template <> bool RobotInterface::getInterface(IPositionDirect*& interface);
+    template <> bool RobotInterface::getInterface(IVelocityControl*& interface);
+    template <> bool RobotInterface::getInterface(ITorqueControl*& interface);
+    template <> bool RobotInterface::getInterface(IPWMControl*& interface);
+    template <> bool RobotInterface::getInterface(ICurrentControl*& interface);
+    template <> bool RobotInterface::getInterface(IEncoders*& interface);
+    template <> bool RobotInterface::getInterface(IControlLimits2*& interface);
+    template <> bool RobotInterface::getInterface(IPidControl*& interface);
 }
 
 using namespace wbt;
@@ -81,7 +81,7 @@ bool RobotInterface::mapDoFs()
             return false;
         }
 
-        // Get an IEncoders object from the device
+        // Get an IEncoders object from the interface
         // This is used to get how many joints the control board contains
         std::unique_ptr<yarp::dev::IEncoders> iEnc;
         yarp::dev::IEncoders* iEncPtr = iEnc.get();
@@ -192,73 +192,73 @@ const std::shared_ptr<iDynTree::KinDynComputations> RobotInterface::getKinDynCom
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IControlMode2>& interface)
+bool RobotInterface::getInterface(yarp::dev::IControlMode2*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iControlMode2);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iControlMode2);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPositionControl>& interface)
+bool RobotInterface::getInterface(yarp::dev::IPositionControl*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iPositionControl);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iPositionControl);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPositionDirect>& interface)
+bool RobotInterface::getInterface(yarp::dev::IPositionDirect*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iPositionDirect);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iPositionDirect);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IVelocityControl>& interface)
+bool RobotInterface::getInterface(yarp::dev::IVelocityControl*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iVelocityControl);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iVelocityControl);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::ITorqueControl>& interface)
+bool RobotInterface::getInterface(yarp::dev::ITorqueControl*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iTorqueControl);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iTorqueControl);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPWMControl>& interface)
+bool RobotInterface::getInterface(yarp::dev::IPWMControl*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iPWMControl);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iPWMControl);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::ICurrentControl>& interface)
+bool RobotInterface::getInterface(yarp::dev::ICurrentControl*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iCurrentControl);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iCurrentControl);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IEncoders>& interface)
+bool RobotInterface::getInterface(yarp::dev::IEncoders*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iEncoders);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iEncoders);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IControlLimits2>& interface)
+bool RobotInterface::getInterface(yarp::dev::IControlLimits2*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iControlLimits2);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iControlLimits2);
+    return interface;
 }
 
 template <>
-bool RobotInterface::getInterface(std::weak_ptr<yarp::dev::IPidControl>& interface)
+bool RobotInterface::getInterface(yarp::dev::IPidControl*& interface)
 {
-    interface = getInterfaceFromTemplate(m_yarpDevices.iPidControl);
-    return !interface.expired();
+    interface = getInterfaceFromTemplate(m_yarpInterfaces.iPidControl);
+    return interface;
 }
 
 // LAZY EVALUATION
@@ -300,18 +300,18 @@ bool RobotInterface::releaseRemoteControlBoardRemapper()
     // This should be executed by the last block which uses CB (m_robotDeviceCounter=1)
     assert(m_robotDevice);
     if (m_robotDevice) {
-        // Free all the drivers
-        m_yarpDevices.iControlMode2.reset();
-        m_yarpDevices.iPositionControl.reset();
-        m_yarpDevices.iPositionDirect.reset();
-        m_yarpDevices.iVelocityControl.reset();
-        m_yarpDevices.iTorqueControl.reset();
-        m_yarpDevices.iPWMControl.reset();
-        m_yarpDevices.iCurrentControl.reset();
-        m_yarpDevices.iEncoders.reset();
-        m_yarpDevices.iControlLimits2.reset();
-        m_yarpDevices.iPidControl.reset();
-        //  Close the device
+        // Set to zero all the pointers to the interfaces
+        m_yarpInterfaces.iControlMode2 = nullptr;
+        m_yarpInterfaces.iPositionControl = nullptr;
+        m_yarpInterfaces.iPositionDirect = nullptr;
+        m_yarpInterfaces.iVelocityControl = nullptr;
+        m_yarpInterfaces.iTorqueControl = nullptr;
+        m_yarpInterfaces.iPWMControl = nullptr;
+        m_yarpInterfaces.iCurrentControl = nullptr;
+        m_yarpInterfaces.iEncoders = nullptr;
+        m_yarpInterfaces.iControlLimits2 = nullptr;
+        m_yarpInterfaces.iPidControl = nullptr;
+        //  Close the device (which deletes the interfaces it allocated)
         m_robotDevice->close();
         // Free the object
         m_robotDevice.reset();
@@ -444,25 +444,24 @@ bool RobotInterface::initializeRemoteControlBoardRemapper()
 // =============
 
 template <typename T>
-std::weak_ptr<T> RobotInterface::getInterfaceFromTemplate(std::shared_ptr<T> device)
+T* RobotInterface::getInterfaceFromTemplate(T*& interface)
 {
-    if (!device) {
+    if (!interface) {
         // Blocks which require the RemoteControlBoardRemapper need to retain / release it
         // in their initialization / terminate phase;
-        assert(m_robotDevice);
+        // assert(m_robotDevice);
         if (!m_robotDevice) {
+            Log::getSingleton().error("The RemoteControlBoardRemapper has not been initialized. ");
+            Log::getSingleton().errorAppend("You need to retain the CB device in the initialize() method.");
             // Return an empty weak pointer
-            return std::weak_ptr<T>();
+            return nullptr;
         }
 
-        T* ptr = nullptr;
-        if (!m_robotDevice->view(ptr)) {
+        // Ask the interface from the device
+        if (!m_robotDevice->view(interface)) {
             // Return an empty weak_ptr
-            return std::weak_ptr<T>();
+            return nullptr;
         }
-        // Store ptr into the smart pointer
-        device.reset(ptr);
     }
-    // Implicit conversion from shared_ptr to weak_ptr
-    return device;
+    return interface;
 }

From 9b90b9e97529a074484db20e030d2945279114d4 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 10:30:34 +0000
Subject: [PATCH 50/92] Updated Blocks for using raw pointers to Yarp
 interfaces

---
 toolbox/src/GetLimits.cpp      |  8 +++---
 toolbox/src/GetMeasurement.cpp | 24 ++++++++--------
 toolbox/src/SetLowLevelPID.cpp | 16 +++++------
 toolbox/src/SetReferences.cpp  | 52 ++++++++++++++++++----------------
 4 files changed, 51 insertions(+), 49 deletions(-)

diff --git a/toolbox/src/GetLimits.cpp b/toolbox/src/GetLimits.cpp
index 4923021e7..eec5fddc2 100644
--- a/toolbox/src/GetLimits.cpp
+++ b/toolbox/src/GetLimits.cpp
@@ -91,7 +91,7 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
     // possible using i to point to the correct joint.
 
     // Get the RemoteControlBoardRemapper and IControlLimits2 interface if needed
-    std::weak_ptr<yarp::dev::IControlLimits2> iControlLimits2;
+    yarp::dev::IControlLimits2* iControlLimits2 = nullptr;
     if (limitType == "ControlBoardPosition" || limitType == "ControlBoardVelocity") {
         // Retain the control board remapper
         if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
@@ -99,7 +99,7 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
             return false;
         }
         // Get the interface
-        if (!getRobotInterface()->getInterface(iControlLimits2)) {
+        if (!getRobotInterface()->getInterface(iControlLimits2) || !iControlLimits2) {
             Log::getSingleton().error("Failed to get IControlLimits2 interface.");
             return false;
         }
@@ -107,7 +107,7 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
 
     if (limitType == "ControlBoardPosition") {
         for (auto i = 0; i < dofs; ++i) {
-            if (!iControlLimits2.lock()->getLimits(i, &min, &max)) {
+            if (!iControlLimits2->getLimits(i, &min, &max)) {
                 Log::getSingleton().error("Failed to get limits from the interface.");
                 return false;
             }
@@ -117,7 +117,7 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
     }
     else if (limitType == "ControlBoardVelocity") {
         for (auto i = 0; i < dofs; ++i) {
-            if (!iControlLimits2.lock()->getVelLimits(i, &min, &max)) {
+            if (!iControlLimits2->getVelLimits(i, &min, &max)) {
                 Log::getSingleton().error("Failed to get limits from the interface.");
                 return false;
             }
diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
index 659c921d7..97b8f971c 100644
--- a/toolbox/src/GetMeasurement.cpp
+++ b/toolbox/src/GetMeasurement.cpp
@@ -120,49 +120,49 @@ bool GetMeasurement::output(const BlockInformation* blockInfo)
     switch (m_estimateType) {
         case ESTIMATE_JOINT_POS: {
             // Get the interface
-            std::weak_ptr<yarp::dev::IEncoders> iEncoders;
-            if (!getRobotInterface()->getInterface(iEncoders)) {
+            yarp::dev::IEncoders* iEncoders = nullptr;
+            if (!getRobotInterface()->getInterface(iEncoders) || !iEncoders) {
                 Log::getSingleton().error("Failed to get IPidControl interface.");
                 return false;
             }
             // Get the measurement
-            ok = iEncoders.lock()->getEncoders(m_estimate.data());
             deg2rad(m_estimate);
+            ok = iEncoders->getEncoders(m_measurement.data());
             break;
         }
         case ESTIMATE_JOINT_VEL: {
             // Get the interface
-            std::weak_ptr<yarp::dev::IEncoders> iEncoders;
-            if (!getRobotInterface()->getInterface(iEncoders)) {
+            yarp::dev::IEncoders* iEncoders = nullptr;
+            if (!getRobotInterface()->getInterface(iEncoders) || !iEncoders) {
                 Log::getSingleton().error("Failed to get IEncoders interface.");
                 return false;
             }
             // Get the measurement
-            ok = iEncoders.lock()->getEncoderSpeeds(m_estimate.data());
             deg2rad(m_estimate);
+            ok = iEncoders->getEncoderSpeeds(m_measurement.data());
             break;
         }
         case ESTIMATE_JOINT_ACC: {
             // Get the interface
-            std::weak_ptr<yarp::dev::IEncoders> iEncoders;
-            if (!getRobotInterface()->getInterface(iEncoders)) {
+            yarp::dev::IEncoders* iEncoders = nullptr;
+            if (!getRobotInterface()->getInterface(iEncoders) || !iEncoders) {
                 Log::getSingleton().error("Failed to get IEncoders interface.");
                 return false;
             }
             // Get the measurement
-            ok = iEncoders.lock()->getEncoderAccelerations(m_estimate.data());
             deg2rad(m_estimate);
+            ok = iEncoders->getEncoderAccelerations(m_measurement.data());
             break;
         }
         case ESTIMATE_JOINT_TORQUE: {
             // Get the interface
-            std::weak_ptr<yarp::dev::ITorqueControl> iTorqueControl;
-            if (!getRobotInterface()->getInterface(iTorqueControl)) {
+            yarp::dev::ITorqueControl* iTorqueControl = nullptr;
+            if (!getRobotInterface()->getInterface(iTorqueControl) || !iTorqueControl) {
                 Log::getSingleton().error("Failed to get ITorqueControl interface.");
                 return false;
             }
             // Get the measurement
-            ok = iTorqueControl.lock()->getTorques(m_estimate.data());
+            ok = iTorqueControl->getTorques(m_measurement.data());
             break;
         }
         default:
diff --git a/toolbox/src/SetLowLevelPID.cpp b/toolbox/src/SetLowLevelPID.cpp
index b2d9772c4..94f3c6685 100644
--- a/toolbox/src/SetLowLevelPID.cpp
+++ b/toolbox/src/SetLowLevelPID.cpp
@@ -171,14 +171,14 @@ bool SetLowLevelPID::initialize(const BlockInformation* blockInfo)
     m_defaultPidValues.resize(dofs);
 
     // Get the interface
-    std::weak_ptr<yarp::dev::IPidControl> iPidControl;
-    if (!getRobotInterface()->getInterface(iPidControl)) {
+    yarp::dev::IPidControl* iPidControl = nullptr;
+    if (!getRobotInterface()->getInterface(iPidControl) || !iPidControl) {
         Log::getSingleton().error("Failed to get IPidControl interface.");
         return false;
     }
 
     // Store the default gains
-    if (!iPidControl.lock()->getPids(m_controlType, m_defaultPidValues.data())) {
+    if (!iPidControl->getPids(m_controlType, m_defaultPidValues.data())) {
         Log::getSingleton().error("Failed to get default data from IPidControl.");
         return false;
     }
@@ -199,7 +199,7 @@ bool SetLowLevelPID::initialize(const BlockInformation* blockInfo)
     }
 
     // Apply the new pid gains
-    if (!iPidControl.lock()->setPids(m_controlType, m_appliedPidValues.data())) {
+    if (!iPidControl->setPids(m_controlType, m_appliedPidValues.data())) {
         Log::getSingleton().error("Failed to set PID values.");
         return false;
     }
@@ -212,14 +212,14 @@ bool SetLowLevelPID::terminate(const BlockInformation* blockInfo)
     bool ok = true;
 
     // Get the IPidControl interface
-    std::weak_ptr<yarp::dev::IPidControl> iPidControl;
-    ok = ok & getRobotInterface()->getInterface(iPidControl);
-    if (!ok) {
+    yarp::dev::IPidControl* iPidControl = nullptr;
+    ok = ok && getRobotInterface()->getInterface(iPidControl);
+    if (!ok || !iPidControl) {
         Log::getSingleton().error("Failed to get IPidControl interface.");
     }
 
     // Reset default pid gains
-    ok = ok & iPidControl.lock()->setPids(m_controlType, m_defaultPidValues.data());
+    ok = ok && iPidControl->setPids(m_controlType, m_defaultPidValues.data());
     if (!ok) {
         Log::getSingleton().error("Failed to set default PID values.");
     }
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 6e20ed9db..121a72261 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -129,19 +129,21 @@ bool SetReferences::terminate(const BlockInformation* blockInfo)
     bool ok = true;
 
     // Get the interface
-    std::weak_ptr<IControlMode2> icmd2;
-    ok = ok & getRobotInterface()->getInterface(icmd2);
-    if (!ok) {
+    IControlMode2* icmd2 = nullptr;
+    ok = ok && getRobotInterface()->getInterface(icmd2);
+    if (!ok || !icmd2) {
         Log::getSingleton().error("Failed to get the IControlMode2 interface.");
+        return false;
     }
 
     // Set  all the controlledJoints VOCAB_CM_POSITION
     const unsigned dofs = getConfiguration().getNumberOfDoFs();
     m_controlModes.assign(dofs, VOCAB_CM_POSITION);
 
-    ok = ok & icmd2.lock()->setControlModes(m_controlModes.data());
+    ok = ok && icmd2->setControlModes(m_controlModes.data());
     if (!ok) {
         Log::getSingleton().error("Failed to set control mode.");
+        return false;
     }
 
     // Release the RemoteControlBoardRemapper
@@ -169,13 +171,13 @@ bool SetReferences::output(const BlockInformation* blockInfo)
     if (m_resetControlMode) {
         m_resetControlMode = false;
         // Get the interface
-        std::weak_ptr<IControlMode2> icmd2;
-        if (!getRobotInterface()->getInterface(icmd2)) {
+        IControlMode2* icmd2 = nullptr;
+        if (!getRobotInterface()->getInterface(icmd2) || !icmd2) {
             Log::getSingleton().error("Failed to get the IControlMode2 interface.");
             return false;
         }
         // Set the control mode to all the controlledJoints
-        if (!icmd2.lock()->setControlModes(m_controlModes.data())) {
+        if (!icmd2->setControlModes(m_controlModes.data())) {
             Log::getSingleton().error("Failed to set control mode.");
             return false;
         }
@@ -195,71 +197,71 @@ bool SetReferences::output(const BlockInformation* blockInfo)
             break;
         case VOCAB_CM_POSITION: {
             // Get the interface
-            std::weak_ptr<IPositionControl> interface;
-            if (!getRobotInterface()->getInterface(interface)) {
+            IPositionControl* interface = nullptr;
+            if (!getRobotInterface()->getInterface(interface) || !interface) {
                 Log::getSingleton().error("Failed to get IPositionControl interface.");
                 return false;
             }
             // Convert from rad to deg
             rad2deg(referencesVector);
             // Set the references
-            ok = interface.lock()->positionMove(referencesVector.data());
+            ok = interface->positionMove(referencesVector.data());
             break;
         }
         case VOCAB_CM_POSITION_DIRECT: {
             // Get the interface
-            std::weak_ptr<IPositionDirect> interface;
-            if (!getRobotInterface()->getInterface(interface)) {
+            IPositionDirect* interface = nullptr;
+            if (!getRobotInterface()->getInterface(interface) || !interface) {
                 Log::getSingleton().error("Failed to get IPositionDirect interface.");
                 return false;
             }
             // Convert from rad to deg
             rad2deg(referencesVector);
             // Set the references
-            ok = interface.lock()->setPositions(referencesVector.data());
+            ok = interface->setPositions(referencesVector.data());
             break;
         }
         case VOCAB_CM_VELOCITY: {
             // Get the interface
-            std::weak_ptr<IVelocityControl> interface;
-            if (!getRobotInterface()->getInterface(interface)) {
+            IVelocityControl* interface = nullptr;
+            if (!getRobotInterface()->getInterface(interface) || !interface) {
                 Log::getSingleton().error("Failed to get IVelocityControl interface.");
                 return false;
             }
             // Convert from rad to deg
             rad2deg(referencesVector);
             // Set the references
-            ok = interface.lock()->velocityMove(referencesVector.data());
+            ok = interface->velocityMove(referencesVector.data());
             break;
         }
         case VOCAB_CM_TORQUE: {
             // Get the interface
-            std::weak_ptr<ITorqueControl> interface;
-            if (!getRobotInterface()->getInterface(interface)) {
+            ITorqueControl* interface = nullptr;
+            if (!getRobotInterface()->getInterface(interface) || !interface) {
                 Log::getSingleton().error("Failed to get ITorqueControl interface.");
                 return false;
             }
-            ok = interface.lock()->setRefTorques(referencesVector.data());
+            ok = interface->setRefTorques(referencesVector.data());
             break;
         }
         case VOCAB_CM_PWM: {
             // Get the interface
-            std::weak_ptr<IPWMControl> interface;
-            if (!getRobotInterface()->getInterface(interface)) {
+            IPWMControl* interface = nullptr;
+            if (!getRobotInterface()->getInterface(interface) || !interface) {
                 Log::getSingleton().error("Failed to get IPWMControl interface.");
                 return false;
             }
-            ok = interface.lock()->setRefDutyCycles(referencesVector.data());
+            ok = interface->setRefDutyCycles(referencesVector.data());
             break;
         }
         case VOCAB_CM_CURRENT: {
             // Get the interface
-            std::weak_ptr<ICurrentControl> interface;
-            if (!getRobotInterface()->getInterface(interface)) {
+            ICurrentControl* interface = nullptr;
+            if (!getRobotInterface()->getInterface(interface) || !interface) {
                 Log::getSingleton().error("Failed to get ICurrentControl interface.");
                 return false;
             }
-            ok = interface.lock()->setRefCurrents(referencesVector.data());
+            ok = interface->setRefCurrents(referencesVector.data());
             break;
         }
     }

From a01cecfbed5b4098c7c4246021c0223311715c2b Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 10:36:03 +0000
Subject: [PATCH 51/92] Block which inherith from WBBlocks now terminate
 correctly

The terminate() method of these blocks should not fail before the WBBlock::terminate() method is called, otherwise allocated resources are not properly cleaned.
---
 toolbox/src/GetLimits.cpp      | 18 +++++++++++++++---
 toolbox/src/GetMeasurement.cpp |  1 +
 toolbox/src/SetLowLevelPID.cpp |  3 +++
 toolbox/src/SetReferences.cpp  |  7 ++++---
 4 files changed, 23 insertions(+), 6 deletions(-)

diff --git a/toolbox/src/GetLimits.cpp b/toolbox/src/GetLimits.cpp
index eec5fddc2..60c665307 100644
--- a/toolbox/src/GetLimits.cpp
+++ b/toolbox/src/GetLimits.cpp
@@ -171,11 +171,23 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
 
 bool GetLimits::terminate(const BlockInformation* blockInfo)
 {
-    // Release the RemoteControlBoardRemapper
     bool ok = true;
-    ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+
+    // Read the control type
+    std::string limitType;
+    ok = ok && blockInfo->getStringParameterAtIndex(WBBlock::numberOfParameters() + 1, limitType);
     if (!ok) {
-        Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
+        Log::getSingleton().error("Could not read estimate type parameter.");
+        // Don't return false here. WBBlock::terminate must be called in any case
+    }
+
+    // Release the RemoteControlBoardRemapper
+    if (limitType == "ControlBoardPosition" || limitType == "ControlBoardVelocity") {
+        ok = ok && getRobotInterface()->releaseRemoteControlBoardRemapper();
+        if (!ok) {
+            Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
+            // Don't return false here. WBBlock::terminate must be called in any case
+        }
     }
 
     return ok && WBBlock::terminate(blockInfo);
diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
index 97b8f971c..6869424dd 100644
--- a/toolbox/src/GetMeasurement.cpp
+++ b/toolbox/src/GetMeasurement.cpp
@@ -109,6 +109,7 @@ bool GetMeasurement::terminate(const BlockInformation* blockInfo)
     ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
     if (!ok) {
         Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
+        // Don't return false here. WBBlock::terminate must be called in any case
     }
 
     return ok && WBBlock::terminate(blockInfo);
diff --git a/toolbox/src/SetLowLevelPID.cpp b/toolbox/src/SetLowLevelPID.cpp
index 94f3c6685..c593f32ca 100644
--- a/toolbox/src/SetLowLevelPID.cpp
+++ b/toolbox/src/SetLowLevelPID.cpp
@@ -216,18 +216,21 @@ bool SetLowLevelPID::terminate(const BlockInformation* blockInfo)
     ok = ok && getRobotInterface()->getInterface(iPidControl);
     if (!ok || !iPidControl) {
         Log::getSingleton().error("Failed to get IPidControl interface.");
+        // Don't return false here. WBBlock::terminate must be called in any case
     }
 
     // Reset default pid gains
     ok = ok && iPidControl->setPids(m_controlType, m_defaultPidValues.data());
     if (!ok) {
         Log::getSingleton().error("Failed to set default PID values.");
+        // Don't return false here. WBBlock::terminate must be called in any case
     }
 
     // Release the RemoteControlBoardRemapper
     ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
     if (!ok) {
         Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
+        // Don't return false here. WBBlock::terminate must be called in any case
     }
 
     return ok && WBBlock::terminate(blockInfo);
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 121a72261..4255344b8 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -133,7 +133,7 @@ bool SetReferences::terminate(const BlockInformation* blockInfo)
     ok = ok && getRobotInterface()->getInterface(icmd2);
     if (!ok || !icmd2) {
         Log::getSingleton().error("Failed to get the IControlMode2 interface.");
-        return false;
+        // Don't return false here. WBBlock::terminate must be called in any case
     }
 
     // Set  all the controlledJoints VOCAB_CM_POSITION
@@ -143,13 +143,14 @@ bool SetReferences::terminate(const BlockInformation* blockInfo)
     ok = ok && icmd2->setControlModes(m_controlModes.data());
     if (!ok) {
         Log::getSingleton().error("Failed to set control mode.");
-        return false;
+        // Don't return false here. WBBlock::terminate must be called in any case
     }
 
     // Release the RemoteControlBoardRemapper
-    ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+    ok = ok && getRobotInterface()->releaseRemoteControlBoardRemapper();
     if (!ok) {
         Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
+        // Don't return false here. WBBlock::terminate must be called in any case
     }
 
     return ok && WBBlock::terminate(blockInfo);

From ed7dd9272b7c784cb1df20a37f55990e109ed40e Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 10:43:13 +0000
Subject: [PATCH 52/92] Switched ands from bitwise to logical

Robustness matters
---
 toolbox/src/GetMeasurement.cpp                |  2 +-
 .../src/MinimumJerkTrajectoryGenerator.cpp    | 22 +++++++++----------
 toolbox/src/SetLowLevelPID.cpp                |  2 +-
 toolbox/src/SimulatorSynchronizer.cpp         |  6 ++---
 toolbox/src/YarpRead.cpp                      | 16 +++++++-------
 toolbox/src/YarpWrite.cpp                     |  5 ++---
 6 files changed, 26 insertions(+), 27 deletions(-)

diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
index 6869424dd..7271a65fd 100644
--- a/toolbox/src/GetMeasurement.cpp
+++ b/toolbox/src/GetMeasurement.cpp
@@ -106,7 +106,7 @@ bool GetMeasurement::terminate(const BlockInformation* blockInfo)
 {
     // Release the RemoteControlBoardRemapper
     bool ok = true;
-    ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+    ok = ok && getRobotInterface()->releaseRemoteControlBoardRemapper();
     if (!ok) {
         Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
         // Don't return false here. WBBlock::terminate must be called in any case
diff --git a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
index d550be5fd..6c7e82e36 100644
--- a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
+++ b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
@@ -56,10 +56,10 @@ bool MinimumJerkTrajectoryGenerator::configureSizeAndPorts(BlockInformation* blo
     bool externalSettlingTime;
     bool ok = true;
 
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE, outputFirstDerivative);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE, outputSecondDerivative);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, explicitInitialValue);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, externalSettlingTime);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE, outputFirstDerivative);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE, outputSecondDerivative);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, explicitInitialValue);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, externalSettlingTime);
 
     if (!ok) {
         Log::getSingleton().error("Failed to get input parameters.");
@@ -132,13 +132,13 @@ bool MinimumJerkTrajectoryGenerator::initialize(const BlockInformation* blockInf
     bool outputSecondDerivative;
     bool ok = true;
 
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE,
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_1ST_DERIVATIVE,
                                                     outputFirstDerivative);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE,
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_OUTPUT_2ND_DERIVATIVE,
                                                     outputSecondDerivative);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, m_explicitInitialValue);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, m_externalSettlingTime);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_RESET_CHANGEST,
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_INITIAL_VALUE, m_explicitInitialValue);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_EXT_SETTLINGTIME, m_externalSettlingTime);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_RESET_CHANGEST,
                                                     m_resetOnSettlingTimeChange);
 
     if (!ok) {
@@ -157,8 +157,8 @@ bool MinimumJerkTrajectoryGenerator::initialize(const BlockInformation* blockInf
     double sampleTime;
     double settlingTime;
 
-    ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_SAMPLE_TIME, sampleTime);
-    ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_SETTLING_TIME, settlingTime);
+    ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_IDX_SAMPLE_TIME, sampleTime);
+    ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_IDX_SETTLING_TIME, settlingTime);
 
     unsigned signalSize = blockInfo->getInputPortWidth(0);
 
diff --git a/toolbox/src/SetLowLevelPID.cpp b/toolbox/src/SetLowLevelPID.cpp
index c593f32ca..6ce3a3aba 100644
--- a/toolbox/src/SetLowLevelPID.cpp
+++ b/toolbox/src/SetLowLevelPID.cpp
@@ -227,7 +227,7 @@ bool SetLowLevelPID::terminate(const BlockInformation* blockInfo)
     }
 
     // Release the RemoteControlBoardRemapper
-    ok = ok & getRobotInterface()->releaseRemoteControlBoardRemapper();
+    ok = ok && getRobotInterface()->releaseRemoteControlBoardRemapper();
     if (!ok) {
         Log::getSingleton().error("Failed to release the RemoteControlBoardRemapper.");
         // Don't return false here. WBBlock::terminate must be called in any case
diff --git a/toolbox/src/SimulatorSynchronizer.cpp b/toolbox/src/SimulatorSynchronizer.cpp
index 2f0c834fa..c46c528e1 100644
--- a/toolbox/src/SimulatorSynchronizer.cpp
+++ b/toolbox/src/SimulatorSynchronizer.cpp
@@ -73,9 +73,9 @@ bool SimulatorSynchronizer::initialize(const BlockInformation* blockInfo)
     std::string clientPortName;
 
     bool ok = true;
-    ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_PERIOD, m_period);
-    ok = ok & blockInfo->getStringParameterAtIndex(PARAM_GZCLK_PORT, serverPortName);
-    ok = ok & blockInfo->getStringParameterAtIndex(PARAM_RPC_PORT, clientPortName);
+    ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_PERIOD, m_period);
+    ok = ok && blockInfo->getStringParameterAtIndex(PARAM_GZCLK_PORT, serverPortName);
+    ok = ok && blockInfo->getStringParameterAtIndex(PARAM_RPC_PORT, clientPortName);
 
     if (!ok) {
         Log::getSingleton().error("Error reading RPC parameters.");
diff --git a/toolbox/src/YarpRead.cpp b/toolbox/src/YarpRead.cpp
index 023fb7701..9e5807cce 100644
--- a/toolbox/src/YarpRead.cpp
+++ b/toolbox/src/YarpRead.cpp
@@ -58,11 +58,11 @@ bool YarpRead::configureSizeAndPorts(BlockInformation* blockInfo)
     bool autoconnect;
     double signalSize;
 
-    bool ok = false;
+    bool ok = true;
 
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, shouldReadTimestamp);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, autoconnect);
-    ok = ok & blockInfo->getScalarParameterAtIndex(PARAM_IDX_PORTSIZE, signalSize);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, shouldReadTimestamp);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, autoconnect);
+    ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_IDX_PORTSIZE, signalSize);
 
     if (!ok) {
         Log::getSingleton().error("Failed to read input parameters.");
@@ -114,10 +114,10 @@ bool YarpRead::initialize(const BlockInformation* blockInfo)
 
     bool ok = true;
 
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, m_shouldReadTimestamp);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_WAITDATA, m_blocking);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT, m_errorOnMissingPort);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_READ_TS, m_shouldReadTimestamp);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_WAITDATA, m_blocking);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT, m_errorOnMissingPort);
 
     if (!ok) {
         Log::getSingleton().error("Failed to read input parameters.");
diff --git a/toolbox/src/YarpWrite.cpp b/toolbox/src/YarpWrite.cpp
index 6b50029d9..5c59fd035 100644
--- a/toolbox/src/YarpWrite.cpp
+++ b/toolbox/src/YarpWrite.cpp
@@ -68,9 +68,8 @@ bool YarpWrite::initialize(const BlockInformation* blockInfo)
 
     bool ok = true;
 
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
-    ok = ok & blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT,
-                                                    m_errorOnMissingPort);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_AUTOCONNECT, m_autoconnect);
+    ok = ok && blockInfo->getBooleanParameterAtIndex(PARAM_IDX_ERR_NO_PORT, m_errorOnMissingPort);
 
     if (!ok) {
         Log::getSingleton().error("Failed to read input parameters.");

From d4a64334d6f16c8252b94201ad343f29926d28ec Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 10:47:23 +0000
Subject: [PATCH 53/92] Check smart pointer status before using the
 KinDynComputations object

---
 toolbox/include/base/ToolboxSingleton.h |  2 +-
 toolbox/src/GetLimits.cpp               | 15 ++++++++++++---
 toolbox/src/InverseDynamics.cpp         |  7 ++++++-
 toolbox/src/base/RobotInterface.cpp     |  9 +++++----
 toolbox/src/base/ToolboxSingleton.cpp   |  2 +-
 5 files changed, 25 insertions(+), 10 deletions(-)

diff --git a/toolbox/include/base/ToolboxSingleton.h b/toolbox/include/base/ToolboxSingleton.h
index 1140a2d76..78dcf47e2 100644
--- a/toolbox/include/base/ToolboxSingleton.h
+++ b/toolbox/include/base/ToolboxSingleton.h
@@ -110,7 +110,7 @@ class wbt::ToolboxSingleton { // TODO: wbt::ToolboxSingleton
      * @return        A \c shared_ptr to the iDynTree::KinDynComputations of the requested
      *                configuration
      */
-    const std::shared_ptr<iDynTree::KinDynComputations> getModel(const std::string& confKey);
+    const std::shared_ptr<iDynTree::KinDynComputations> getKinDynComputations(const std::string& confKey);
 
     // TOOLBOXSINGLETON CONFIGURATION
     // ==============================
diff --git a/toolbox/src/GetLimits.cpp b/toolbox/src/GetLimits.cpp
index 60c665307..eada4afe8 100644
--- a/toolbox/src/GetLimits.cpp
+++ b/toolbox/src/GetLimits.cpp
@@ -4,8 +4,8 @@
 #include "BlockInformation.h"
 #include "Signal.h"
 #include "RobotInterface.h"
-#include "iDynTree/KinDynComputations.h"
-#include "iDynTree/Model/Model.h"
+#include <iDynTree/KinDynComputations.h>
+#include <iDynTree/Model/Model.h>
 #include <yarp/dev/IControlLimits2.h>
 #include <vector>
 #include <limits>
@@ -133,7 +133,16 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
 
     else if (limitType == "ModelPosition") {
         iDynTree::IJointConstPtr p_joint;
-        const iDynTree::Model model = getRobotInterface()->getKinDynComputations()->model();
+
+        // Get the KinDynComputations pointer
+        const auto& kindyncomp = getRobotInterface()->getKinDynComputations();
+        if (!kindyncomp) {
+            Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+            return false;
+        }
+
+        // Get the model
+        const iDynTree::Model model = kindyncomp->model();
 
         for (auto i = 0; i < dofs; ++i) {
             // Get the joint name
diff --git a/toolbox/src/InverseDynamics.cpp b/toolbox/src/InverseDynamics.cpp
index e0303b97e..514c96d2b 100644
--- a/toolbox/src/InverseDynamics.cpp
+++ b/toolbox/src/InverseDynamics.cpp
@@ -110,7 +110,12 @@ bool InverseDynamics::initialize(const BlockInformation* blockInfo)
     m_jointsAcceleration = std::unique_ptr<VectorDynSize>(new VectorDynSize(dofs));
     m_jointsAcceleration->zero();
 
-    const auto& model = getRobotInterface()->getKinDynComputations()->model();
+    // Get the KinDynComputations pointer
+    const auto& kindyncomp = getRobotInterface()->getKinDynComputations();
+
+    // Get the model from the KinDynComputations object
+    const auto& model = kindyncomp->model();
+
     m_torques = std::unique_ptr<FreeFloatingGeneralizedTorques>(new FreeFloatingGeneralizedTorques(model));
 
     return static_cast<bool>(m_baseAcceleration) &&
diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
index bfda124ca..bf96983f2 100644
--- a/toolbox/src/base/RobotInterface.cpp
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -183,12 +183,13 @@ const std::shared_ptr<iDynTree::KinDynComputations> RobotInterface::getKinDynCom
     }
 
     // Otherwise, initialize a new object
-    if (initializeModel()) {
-        return m_kinDynComp;
+    if (!initializeModel()) {
+        Log::getSingleton().error("Failed to initialize the KinDynComputations object.");
+        // Return an empty shared_ptr (implicitly initialized)
+        return nullptr;
     }
 
-    // Return an empty shared_ptr (implicitly initialized)
-    return nullptr;
+    return m_kinDynComp;
 }
 
 template <>
diff --git a/toolbox/src/base/ToolboxSingleton.cpp b/toolbox/src/base/ToolboxSingleton.cpp
index 19042b281..9eb76a4f3 100644
--- a/toolbox/src/base/ToolboxSingleton.cpp
+++ b/toolbox/src/base/ToolboxSingleton.cpp
@@ -63,7 +63,7 @@ const std::shared_ptr<RobotInterface> ToolboxSingleton::getRobotInterface(const
     return m_interfaces[confKey];
 }
 
-const std::shared_ptr<iDynTree::KinDynComputations> ToolboxSingleton::getModel(const std::string& confKey)
+const std::shared_ptr<iDynTree::KinDynComputations> ToolboxSingleton::getKinDynComputations(const std::string& confKey)
 {
     if (!isKeyValid(confKey)) {
         return nullptr;

From 9b3180aa0178be345ae1da76d1e5f2d6ced9db04 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 10:53:46 +0000
Subject: [PATCH 54/92] GetLimits: missing deg2rad conversion and typo for
 invalid joint check

---
 toolbox/include/GetLimits.h |  3 ++-
 toolbox/src/GetLimits.cpp   | 30 ++++++++++++++++++++++--------
 2 files changed, 24 insertions(+), 9 deletions(-)

diff --git a/toolbox/include/GetLimits.h b/toolbox/include/GetLimits.h
index 3a0310fe9..e96a7ae59 100644
--- a/toolbox/include/GetLimits.h
+++ b/toolbox/include/GetLimits.h
@@ -24,10 +24,11 @@ class wbt::GetLimits : public wbt::WBBlock
 {
 private:
     std::unique_ptr<Limit> m_limits;
+    static double deg2rad(const double& v);
 
 public:
     static const std::string ClassName;
-    
+
     GetLimits() = default;
     ~GetLimits() override = default;
 
diff --git a/toolbox/src/GetLimits.cpp b/toolbox/src/GetLimits.cpp
index eada4afe8..44648995e 100644
--- a/toolbox/src/GetLimits.cpp
+++ b/toolbox/src/GetLimits.cpp
@@ -10,10 +10,18 @@
 #include <vector>
 #include <limits>
 
+#define _USE_MATH_DEFINES
+#include <cmath>
+
 using namespace wbt;
 
 const std::string GetLimits::ClassName = "GetLimits";
 
+double GetLimits::deg2rad(const double& v)
+{
+    return v * M_PI / 180.0;
+}
+
 unsigned GetLimits::numberOfParameters()
 {
     return WBBlock::numberOfParameters() + 1;
@@ -111,8 +119,8 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
                 Log::getSingleton().error("Failed to get limits from the interface.");
                 return false;
             }
-            m_limits->min[i] = min;
-            m_limits->max[i] = max;
+            m_limits->min[i] = deg2rad(min);
+            m_limits->max[i] = deg2rad(max);
         }
     }
     else if (limitType == "ControlBoardVelocity") {
@@ -121,8 +129,8 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
                 Log::getSingleton().error("Failed to get limits from the interface.");
                 return false;
             }
-            m_limits->min[i] = min;
-            m_limits->max[i] = max;
+            m_limits->min[i] = deg2rad(min);
+            m_limits->max[i] = deg2rad(max);
         }
     }
 
@@ -149,19 +157,25 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
             std::string joint = getConfiguration().getControlledJoints()[i];
 
             // Get its index
-            iDynTree::LinkIndex jointIndex = model.getLinkIndex(joint);
+            iDynTree::JointIndex jointIndex = model.getJointIndex(joint);
+
+            if (jointIndex == iDynTree::JOINT_INVALID_INDEX) {
+                Log::getSingleton().error("Invalid iDynTree joint index.");
+                return false;
+            }
 
             // Get the joint from the model
             p_joint = model.getJoint(jointIndex);
 
             if (!p_joint->hasPosLimits()) {
                 Log::getSingleton().warning("Joint " + joint + " has no model limits.");
-                // TODO: test how these values are interpreted by Simulink
-                min = -std::numeric_limits<double>::infinity();
-                max = std::numeric_limits<double>::infinity();
+                m_limits->min[i] = -std::numeric_limits<double>::infinity();
+                m_limits->max[i] = std::numeric_limits<double>::infinity();
             }
             else {
                 p_joint->getPosLimits(0, min, max);
+                m_limits->min[i] = min;
+                m_limits->max[i] = max;
             }
         }
     }

From 5c9912cd42de472d92442a57a79958f483377f53 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 10:55:27 +0000
Subject: [PATCH 55/92] GetMeasurement: changed some member names for clarity

---
 toolbox/include/GetMeasurement.h | 12 ++++++------
 toolbox/src/GetMeasurement.cpp   | 28 ++++++++++++++--------------
 2 files changed, 20 insertions(+), 20 deletions(-)

diff --git a/toolbox/include/GetMeasurement.h b/toolbox/include/GetMeasurement.h
index 101aed7af..5caec2f71 100644
--- a/toolbox/include/GetMeasurement.h
+++ b/toolbox/include/GetMeasurement.h
@@ -5,10 +5,10 @@
 
 namespace wbt {
     class GetMeasurement;
-    enum EstimateType {
-        ESTIMATE_JOINT_POS,
-        ESTIMATE_JOINT_VEL,
-        ESTIMATE_JOINT_ACC,
+    enum MeasuredType {
+        MEASUREMENT_JOINT_POS,
+        MEASUREMENT_JOINT_VEL,
+        MEASUREMENT_JOINT_ACC,
         ESTIMATE_JOINT_TORQUE
     };
 }
@@ -17,8 +17,8 @@ namespace wbt {
 class wbt::GetMeasurement : public wbt::WBBlock
 {
 private:
-    std::vector<double> m_estimate;
-    wbt::EstimateType m_estimateType;
+    std::vector<double> m_measurement;
+    wbt::MeasuredType m_measuredType;
     static void deg2rad(std::vector<double>& v);
 
 public:
diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
index 7271a65fd..536ec00aa 100644
--- a/toolbox/src/GetMeasurement.cpp
+++ b/toolbox/src/GetMeasurement.cpp
@@ -16,7 +16,7 @@ const std::string GetMeasurement::ClassName = "GetMeasurement";
 
 void GetMeasurement::deg2rad(std::vector<double>& v)
 {
-    const double deg2rad = (2 * M_PI) / 180.0;
+    const double deg2rad = M_PI / 180.0;
     for (auto& element : v) {
         element *= deg2rad;
     }
@@ -77,13 +77,13 @@ bool GetMeasurement::initialize(const BlockInformation* blockInfo)
     }
 
     if (informationType == "Joints Position") {
-        m_estimateType = wbt::ESTIMATE_JOINT_POS;
+        m_measuredType = wbt::MEASUREMENT_JOINT_POS;
     } else if (informationType == "Joints Velocity") {
-        m_estimateType = wbt::ESTIMATE_JOINT_VEL;
+        m_measuredType = wbt::MEASUREMENT_JOINT_VEL;
     } else if (informationType == "Joints Acceleration") {
-        m_estimateType = wbt::ESTIMATE_JOINT_ACC;
+        m_measuredType = wbt::MEASUREMENT_JOINT_ACC;
     } else if (informationType == "Joints Torque") {
-        m_estimateType = wbt::ESTIMATE_JOINT_TORQUE;
+        m_measuredType = wbt::ESTIMATE_JOINT_TORQUE;
     } else {
         Log::getSingleton().error("Estimate not supported.");
         return false;
@@ -91,7 +91,7 @@ bool GetMeasurement::initialize(const BlockInformation* blockInfo)
 
     // Initialize the size of the output vector
     const unsigned dofs = getConfiguration().getNumberOfDoFs();
-    m_estimate.reserve(dofs);
+    m_measurement.resize(dofs);
 
     // Retain the ControlBoardRemapper
     if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
@@ -118,8 +118,8 @@ bool GetMeasurement::terminate(const BlockInformation* blockInfo)
 bool GetMeasurement::output(const BlockInformation* blockInfo)
 {
     bool ok;
-    switch (m_estimateType) {
-        case ESTIMATE_JOINT_POS: {
+    switch (m_measuredType) {
+        case MEASUREMENT_JOINT_POS: {
             // Get the interface
             yarp::dev::IEncoders* iEncoders = nullptr;
             if (!getRobotInterface()->getInterface(iEncoders) || !iEncoders) {
@@ -127,11 +127,11 @@ bool GetMeasurement::output(const BlockInformation* blockInfo)
                 return false;
             }
             // Get the measurement
-            deg2rad(m_estimate);
             ok = iEncoders->getEncoders(m_measurement.data());
+            deg2rad(m_measurement);
             break;
         }
-        case ESTIMATE_JOINT_VEL: {
+        case MEASUREMENT_JOINT_VEL: {
             // Get the interface
             yarp::dev::IEncoders* iEncoders = nullptr;
             if (!getRobotInterface()->getInterface(iEncoders) || !iEncoders) {
@@ -139,11 +139,11 @@ bool GetMeasurement::output(const BlockInformation* blockInfo)
                 return false;
             }
             // Get the measurement
-            deg2rad(m_estimate);
             ok = iEncoders->getEncoderSpeeds(m_measurement.data());
+            deg2rad(m_measurement);
             break;
         }
-        case ESTIMATE_JOINT_ACC: {
+        case MEASUREMENT_JOINT_ACC: {
             // Get the interface
             yarp::dev::IEncoders* iEncoders = nullptr;
             if (!getRobotInterface()->getInterface(iEncoders) || !iEncoders) {
@@ -151,8 +151,8 @@ bool GetMeasurement::output(const BlockInformation* blockInfo)
                 return false;
             }
             // Get the measurement
-            deg2rad(m_estimate);
             ok = iEncoders->getEncoderAccelerations(m_measurement.data());
+            deg2rad(m_measurement);
             break;
         }
         case ESTIMATE_JOINT_TORQUE: {
@@ -177,7 +177,7 @@ bool GetMeasurement::output(const BlockInformation* blockInfo)
     }
 
     Signal signal = blockInfo->getOutputPortSignal(0);
-    signal.setBuffer(m_estimate.data(), blockInfo->getOutputPortWidth(0));
+    signal.setBuffer(m_measurement.data(), blockInfo->getOutputPortWidth(0));
 
     return true;
 }

From 3a0d018acbfc7d85a29fa9afa0149bb01f850885 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 11:00:34 +0000
Subject: [PATCH 56/92] SetReferences: Position mode now calls setRefSpeeds()

The speed, used internally by the yarp interface, must be initialized in order to obtain the wanted bahavior.

In the future this might become a mask parameter.
---
 toolbox/src/SetReferences.cpp | 33 ++++++++++++++++++++++++++++++---
 1 file changed, 30 insertions(+), 3 deletions(-)

diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 4255344b8..90edb1c6b 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -19,7 +19,7 @@ SetReferences::SetReferences()
 
 void SetReferences::rad2deg(std::vector<double>& v)
 {
-    const double rad2deg = 180.0 / (2 * M_PI);
+    const double rad2deg = 180.0 / M_PI;
     for (auto& element : v) {
         element *= rad2deg;
     }
@@ -113,6 +113,26 @@ bool SetReferences::initialize(const BlockInformation* blockInfo)
         return false;
     }
 
+    // The Position mode is used to set a discrete reference, and then the yarp interface
+    // is responsible to generate a trajectory to reach this setpoint.
+    // The generated trajectory takes an additional parameter: the speed.
+    // If not properly initialized, this contol mode does not work as expected.
+    if (controlType == "Position") {
+        // Get the interface
+        yarp::dev::IPositionControl* interface = nullptr;
+        if (!getRobotInterface()->getInterface(interface) || !interface) {
+            Log::getSingleton().error("Failed to get IPositionControl interface.");
+            return false;
+        }
+        // TODO: Set this parameter from the mask
+        std::vector<double> speedInitalization(dofs, 10.0);
+        // Set the references
+        if (!interface->setRefSpeeds(speedInitalization.data())) {
+            Log::getSingleton().error("Failed to initialize speed references.");
+            return false;
+        }
+    }
+
     // Retain the ControlBoardRemapper
     if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
         Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
@@ -158,8 +178,15 @@ bool SetReferences::terminate(const BlockInformation* blockInfo)
 
 bool SetReferences::initializeInitialConditions(const BlockInformation* /*blockInfo*/)
 {
-    // Simply reset the variable m_resetControlMode.
-    // It will be read at the first cycle of output.
+    // This function is called when a subsystem with Enable / Disable support is used.
+    // In this case all the blocks in this subsystem are configured and initialize,
+    // but if they are disabled, output() is not called.
+    // This initializeInitialConditions method is called when the block is enabled,
+    // and in this case the control mode should be set.
+    //
+    // It is worth noting that this toolbox disables parameters to be tunable for
+    // all the blocks
+
     m_resetControlMode = true;
     return true;
 }

From 9993d136d2abc76eab819582a661085ce6060f58 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 11:13:47 +0000
Subject: [PATCH 57/92] ModelPartitioner: fixed the forwarding of i/o data

This block requires a lot of information for dynamically partitioning a vector containing controlledJoints data into multiple signals representing the control boards the joints belong to.

Furthermore, this block is the only one which needs to retrieve the KinDynComputations model and RemoteControlBoardRemapper already from the configureSizeAndPorts() step.
---
 toolbox/include/ModelPartitioner.h    |   4 +-
 toolbox/include/base/RobotInterface.h |  45 +++++++-
 toolbox/src/ModelPartitioner.cpp      |  97 ++++++++++-------
 toolbox/src/base/RobotInterface.cpp   | 145 +++++++++++++++++++-------
 4 files changed, 216 insertions(+), 75 deletions(-)

diff --git a/toolbox/include/ModelPartitioner.h b/toolbox/include/ModelPartitioner.h
index 32c57c098..853c3f0c3 100644
--- a/toolbox/include/ModelPartitioner.h
+++ b/toolbox/include/ModelPartitioner.h
@@ -16,10 +16,12 @@ class wbt::ModelPartitioner : public wbt::WBBlock
     bool m_yarp2WBI;
 
     std::shared_ptr<JointsMapString> m_jointsMapString;
+    std::shared_ptr<ControlledJointsMapCB> m_controlledJointsMapCB;
+    std::shared_ptr<ControlBoardIdxLimit> m_controlBoardIdxLimit;
 
 public:
     static const std::string ClassName;
-    
+
     ModelPartitioner() = default;
     ~ModelPartitioner() override = default;
 
diff --git a/toolbox/include/base/RobotInterface.h b/toolbox/include/base/RobotInterface.h
index 489bf0f35..76d338de3 100644
--- a/toolbox/include/base/RobotInterface.h
+++ b/toolbox/include/base/RobotInterface.h
@@ -36,8 +36,12 @@ namespace wbt {
     typedef int jointIdx_yarp;
     typedef int jointIdx_iDynTree;
     typedef unsigned cb_idx;
+    typedef unsigned max_cb_idx;
+    typedef unsigned controlledJointIdxCB;
     typedef std::unordered_map<jointIdx_iDynTree, std::pair<cb_idx, jointIdx_yarp>> JointsMapIndex;
     typedef std::unordered_map<std::string, std::pair<cb_idx, jointIdx_yarp>> JointsMapString;
+    typedef std::unordered_map<std::string, controlledJointIdxCB> ControlledJointsMapCB;
+    typedef std::unordered_map<cb_idx, max_cb_idx> ControlBoardIdxLimit;
 }
 
 /**
@@ -106,7 +110,8 @@ class wbt::RobotInterface
     // Maps used to store infos about yarp's and idyntree's internal joint indexing
     std::shared_ptr<JointsMapIndex> m_jointsMapIndex;
     std::shared_ptr<JointsMapString> m_jointsMapString;
-    // std::unordered_map<std::pair<cb_idx, yarp_idx>, joint_name> m_yarp2joint;
+    std::shared_ptr<ControlledJointsMapCB> m_controlledJointsMapCB;
+    std::shared_ptr<ControlBoardIdxLimit> m_controlBoardIdxLimit;
 
     // Configuration from Simulink Block's parameters
     const wbt::Configuration m_config;
@@ -159,6 +164,17 @@ class wbt::RobotInterface
      * @return True if the map has been created successfully
      */
     bool mapDoFs();
+
+    /**
+     * Create a RemoteControlBoard object for a given remoteName
+     *
+     * @see mapDoFs
+     *
+     * @param  remoteName   [in]  Name of the remote from which the remote control board is be initialized
+     * @param  controlBoard [out] Smart pointer to the allocated remote control board
+     * @return                    True if success
+     */
+    bool getSingleControlBoard(const std::string& remoteName, std::unique_ptr<yarp::dev::PolyDriver>& controlBoard);
 public:
 
     // CONSTRUCTOR / DESTRUCTOR
@@ -179,7 +195,7 @@ class wbt::RobotInterface
     const wbt::Configuration& getConfiguration() const;
 
     /**
-     * Get the map between model joint namesand the YARP representation (Control Board and
+     * Get the map between model joint names and the YARP representation (Control Board and
      * joint index)
      *
      * @return The joint map
@@ -194,6 +210,31 @@ class wbt::RobotInterface
      */
     const std::shared_ptr<JointsMapIndex> getJointsMapIndex();
 
+    /**
+     * Get the map between model joint names and the index representing their relative ordering
+     * inside the controlledJoints vector relative to their ControlBoard.
+     *
+     * @note For example, if the joints are
+     * \verbatim j1_cb1 j2_cb1 j3_cb1 j1_cb2 j2_cb2 j1_cb3 \endverbatim, the map links them to
+     * \verbatim 0 1 2 0 1 0 \end
+     *
+     * @return The joint map
+     */
+    const std::shared_ptr<ControlledJointsMapCB> getControlledJointsMapCB();
+
+    /**
+     * Get the map between the ControlBoard index inside the RemoteControlBoardRemapper
+     * and the number of the controlled joints which belongs to it.
+     *
+     * @note For example, if the joints are
+     * \verbatim j1_cb1 j2_cb1 j3_cb1 j1_cb2 j2_cb2 j1_cb3 \endverbatim, the generated map is
+     * \verbatim  {{0,3}{1,2}{2,1}} \endverbatim
+     * Note that the map key is 0-indexed.
+     *
+     * @return The control board limit map
+     */
+    const std::shared_ptr<ControlBoardIdxLimit> getControlBoardIdxLimit();
+
     /**
      * Get the object to operate on the configured model
      *
diff --git a/toolbox/src/ModelPartitioner.cpp b/toolbox/src/ModelPartitioner.cpp
index 2c54458bd..e987604f8 100644
--- a/toolbox/src/ModelPartitioner.cpp
+++ b/toolbox/src/ModelPartitioner.cpp
@@ -5,6 +5,7 @@
 #include "RobotInterface.h"
 #include "Signal.h"
 #include "Log.h"
+#include <algorithm>
 
 using namespace wbt;
 
@@ -12,7 +13,7 @@ const std::string ModelPartitioner::ClassName = "ModelPartitioner";
 
 unsigned ModelPartitioner::numberOfParameters()
 {
-    return 1;
+    return WBBlock::numberOfParameters() + 1;
 }
 
 bool ModelPartitioner::configureSizeAndPorts(BlockInformation* blockInfo)
@@ -25,8 +26,10 @@ bool ModelPartitioner::configureSizeAndPorts(BlockInformation* blockInfo)
     // 1) Boolean specifying if yarp2WBI (true) or WBI2yarp (false)
     //
 
-    bool yarp2WBI;
-    if (!blockInfo->getBooleanParameterAtIndex(1, yarp2WBI)) {
+    bool yarp2WBI = false;
+    unsigned yarp2WBIParameterIdx = WBBlock::numberOfParameters() + 1;
+
+    if (!blockInfo->getBooleanParameterAtIndex(yarp2WBIParameterIdx, yarp2WBI)) {
         Log::getSingleton().error("Failed to get input parameters.");
         return false;
     }
@@ -53,12 +56,14 @@ bool ModelPartitioner::configureSizeAndPorts(BlockInformation* blockInfo)
         numberOfInputs = 1;
         ok = blockInfo->setNumberOfInputPorts(numberOfInputs);
         blockInfo->setInputPortVectorSize(0, getConfiguration().getNumberOfDoFs());
+        blockInfo->setInputPortType(0, PortDataTypeDouble);
     }
     else {
         numberOfInputs = controlBoardsNumber;
         ok = blockInfo->setNumberOfInputPorts(numberOfInputs);
         // Set the size as dynamic
         for (unsigned i = 0; i < numberOfInputs; ++i) {
+            blockInfo->setInputPortVectorSize(i, -1);
             blockInfo->setInputPortType(i, PortDataTypeDouble);
         }
     }
@@ -100,6 +105,28 @@ bool ModelPartitioner::configureSizeAndPorts(BlockInformation* blockInfo)
         blockInfo->setOutputPortType(0, PortDataTypeDouble);
     }
 
+    // For some reason, the output ports widths in the yarp2WBI case are not detected
+    // properly by Simulink if set as DYNAMICALLY_SIZED (-1).
+    // Set them manually using the m_controlBoardIdxLimit map.
+    //
+    // Doing this now has the disadvantage of allocating the KinDynComputations and the
+    // RemoteControlBoardRemapper already at this early stage, but this happens only at the
+    // first execution of the model if the joint list doesn't change.
+    //
+    if (yarp2WBI) {
+        m_controlBoardIdxLimit = getRobotInterface()->getControlBoardIdxLimit();
+        if (!m_controlBoardIdxLimit) {
+            Log::getSingleton().error("Failed to get the map CBIdx <--> CBMaxIdx.");
+            return false;
+        }
+        for (const auto& cb : *m_controlBoardIdxLimit) {
+            if (!blockInfo->setOutputPortVectorSize(cb.first, cb.second)) {
+                Log::getSingleton().error("Failed to set ouput port size reading them from cb map.");
+                return false;
+            }
+        }
+    }
+
     if (!ok) {
         Log::getSingleton().error("Failed to set output port number.");
         return false;
@@ -112,14 +139,22 @@ bool ModelPartitioner::initialize(const BlockInformation* blockInfo)
 {
     if (!WBBlock::initialize(blockInfo)) return false;
 
-    if (!blockInfo->getBooleanParameterAtIndex(1, m_yarp2WBI)) {
+    unsigned yarp2WBIParameterIdx = WBBlock::numberOfParameters() + 1;
+    if (!blockInfo->getBooleanParameterAtIndex(yarp2WBIParameterIdx, m_yarp2WBI)) {
         Log::getSingleton().error("Failed to get input parameters.");
         return false;
     }
 
     m_jointsMapString = getRobotInterface()->getJointsMapString();
+    m_controlledJointsMapCB = getRobotInterface()->getControlledJointsMapCB();
 
     if (!m_jointsMapString) {
+        Log::getSingleton().error("Failed to get the joint map iDynTree <--> Yarp.");
+        return false;
+    }
+
+    if (!m_controlledJointsMapCB) {
+        Log::getSingleton().error("Failed to get the joint map iDynTree <--> controlledJointsIdx.");
         return false;
     }
 
@@ -133,48 +168,38 @@ bool ModelPartitioner::terminate(const BlockInformation* blockInfo)
 
 bool ModelPartitioner::output(const BlockInformation* blockInfo)
 {
-    if (m_yarp2WBI) {
-        // Input
-        Signal jointListSignal = blockInfo->getInputPortSignal(0);
+    Signal dofsSignal;
 
-        // Outputs
-        Signal ithControlBoardSignal;
+    if (m_yarp2WBI) {
+        dofsSignal = blockInfo->getInputPortSignal(0);
 
-        for (unsigned ithJoint = 0; ithJoint < blockInfo->getInputPortWidth(0); ++ithJoint) {
-            // Get the ControlBoard number the ith joint belongs, and its index into the CB itself
-            std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
-            const auto& mappedJointInfos = m_jointsMapString->at(ithJointName);
-            cb_idx controlBoardOfJoint = mappedJointInfos.first;
-            jointIdx_yarp yarpIndexOfJoint = mappedJointInfos.second;
+        for (unsigned ithJoint = 0; ithJoint < getConfiguration().getNumberOfDoFs(); ++ithJoint) {
+            const std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
+            // Get the ControlBoard number the ith joint belongs
+            const cb_idx& controlBoardOfJoint = m_jointsMapString->at(ithJointName).first;
+            // Get the index of the ith joint inside the controlledJoints vector relative to
+            // its ControlBoard
+            const controlledJointIdxCB contrJointIdxCB = m_controlledJointsMapCB->at(ithJointName);
 
             // Get the data to forward
-            Data value = jointListSignal.get(ithJoint);
-
-            // Forward the value to the correct output / output index
-            ithControlBoardSignal = blockInfo->getOutputPortSignal(controlBoardOfJoint);
-            ithControlBoardSignal.set(yarpIndexOfJoint, value.doubleData());
+            Signal ithOutput = blockInfo->getOutputPortSignal(controlBoardOfJoint);
+            ithOutput.set(contrJointIdxCB, dofsSignal.get(ithJoint).doubleData());
         }
     }
     else {
-        // Inputs
-        Signal ithControlBoardSignal;
+        dofsSignal = blockInfo->getOutputPortSignal(0);
 
-        // Output
-        Signal jointListSignal = blockInfo->getOutputPortSignal(0);
-
-        for (unsigned ithJoint = 0; ithJoint < blockInfo->getOutputPortWidth(0); ++ithJoint) {
-            // Get the ControlBoard number the ith joint belongs, and its index into the CB itself
-            std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
-            const auto& mappedJointInfos = m_jointsMapString->at(ithJointName);
-            cb_idx controlBoardOfJoint = mappedJointInfos.first;
-            jointIdx_yarp yarpIndexOfJoint = mappedJointInfos.second;
+        for (unsigned ithJoint = 0; ithJoint < getConfiguration().getNumberOfDoFs(); ++ithJoint) {
+            const std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
+            // Get the ControlBoard number the ith joint belongs
+            const cb_idx& controlBoardOfJoint = m_jointsMapString->at(ithJointName).first;
+            // Get the index of the ith joint inside the controlledJoints vector relative to
+            // its ControlBoard
+            const controlledJointIdxCB contrJointIdxCB = m_controlledJointsMapCB->at(ithJointName);
 
             // Get the data to forward
-            ithControlBoardSignal = blockInfo->getInputPortSignal(controlBoardOfJoint);
-            Data value = ithControlBoardSignal.get(ithJoint);
-
-            // Forward the value to the correct output index
-            jointListSignal.set(yarpIndexOfJoint, value.doubleData());
+            const Signal ithInput = blockInfo->getInputPortSignal(controlBoardOfJoint);
+            dofsSignal.set(ithJoint, ithInput.get(contrJointIdxCB).doubleData());
         }
     }
     return true;
diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
index bf96983f2..e637d40e5 100644
--- a/toolbox/src/base/RobotInterface.cpp
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -2,6 +2,7 @@
 #include "Log.h"
 #include <sstream>
 #include <iterator>
+#include <utility>
 #include <iDynTree/KinDynComputations.h>
 #include <iDynTree/ModelIO/ModelLoader.h>
 #include <yarp/dev/PolyDriver.h>
@@ -9,9 +10,9 @@
 #include <yarp/dev/ControlBoardInterfaces.h>
 #include <yarp/dev/IControlLimits2.h>
 #include <yarp/os/Property.h>
+#include <yarp/os/Bottle.h>
 
 namespace wbt {
-
     // The declaration of the following template specializations are required only by GCC
     using namespace yarp::dev;
     template <> bool RobotInterface::getInterface(IControlMode2*& interface);
@@ -51,28 +52,54 @@ RobotInterface::~RobotInterface()
     assert(m_robotDeviceCounter == 0);
 }
 
+bool RobotInterface::getSingleControlBoard(const std::string& remoteName, std::unique_ptr<yarp::dev::PolyDriver>& controlBoard) {
+    // Configure the single control board
+    yarp::os::Property options;
+    options.clear();
+    options.put("device", "remote_controlboard");
+    options.put("remote", remoteName);
+    options.put("local", m_config.getLocalName() + "/CBtmp");
+    options.put("writeStrict", "on");
+
+    // Initialize the device
+    controlBoard = std::unique_ptr<yarp::dev::PolyDriver>(new yarp::dev::PolyDriver());
+    if (!controlBoard) {
+        Log::getSingleton().error("Failed to retain the RemoteControlBoard ");
+        Log::getSingleton().errorAppend("used for mapping iDynTree - YARP DoFs.");
+        return false;
+    }
+
+    // Try to open the control board
+    if (!controlBoard->open(options) || !controlBoard->isValid()) {
+        Log::getSingleton().error("Unable to open RemoteControlBoard " + remoteName);
+        return false;
+    }
+
+    return true;
+}
+
 bool RobotInterface::mapDoFs()
 {
-    std::unique_ptr<yarp::dev::PolyDriver> controlBoard;
+    // Initialize the network
+    yarp::os::Network::init();
+    if (!yarp::os::Network::initialized() || !yarp::os::Network::checkNetwork(5.0)) {
+        Log::getSingleton().error("YARP server wasn't found active!!");
+        return false;
+    }
+
     std::vector<std::unique_ptr<yarp::dev::IAxisInfo>> iAxisInfos;
-    yarp::os::Property options;
 
     for (unsigned cbNum = 0; cbNum < m_config.getControlBoardsNames().size(); ++cbNum) {
-        // Configure the single control board
-        options.clear();
-        options.put("device","remotecontrolboard");
+
+        std::unique_ptr<yarp::dev::PolyDriver> controlBoard;
         const std::string prefix = "/" + m_config.getRobotName() + "/";
         const std::string remoteName = prefix + m_config.getControlBoardsNames().at(cbNum);
-        options.put("remote", remoteName);
-        options.put("localPortPrefix", "WBTtmp");
 
-        // Try to open the control board
-        if (!controlBoard->open(options) || !controlBoard->isValid()) {
-            Log::getSingleton().error("Unable to open RemoteControlBoard " + remoteName);
+        if (!getSingleControlBoard(remoteName, controlBoard)) {
             return false;
         }
 
-        // Get an IAxisInfo object from the device
+        // Get an IAxisInfo object from the interface
         std::unique_ptr<yarp::dev::IAxisInfo> iAxisInfo;
         yarp::dev::IAxisInfo* iAxisInfoPtr = iAxisInfo.get();
         controlBoard->view(iAxisInfoPtr);
@@ -92,6 +119,7 @@ bool RobotInterface::mapDoFs()
             return false;
         }
 
+        int found = -1;
         // Iterate all the joints in the selected Control Board
         for (unsigned axis = 0; axis < numAxes; ++axis) {
             std::string axisName;
@@ -100,13 +128,18 @@ bool RobotInterface::mapDoFs()
                 return false;
             }
             // Look if axisName is a controlledJoint
-            bool found = false;
             for (const auto& controlledJoint : m_config.getControlledJoints()) {
                 if (controlledJoint == axisName) {
-                    // Get the iDynTree index
-                    const auto& model = getKinDynComputations()->model();
-                    iDynTree::LinkIndex iDynLinkIdx = model.getLinkIndex(axisName);
-                    if (iDynLinkIdx == iDynTree::LINK_INVALID_INDEX) {
+                    found++;
+                    // Get the iDynTree index from the model
+                    const auto& kinDynComp = getKinDynComputations();
+                    if (!kinDynComp) {
+                        Log::getSingleton().error("Failed to get KinDynComputations.");
+                        return false;
+                    }
+                    const auto& model = kinDynComp->model();
+                    iDynTree::JointIndex iDynJointIdx = model.getJointIndex(axisName);
+                    if (iDynJointIdx == iDynTree::JOINT_INVALID_INDEX) {
                         Log::getSingleton().error("Joint " + axisName + " exists in the " +
                                                   remoteName + "control board but not in the model.");
                         return false;
@@ -118,27 +151,42 @@ bool RobotInterface::mapDoFs()
                     if (!m_jointsMapString) {
                         m_jointsMapString = std::make_shared<JointsMapString>();
                     }
+                    if (!m_controlledJointsMapCB) {
+                        m_controlledJointsMapCB = std::make_shared<ControlledJointsMapCB>();
+                    }
+                    if (!m_controlBoardIdxLimit) {
+                        m_controlBoardIdxLimit = std::make_shared<ControlBoardIdxLimit>();
+                    }
                     // Create a new entry in the map objects
-                    m_jointsMapString->at(controlledJoint) = {cbNum, axis};
-                    m_jointsMapIndex->at(static_cast<int>(iDynLinkIdx)) = {cbNum, axis};
-                    found = true;
+                    m_jointsMapString->insert(std::make_pair(controlledJoint, std::make_pair(cbNum, axis)));
+                    m_jointsMapIndex->insert(std::make_pair(static_cast<int>(iDynJointIdx),
+                                                            std::make_pair(cbNum, axis)));
+                    m_controlledJointsMapCB->insert(std::make_pair(controlledJoint, found));
+                    (*m_controlBoardIdxLimit)[cbNum] = found + 1;
                     break;
                 }
             }
-            // Notify that the control board just checked is not used by any joint
-            // of the controlledJoints list
-            if (!found) {
-                Log::getSingleton().warning("No controlled joints found in " +
-                                            m_config.getControlBoardsNames().at(cbNum) +
-                                            " control board. It might be unsed.");
-            }
+
         }
-    }
 
-    if (!controlBoard->close()) {
-        Log::getSingleton().error("Unable to close the device of the Control Board.");
-        return false;
+        // Notify that the control board just checked is not used by any joint
+        // of the controlledJoints list
+        if (found < 0) {
+            Log::getSingleton().warning("No controlled joints found in " +
+            m_config.getControlBoardsNames().at(cbNum) +
+            " control board. It might be unused.");
+        }
+
+        // Close the ControlBoard device
+        if (!controlBoard->close()) {
+            Log::getSingleton().error("Unable to close the interface of the Control Board.");
+            return false;
+        }
     }
+
+    // Initialize the network
+    yarp::os::Network::fini();
+
     return true;
 }
 
@@ -152,22 +200,21 @@ const wbt::Configuration& RobotInterface::getConfiguration() const
 
 const std::shared_ptr<JointsMapString> RobotInterface::getJointsMapString()
 {
-    if (m_jointsMapString->empty()) {
+    if (!m_jointsMapString || m_jointsMapString->empty()) {
         if (!mapDoFs()) {
-            Log::getSingleton().error("Failed to create the Yarp - iDynTree joint map.");
+            Log::getSingleton().error("Failed to create the joint maps.");
             return nullptr;
         }
     }
 
-    assert (m_jointsMapString);
     return m_jointsMapString;
 }
 
 const std::shared_ptr<JointsMapIndex> RobotInterface::getJointsMapIndex()
 {
-    if (m_jointsMapIndex->empty()) {
+    if (!m_jointsMapIndex || m_jointsMapIndex->empty()) {
         if (!mapDoFs()) {
-            Log::getSingleton().error("Failed to create the Yarp - iDynTree joint map.");
+            Log::getSingleton().error("Failed to create the joint maps.");
             return nullptr;
         }
     }
@@ -176,6 +223,32 @@ const std::shared_ptr<JointsMapIndex> RobotInterface::getJointsMapIndex()
     return m_jointsMapIndex;
 }
 
+const std::shared_ptr<ControlledJointsMapCB> RobotInterface::getControlledJointsMapCB()
+{
+    if (!m_controlledJointsMapCB || m_controlledJointsMapCB->empty()) {
+        if (!mapDoFs()) {
+            Log::getSingleton().error("Failed to create joint maps.");
+            return nullptr;
+        }
+    }
+
+    assert (m_controlledJointsMapCB);
+    return m_controlledJointsMapCB;
+}
+
+const std::shared_ptr<ControlBoardIdxLimit> RobotInterface::getControlBoardIdxLimit()
+{
+    if (!m_controlBoardIdxLimit || m_controlBoardIdxLimit->empty()) {
+        if (!mapDoFs()) {
+            Log::getSingleton().error("Failed to create joint maps.");
+            return nullptr;
+        }
+    }
+
+    assert (m_controlBoardIdxLimit);
+    return m_controlBoardIdxLimit;
+}
+
 const std::shared_ptr<iDynTree::KinDynComputations> RobotInterface::getKinDynComputations()
 {
     if (m_kinDynComp) {

From 212ffaf7837d0af52929eb5c8f7086513bffae85 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 11:17:05 +0000
Subject: [PATCH 58/92] YarpRead: fixed indexing of signals

This block has optional outputs, and the indexing in the output() method was not correct
---
 toolbox/src/YarpRead.cpp | 15 ++++++++++++---
 1 file changed, 12 insertions(+), 3 deletions(-)

diff --git a/toolbox/src/YarpRead.cpp b/toolbox/src/YarpRead.cpp
index 9e5807cce..939446e05 100644
--- a/toolbox/src/YarpRead.cpp
+++ b/toolbox/src/YarpRead.cpp
@@ -178,8 +178,15 @@ bool YarpRead::terminate(const BlockInformation* /*blockInfo*/)
 
 bool YarpRead::output(const BlockInformation* blockInfo)
 {
-    int timeStampPortIndex = 1;
-    int connectionStatusPortIndex = 1;
+    int timeStampPortIndex = 0;
+    int connectionStatusPortIndex = 0;
+
+    if (m_shouldReadTimestamp) {
+        timeStampPortIndex = 1;
+    }
+    if (!m_autoconnect) {
+        connectionStatusPortIndex = timeStampPortIndex + 1;
+    }
 
     yarp::sig::Vector* v = m_port->read(m_blocking); // Read from the port.  Waits until data arrives.
 
@@ -197,7 +204,9 @@ bool YarpRead::output(const BlockInformation* blockInfo)
         Signal signal = blockInfo->getOutputPortSignal(0);
 
         // Crop the buffer if it exceeds the OutputPortWidth.
-        signal.setBuffer(v->data(), std::min(blockInfo->getOutputPortWidth(0), (unsigned)v->size()));
+        signal.setBuffer(v->data(),
+                         std::min(blockInfo->getOutputPortWidth(0),
+                                  static_cast<unsigned>(v->size())));
 
         if (!m_autoconnect) {
             Signal statusPort = blockInfo->getOutputPortSignal(connectionStatusPortIndex);

From 9cb9aa8531d29739ce477f92e32e7cd10e6732b5 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 15:59:40 +0000
Subject: [PATCH 59/92] Improved logging support and log messages

---
 toolbox/include/base/Log.h          | 11 +++++++----
 toolbox/src/GetLimits.cpp           |  8 ++++++--
 toolbox/src/GetMeasurement.cpp      |  2 +-
 toolbox/src/SetLowLevelPID.cpp      | 15 ++++++++++-----
 toolbox/src/SetReferences.cpp       |  2 +-
 toolbox/src/YarpRead.cpp            |  6 +++++-
 toolbox/src/base/Log.cpp            | 25 +++++++++++++++++++++----
 toolbox/src/base/RobotInterface.cpp |  4 +++-
 8 files changed, 54 insertions(+), 19 deletions(-)

diff --git a/toolbox/include/base/Log.h b/toolbox/include/base/Log.h
index 699c431b6..e3f9d6764 100644
--- a/toolbox/include/base/Log.h
+++ b/toolbox/include/base/Log.h
@@ -18,16 +18,19 @@ class wbt::Log
     std::vector<std::string> warnings;
     std::string prefix;
 
-    static std::string serializeVectorString(std::vector<std::string> v, std::string prefix="");
+    static std::string serializeVectorString(std::vector<std::string> v, const std::string& prefix="");
 public:
 
     static wbt::Log& getSingleton();
 
-    void error(std::string errorMessage);
-    void warning(std::string warningMessage);
+    void error(const std::string& errorMessage);
+    void warning(const std::string& warningMessage);
+
+    void errorAppend(const std::string& errorMessage);
+    void warningAppend(const std::string& warningMessage);
 
     void resetPrefix();
-    void setPrefix(std::string prefixMessage);
+    void setPrefix(const std::string& prefixMessage);
 
     std::string getErrors() const;
     std::string getWarnings() const;
diff --git a/toolbox/src/GetLimits.cpp b/toolbox/src/GetLimits.cpp
index 44648995e..ca668fad3 100644
--- a/toolbox/src/GetLimits.cpp
+++ b/toolbox/src/GetLimits.cpp
@@ -103,7 +103,7 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
     if (limitType == "ControlBoardPosition" || limitType == "ControlBoardVelocity") {
         // Retain the control board remapper
         if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
-            Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+            Log::getSingleton().error("Couldn't retain the RemoteControlBoardRemapper.");
             return false;
         }
         // Get the interface
@@ -173,7 +173,11 @@ bool GetLimits::initialize(const BlockInformation* blockInfo)
                 m_limits->max[i] = std::numeric_limits<double>::infinity();
             }
             else {
-                p_joint->getPosLimits(0, min, max);
+                if (!p_joint->getPosLimits(0, min, max)) {
+                    Log::getSingleton().error("Failed to get joint limits from the URDF model ");
+                    Log::getSingleton().errorAppend("for the joint " + joint + ".");
+                    return false;
+                }
                 m_limits->min[i] = min;
                 m_limits->max[i] = max;
             }
diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
index 536ec00aa..a245105c6 100644
--- a/toolbox/src/GetMeasurement.cpp
+++ b/toolbox/src/GetMeasurement.cpp
@@ -95,7 +95,7 @@ bool GetMeasurement::initialize(const BlockInformation* blockInfo)
 
     // Retain the ControlBoardRemapper
     if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
-        Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+        Log::getSingleton().error("Couldn't retain the RemoteControlBoardRemapper.");
         return false;
     }
 
diff --git a/toolbox/src/SetLowLevelPID.cpp b/toolbox/src/SetLowLevelPID.cpp
index 6ce3a3aba..911b039d8 100644
--- a/toolbox/src/SetLowLevelPID.cpp
+++ b/toolbox/src/SetLowLevelPID.cpp
@@ -105,7 +105,12 @@ bool SetLowLevelPID::readWBTPidConfigObject(const BlockInformation* blockInfo)
         jointNamesFromParameters.push_back(joint);
     }
 
-    assert(Pvector.size() == Ivector.size() == Dvector.size() == jointNamesFromParameters.size());
+    if (Pvector.size() != Ivector.size() ||
+        Ivector.size() != Dvector.size() ||
+        Dvector.size() != jointNamesFromParameters.size()) {
+        Log::getSingleton().error("Sizes of P, I, D, and jointList elements are not the same.");
+        return false;
+    }
 
     // Store this data into a private member map
     for (unsigned i = 0; i < jointNamesFromParameters.size(); ++i) {
@@ -118,8 +123,8 @@ bool SetLowLevelPID::readWBTPidConfigObject(const BlockInformation* blockInfo)
             m_pidJointsFromParameters[jointNamesFromParameters[i]] = {Pvector[i], Ivector[i], Dvector[i]};
         }
         else {
-            Log::getSingleton().warning("Attempted to set PID of joint " + jointNamesFromParameters[i] +
-                                        " non currently controlled. Skipping it.");
+            Log::getSingleton().warning("Attempted to set PID of joint " + jointNamesFromParameters[i]);
+            Log::getSingleton().warningAppend(" non currently controlled. Skipping it.");
         }
 
     }
@@ -156,12 +161,12 @@ bool SetLowLevelPID::initialize(const BlockInformation* blockInfo)
     // Reading the WBTPIDConfig matlab class
     if (!readWBTPidConfigObject(blockInfo)) {
         Log::getSingleton().error("Failed to parse the WBTPIDConfig object.");
-        return 1;
+        return false;
     }
 
     // Retain the RemoteControlBoardRemapper
     if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
-        Log::getSingleton().error("Failed to retain the control board remapper.");
+        Log::getSingleton().error("Couldn't retain the RemoteControlBoardRemapper.");
         return false;
     }
 
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 90edb1c6b..05317332e 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -135,7 +135,7 @@ bool SetReferences::initialize(const BlockInformation* blockInfo)
 
     // Retain the ControlBoardRemapper
     if (!getRobotInterface()->retainRemoteControlBoardRemapper()) {
-        Log::getSingleton().error("Failed to initialize the Robot Interface containing the Control Board Remapper.");
+        Log::getSingleton().error("Couldn't retain the RemoteControlBoardRemapper.");
         return false;
     }
 
diff --git a/toolbox/src/YarpRead.cpp b/toolbox/src/YarpRead.cpp
index 939446e05..a25dc31db 100644
--- a/toolbox/src/YarpRead.cpp
+++ b/toolbox/src/YarpRead.cpp
@@ -194,7 +194,11 @@ bool YarpRead::output(const BlockInformation* blockInfo)
         if (m_shouldReadTimestamp) {
             connectionStatusPortIndex++;
             yarp::os::Stamp timestamp;
-            m_port->getEnvelope(timestamp);
+            if (!m_port->getEnvelope(timestamp)) {
+                Log::getSingleton().error("Failed to read port envelope (timestamp).");
+                Log::getSingleton().errorAppend("Be sure that the input port actually writes this data.");
+                return false;
+            }
 
             Signal pY1 = blockInfo->getOutputPortSignal(timeStampPortIndex);
             pY1.set(0, timestamp.getCount());
diff --git a/toolbox/src/base/Log.cpp b/toolbox/src/base/Log.cpp
index 9ee6abdaa..47769393c 100644
--- a/toolbox/src/base/Log.cpp
+++ b/toolbox/src/base/Log.cpp
@@ -10,17 +10,34 @@ Log& Log::getSingleton()
     return logInstance;
 }
 
-void Log::error(std::string errorMessage)
+void Log::error(const std::string& errorMessage)
 {
     errors.push_back(errorMessage);
 }
 
-void Log::warning(std::string warningMessage)
+void Log::warning(const std::string& warningMessage)
 {
     warnings.push_back(warningMessage);
 }
 
-void Log::setPrefix(std::string prefixMessage)
+void Log::errorAppend(const std::string& errorMessage)
+{
+    if (errors.empty()) {
+        error(errorMessage);
+        return;
+    }
+    errors.back() += errorMessage;
+}
+
+void Log::warningAppend(const std::string& warningMessage)
+{
+    if (warnings.empty()) {
+        warning(warningMessage);
+    }
+    warnings.back() += warningMessage;
+}
+
+void Log::setPrefix(const std::string& prefixMessage)
 {
     prefix = prefixMessage;
 }
@@ -30,7 +47,7 @@ void Log::resetPrefix()
     prefix.clear();
 }
 
-std::string Log::serializeVectorString(std::vector<std::string> v, std::string prefix)
+std::string Log::serializeVectorString(std::vector<std::string> v, const std::string& prefix)
 {
     std::stringstream output;
     std::ostream_iterator<std::string> output_iterator(output, "\n");
diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
index e637d40e5..9755e4d7a 100644
--- a/toolbox/src/base/RobotInterface.cpp
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -351,6 +351,7 @@ bool RobotInterface::retainRemoteControlBoardRemapper()
     }
 
     if (!initializeRemoteControlBoardRemapper()) {
+        Log::getSingleton().error("First initialization of the RemoteControlBoardRemapper failed.");
         return false;
     }
 
@@ -433,7 +434,8 @@ bool RobotInterface::initializeModel()
     iDynTree::ModelLoader mdlLoader;
     if (!mdlLoader.loadReducedModelFromFile(urdf_file_path, controlledJoints)) {
         Log::getSingleton().error("ToolboxSingleton: impossible to load " + urdf_file + ".");
-        Log::getSingleton().error("Probably the joint list contains an entry not present in the urdf model.");
+        Log::getSingleton().errorAppend("\nPossible causes: file not found, or the joint ");
+        Log::getSingleton().errorAppend("list contains an entry not present in the urdf model.");
         return false;
     }
 

From e210a17d10a3491b9d008762cca96f6243e0fb24 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 16:01:06 +0000
Subject: [PATCH 60/92] Initialize to nullptr the buffers of the Signal class

---
 toolbox/include/base/Signal.h | 2 +-
 toolbox/src/base/Signal.cpp   | 5 +++++
 2 files changed, 6 insertions(+), 1 deletion(-)

diff --git a/toolbox/include/base/Signal.h b/toolbox/include/base/Signal.h
index 0fbe27f3c..21109b7c7 100644
--- a/toolbox/include/base/Signal.h
+++ b/toolbox/include/base/Signal.h
@@ -19,7 +19,7 @@ class wbt::Signal
     void* contiguousData;
 
 public:
-    Signal() = default;
+    Signal();
 
     void initSignalType(wbt::PortDataType type, bool constPort);
 
diff --git a/toolbox/src/base/Signal.cpp b/toolbox/src/base/Signal.cpp
index 67e6d6b42..028daef88 100644
--- a/toolbox/src/base/Signal.cpp
+++ b/toolbox/src/base/Signal.cpp
@@ -3,6 +3,11 @@
 
 using namespace wbt;
 
+Signal::Signal()
+: nonContiguousData(nullptr)
+, contiguousData(nullptr)
+{}
+
 void Signal::initSignalType(wbt::PortDataType type, bool constPort)
 {
     this->portType = type;

From 8ea9fe7d2ca6d5a25a16e048934636e2086eb21e Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 16:02:06 +0000
Subject: [PATCH 61/92] Use const arguments in Configuration::setParameters()

---
 toolbox/include/base/Configuration.h | 12 ++++++------
 toolbox/src/base/Configuration.cpp   | 12 ++++++------
 2 files changed, 12 insertions(+), 12 deletions(-)

diff --git a/toolbox/include/base/Configuration.h b/toolbox/include/base/Configuration.h
index b131ce81a..4f0884a67 100644
--- a/toolbox/include/base/Configuration.h
+++ b/toolbox/include/base/Configuration.h
@@ -48,12 +48,12 @@ class wbt::Configuration
      * @param localName          Prefix appended to the opened ports
      * @param gravityVector      The gravity vector
      */
-    void setParameters(std::string robotName,
-                       std::string urdfFile,
-                       std::vector<std::string> controlledJoints,
-                       std::vector<std::string> controlBoardsNames,
-                       std::string localName,
-                       std::array<double, 3> gravityVector);
+    void setParameters(const std::string& robotName,
+                       const std::string& urdfFile,
+                       const std::vector<std::string>& controlledJoints,
+                       const std::vector<std::string>& controlBoardsNames,
+                       const std::string& localName,
+                       const std::array<double, 3>& gravityVector);
 
     /**
      * Set the name of the robot
diff --git a/toolbox/src/base/Configuration.cpp b/toolbox/src/base/Configuration.cpp
index 257a475f4..e4205ac9b 100644
--- a/toolbox/src/base/Configuration.cpp
+++ b/toolbox/src/base/Configuration.cpp
@@ -11,12 +11,12 @@ Configuration::Configuration(const std::string& confKey)
 // SET METHODS
 // ===========
 
-void Configuration::setParameters(std::string robotName,
-                                  std::string urdfFile,
-                                  std::vector<std::string> controlledJoints,
-                                  std::vector<std::string> controlBoardsNames,
-                                  std::string localName,
-                                  std::array<double, 3> gravityVector)
+void Configuration::setParameters(const std::string& robotName,
+                                  const std::string& urdfFile,
+                                  const std::vector<std::string>& controlledJoints,
+                                  const std::vector<std::string>& controlBoardsNames,
+                                  const std::string& localName,
+                                  const std::array<double, 3>& gravityVector)
 {
     setRobotName(robotName);
     setUrdfFile(urdfFile);

From dc20f9a34dc479872f6f29956fb1bcb99cda0c6c Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 16:03:50 +0000
Subject: [PATCH 62/92] Fix passing booleans as mask parameters

Sometimes the boolean are passed as double, and reading them using MxAnyType::asBool() fails
---
 toolbox/src/base/SimulinkBlockInformation.cpp | 11 +++++++++++
 1 file changed, 11 insertions(+)

diff --git a/toolbox/src/base/SimulinkBlockInformation.cpp b/toolbox/src/base/SimulinkBlockInformation.cpp
index 2b9688738..38c1060db 100644
--- a/toolbox/src/base/SimulinkBlockInformation.cpp
+++ b/toolbox/src/base/SimulinkBlockInformation.cpp
@@ -50,7 +50,18 @@ bool SimulinkBlockInformation::getScalarParameterAtIndex(unsigned parameterIndex
 
 bool SimulinkBlockInformation::getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) const
 {
+    double tmpValue = 0;
     const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+
+    // The Simulink mask often doesn't store boolean data from the mask as bool but as double.
+    // Calling asBool() will fail in this case. If this happens, asDouble() is used as fallback.
+    if (MxAnyType(blockParam).asBool(value)) {
+        return true;
+    }
+    else if (MxAnyType(blockParam).asDouble(tmpValue)) {
+        value = static_cast<bool>(tmpValue);
+        return true;
+    }
     return MxAnyType(blockParam).asBool(value);
 }
 

From 3a1941c13bf5ced45f9c0231527572dd02319bdf Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 16:06:06 +0000
Subject: [PATCH 63/92] Added method for extractring a struct from Matlab's
 WBTPIDConfig class

The struct is then used as S-Function parameter
---
 +WBToolbox/WBTPIDConfig.m | 12 ++++++++++++
 1 file changed, 12 insertions(+)

diff --git a/+WBToolbox/WBTPIDConfig.m b/+WBToolbox/WBTPIDConfig.m
index 9d23b523f..51999e301 100644
--- a/+WBToolbox/WBTPIDConfig.m
+++ b/+WBToolbox/WBTPIDConfig.m
@@ -57,6 +57,18 @@ function removePID(obj, jointName)
             obj.I(:,idx) = [];
             obj.D(:,idx) = [];
         end
+        
+        function value = getSimulinkParameters(obj)
+            if isempty(obj.P) || isempty(obj.I) || isempty(obj.D) || ...
+                    isempty(obj.jointList)
+                error('Trying to get parameters from an empty object')
+            end
+            value = struct();
+            value.P = obj.P;
+            value.I = obj.I;
+            value.D = obj.D;
+            value.jointList = obj.jointList;
+        end
     end
     
 end

From f20f521f70625413948c536ea757624b2b287a49 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 16:06:39 +0000
Subject: [PATCH 64/92] Typo in Mask2WBToolboxConfig.m script

---
 +WBToolbox/Mask2WBToolboxConfig.m | 6 +++---
 1 file changed, 3 insertions(+), 3 deletions(-)

diff --git a/+WBToolbox/Mask2WBToolboxConfig.m b/+WBToolbox/Mask2WBToolboxConfig.m
index 0396a46a3..b9850d12c 100644
--- a/+WBToolbox/Mask2WBToolboxConfig.m
+++ b/+WBToolbox/Mask2WBToolboxConfig.m
@@ -22,13 +22,13 @@
 WBTConfig.LocalName = stripApices(char(get_param(configBlock,'LocalName')));
 
 ControlledJointsChar = stripApices(char(get_param(configBlock,'ControlledJoints')));
-WBTConfig.ControlledJoints = eval('base',ControlledJointsChar);
+WBTConfig.ControlledJoints = evalin('base',ControlledJointsChar);
 
 ControlBoardsNamesChar = stripApices(char(get_param(configBlock,'ControlBoardsNames')));
-WBTConfig.ControlBoardsNames = eval('base',ControlBoardsNamesChar);
+WBTConfig.ControlBoardsNames = evalin('base',ControlBoardsNamesChar);
 
 GravityVectorChar = stripApices(char(get_param(configBlock,'GravityVector')));
-WBTConfig.GravityVector = eval('base',GravityVectorChar);
+WBTConfig.GravityVector = evalin('base',GravityVectorChar);
 
 end
 

From ed2d5de1cf0099862bf7168575a956d4d1c7d81f Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 21 Nov 2017 16:08:34 +0000
Subject: [PATCH 65/92] Disable IK blocks

---
 toolbox/include/base/toolbox.h |  4 ++--
 toolbox/src/base/factory.cpp   | 14 ++++++--------
 2 files changed, 8 insertions(+), 10 deletions(-)

diff --git a/toolbox/include/base/toolbox.h b/toolbox/include/base/toolbox.h
index cc0750e51..14f5a3778 100644
--- a/toolbox/include/base/toolbox.h
+++ b/toolbox/include/base/toolbox.h
@@ -21,6 +21,6 @@
 #include "MinimumJerkTrajectoryGenerator.h"
 #endif
 #ifdef WBT_USES_IPOPT
-#include "InverseKinematics.h"
-#include "RemoteInverseKinematics.h"
+// #include "InverseKinematics.h"
 #endif
+// #include "RemoteInverseKinematics.h"
diff --git a/toolbox/src/base/factory.cpp b/toolbox/src/base/factory.cpp
index 2d1d5f828..ab7d9f9be 100644
--- a/toolbox/src/base/factory.cpp
+++ b/toolbox/src/base/factory.cpp
@@ -45,14 +45,12 @@ Block* Block::instantiateBlockWithClassName(std::string blockClassName)
     }
 #endif
 #ifdef WBT_USES_IPOPT
-    else if (blockClassName == wbt::InverseKinematics::ClassName) {
-        block = new wbt::InverseKinematics();
-    }
+    // else if (blockClassName == InverseKinematics::ClassName) {
+    //     block = new InverseKinematics();
+    // }
 #endif
-    else if (blockClassName == wbt::RemoteInverseKinematics::ClassName) {
-        block = new wbt::RemoteInverseKinematics();
-    }
-
-    
+    // else if (blockClassName == RemoteInverseKinematics::ClassName) {
+    //     block = new RemoteInverseKinematics();
+    // }
     return block;
 }

From 33532320a824dcb4603281baec14f97033657c90 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 28 Nov 2017 15:50:48 +0000
Subject: [PATCH 66/92] Use system Matlab headers in MxAnyType library

---
 MxAnyType/CMakeLists.txt | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/MxAnyType/CMakeLists.txt b/MxAnyType/CMakeLists.txt
index 4faaebad7..608670096 100644
--- a/MxAnyType/CMakeLists.txt
+++ b/MxAnyType/CMakeLists.txt
@@ -34,8 +34,7 @@ endif()
 
 # Find Matlab resources
 find_package(Matlab REQUIRED MX_LIBRARY)
-# target_include_directories(${VARS_PREFIX} SYSTEM PUBLIC "${Matlab_INCLUDE_DIRS}") // TODO: when committing
-target_include_directories(${VARS_PREFIX} PUBLIC "${Matlab_INCLUDE_DIRS}")
+target_include_directories(${VARS_PREFIX} SYSTEM PUBLIC "${Matlab_INCLUDE_DIRS}")
 
 # Setup the include directories
 # TODO why in the how to was INTERFACE?

From b695ad4509fbaf79d3b501e54fd6f4225fc75e80 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Tue, 28 Nov 2017 15:51:38 +0000
Subject: [PATCH 67/92] Moved +WBToolbox folder into toolbox/

---
 {+WBToolbox => toolbox/+WBToolbox}/BlockInitialization.m  | 0
 {+WBToolbox => toolbox/+WBToolbox}/Mask2WBToolboxConfig.m | 0
 {+WBToolbox => toolbox/+WBToolbox}/PID.m                  | 0
 {+WBToolbox => toolbox/+WBToolbox}/WBTPIDConfig.m         | 0
 {+WBToolbox => toolbox/+WBToolbox}/WBToolboxConfig.m      | 0
 {+WBToolbox => toolbox/+WBToolbox}/WBToolboxConfig2Mask.m | 0
 6 files changed, 0 insertions(+), 0 deletions(-)
 rename {+WBToolbox => toolbox/+WBToolbox}/BlockInitialization.m (100%)
 rename {+WBToolbox => toolbox/+WBToolbox}/Mask2WBToolboxConfig.m (100%)
 rename {+WBToolbox => toolbox/+WBToolbox}/PID.m (100%)
 rename {+WBToolbox => toolbox/+WBToolbox}/WBTPIDConfig.m (100%)
 rename {+WBToolbox => toolbox/+WBToolbox}/WBToolboxConfig.m (100%)
 rename {+WBToolbox => toolbox/+WBToolbox}/WBToolboxConfig2Mask.m (100%)

diff --git a/+WBToolbox/BlockInitialization.m b/toolbox/+WBToolbox/BlockInitialization.m
similarity index 100%
rename from +WBToolbox/BlockInitialization.m
rename to toolbox/+WBToolbox/BlockInitialization.m
diff --git a/+WBToolbox/Mask2WBToolboxConfig.m b/toolbox/+WBToolbox/Mask2WBToolboxConfig.m
similarity index 100%
rename from +WBToolbox/Mask2WBToolboxConfig.m
rename to toolbox/+WBToolbox/Mask2WBToolboxConfig.m
diff --git a/+WBToolbox/PID.m b/toolbox/+WBToolbox/PID.m
similarity index 100%
rename from +WBToolbox/PID.m
rename to toolbox/+WBToolbox/PID.m
diff --git a/+WBToolbox/WBTPIDConfig.m b/toolbox/+WBToolbox/WBTPIDConfig.m
similarity index 100%
rename from +WBToolbox/WBTPIDConfig.m
rename to toolbox/+WBToolbox/WBTPIDConfig.m
diff --git a/+WBToolbox/WBToolboxConfig.m b/toolbox/+WBToolbox/WBToolboxConfig.m
similarity index 100%
rename from +WBToolbox/WBToolboxConfig.m
rename to toolbox/+WBToolbox/WBToolboxConfig.m
diff --git a/+WBToolbox/WBToolboxConfig2Mask.m b/toolbox/+WBToolbox/WBToolboxConfig2Mask.m
similarity index 100%
rename from +WBToolbox/WBToolboxConfig2Mask.m
rename to toolbox/+WBToolbox/WBToolboxConfig2Mask.m

From 00911ae1e8f52b2397911e591e6ed34566047589 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 29 Nov 2017 07:20:06 +0000
Subject: [PATCH 68/92] Fixed DotJNu output variable

---
 toolbox/include/DotJNu.h |  2 +-
 toolbox/src/DotJNu.cpp   | 10 ++++------
 2 files changed, 5 insertions(+), 7 deletions(-)

diff --git a/toolbox/include/DotJNu.h b/toolbox/include/DotJNu.h
index 409a185af..0bc8153ee 100644
--- a/toolbox/include/DotJNu.h
+++ b/toolbox/include/DotJNu.h
@@ -28,7 +28,7 @@ class wbt::DotJNu : public wbt::WBBlock
 
 public:
     static const std::string ClassName;
-    
+
     DotJNu();
     ~DotJNu() override = default;
 
diff --git a/toolbox/src/DotJNu.cpp b/toolbox/src/DotJNu.cpp
index e984d7a96..c6fcd7c2a 100644
--- a/toolbox/src/DotJNu.cpp
+++ b/toolbox/src/DotJNu.cpp
@@ -189,15 +189,13 @@ bool DotJNu::output(const BlockInformation* blockInfo)
     // OUTPUT
     // ======
 
-    // Compute the dot{J}*\nu
-    Vector6 biasAcc;
     if (!m_frameIsCoM) {
-        biasAcc = model->getFrameBiasAcc(m_frameIndex);
+        *m_dotJNu = model->getFrameBiasAcc(m_frameIndex);
     }
     else {
-        Vector3 comBiasAcc = model->getCenterOfMassBiasAcc();
-        toEigen(biasAcc).segment<3>(0) = iDynTree::toEigen(comBiasAcc);
-        toEigen(biasAcc).segment<3>(3).setZero();
+        iDynTree::Vector3 comBiasAcc = model->getCenterOfMassBiasAcc();
+        toEigen(*m_dotJNu).segment<3>(0) = iDynTree::toEigen(comBiasAcc);
+        toEigen(*m_dotJNu).segment<3>(3).setZero();
     }
 
     // Forward the output to Simulink

From e24edee09268a068d8812fde88bb7785f52945f4 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 29 Nov 2017 08:02:52 +0000
Subject: [PATCH 69/92] Signal class rewritten

- Added support to contiguous inputs (which are now the default setting)
- For non-contiguous signals, an internal buffer is allocated with signal data, and data copy has been minimized as much as possible
- When gathering a signal from Matlab, data type and signal are now read directly from the SimStruct
- For the time being, only double signal are supported, which are the Simulink defaults. The structure for including the support of other data types is already present, and it will be included in the upcoming releases
---
 toolbox/include/base/BlockInformation.h       |  48 +--
 toolbox/include/base/Signal.h                 | 175 ++++++--
 .../include/base/SimulinkBlockInformation.h   |  22 +-
 toolbox/src/base/Signal.cpp                   | 394 ++++++------------
 toolbox/src/base/SimulinkBlockInformation.cpp | 247 +++++++----
 toolbox/src/base/toolbox.cpp                  |   9 +
 6 files changed, 467 insertions(+), 428 deletions(-)

diff --git a/toolbox/include/base/BlockInformation.h b/toolbox/include/base/BlockInformation.h
index 06e2c37c1..43ef04306 100644
--- a/toolbox/include/base/BlockInformation.h
+++ b/toolbox/include/base/BlockInformation.h
@@ -3,7 +3,6 @@
 
 #include "AnyType.h"
 #include <string>
-#include <cstdint>
 
 namespace wbt {
     class BlockInformation;
@@ -21,37 +20,6 @@ namespace wbt {
         PortDataTypeBoolean,
     } PortDataType;
 
-    class Data
-    {
-    private:
-        double buffer;
-    public:
-        inline double doubleData() const { return buffer; }
-        inline void doubleData(const double& data) { buffer = data; }
-        inline float floatData() const { return static_cast<float>(buffer); }
-        inline void floatData(const float& data) { buffer = static_cast<float>(data); }
-
-        inline int8_t int8Data() const { return static_cast<int8_t>(buffer); }
-        inline void int8Data(const int8_t& data) { buffer = static_cast<int8_t>(data); }
-        inline uint8_t uint8Data() const { return static_cast<uint8_t>(buffer); }
-        inline void uint8Data(const uint8_t& data) { buffer = static_cast<uint8_t>(data); }
-
-        inline int16_t int16Data() const { return static_cast<int16_t>(buffer); }
-        inline void int16Data(const int16_t& data) { buffer = static_cast<int16_t>(data); }
-        inline uint16_t uint16Data() const { return static_cast<uint16_t>(buffer); }
-        inline void uint16Data(const uint16_t& data) { buffer = static_cast<uint16_t>(data); }
-
-        inline int32_t int32Data() const { return static_cast<int32_t>(buffer); }
-        inline void int32Data(const int32_t& data) { buffer = static_cast<int32_t>(data); }
-        inline uint32_t uint32Data() const { return static_cast<uint32_t>(buffer); }
-        inline void uint32Data(const uint32_t& data) { buffer = static_cast<uint32_t>(data); }
-
-        inline bool booleanData() const { return static_cast<bool>(buffer); }
-        inline void booleanData(const bool& data) { buffer = static_cast<bool>(data); }
-
-        friend Signal;
-    };
-
     extern const std::string BlockOptionPrioritizeOrder;
 }
 
@@ -61,7 +29,7 @@ class wbt::BlockInformation {
     BlockInformation() = default;
     virtual ~BlockInformation() = default;
 
-    // Block Options methods
+    // BLOCK OPTIONS METHODS
     // =====================
 
     /**
@@ -74,7 +42,7 @@ class wbt::BlockInformation {
     virtual bool optionFromKey(const std::string& key, double& option) const;
 
 
-    // Parameters methods
+    // PARAMETERS METHODS
     // ==================
 
     /**
@@ -88,12 +56,10 @@ class wbt::BlockInformation {
     virtual bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) const = 0;
     virtual bool getScalarParameterAtIndex(unsigned parameterIndex, double& value) const = 0;
     virtual bool getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) const = 0;
-    // virtual bool getAnyTypeAtIndex(unsigned parameterIndex, AnyType* data) = 0;
-    // virtual bool getCellAtIndex(unsigned parameterIndex, AnyCell& map) = 0;
     virtual bool getStructAtIndex(unsigned parameterIndex, AnyStruct& map) const = 0;
     virtual bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) const = 0;
 
-    // Port information methods
+    // PORT INFORMATION SETTERS
     // ========================
 
     virtual bool setNumberOfInputPorts(unsigned numberOfPorts) = 0;
@@ -114,13 +80,13 @@ class wbt::BlockInformation {
     virtual bool setInputPortType(unsigned portNumber, PortDataType portType) = 0;
     virtual bool setOutputPortType(unsigned portNumber, PortDataType portType) = 0;
 
-    // Port data
-    // =========
+    // PORT INFORMATION GETTERS
+    // ========================
 
     virtual unsigned getInputPortWidth(unsigned portNumber) const = 0;
     virtual unsigned getOutputPortWidth(unsigned portNumber) const = 0;
-    virtual wbt::Signal getInputPortSignal(unsigned portNumber) const = 0;
-    virtual wbt::Signal getOutputPortSignal(unsigned portNumber)const  = 0;
+    virtual wbt::Signal getInputPortSignal(unsigned portNumber, int portWidth = -1) const = 0;
+    virtual wbt::Signal getOutputPortSignal(unsigned portNumber, int portWidth = -1) const  = 0;
 };
 
 #endif /* end of include guard: WBT_BLOCKINFORMATION_H */
diff --git a/toolbox/include/base/Signal.h b/toolbox/include/base/Signal.h
index 21109b7c7..38f827a8b 100644
--- a/toolbox/include/base/Signal.h
+++ b/toolbox/include/base/Signal.h
@@ -2,50 +2,175 @@
 #define WBT_SIGNAL_H
 
 #include "BlockInformation.h"
-#include <vector>
+#include <cassert>
+#include <memory>
 
 namespace wbt {
     class Signal;
+    enum SignalDataFormat {
+        NONCONTIGUOUS = 0,
+        CONTIGUOUS = 1,
+        CONTIGUOUS_ZEROCOPY = 2
+    };
 }
 
 class wbt::Signal
 {
 private:
-    PortDataType portType;
-    bool isContiguous;
-    bool isConstPort;
+    int m_width;
+    const bool m_isConst;
+    const PortDataType m_portDataType;
+    const SignalDataFormat m_dataFormat;
 
-    void** nonContiguousData;
-    void* contiguousData;
+    void* m_bufferPtr;
+
+    void deleteBuffer();
+    void allocateBuffer(const void* const bufferInput, void*& bufferOutput, unsigned length);
+
+    template <typename T> T* getCastBuffer() const;
 
 public:
-    Signal();
+    // Ctor and Dtor
+    Signal(const SignalDataFormat& dataFormat = CONTIGUOUS_ZEROCOPY,
+           const PortDataType& dataType = PortDataTypeDouble,
+           const bool& isConst = true);
+    ~Signal();
+    // Copy
+    Signal(const Signal& signal);
+    Signal& operator=(const Signal& signal) = delete;
+    // Move
+    Signal(Signal&& signal);
+    Signal& operator=(Signal&& signal) = delete;
 
-    void initSignalType(wbt::PortDataType type, bool constPort);
+    bool initializeBufferFromContiguous(const void* buffer);
+    bool initializeBufferFromContiguousZeroCopy(const void* buffer);
+    bool initializeBufferFromNonContiguous(const void* const* bufferPtrs);
 
-    void setContiguousBuffer(void* buffer);
-    void setContiguousBuffer(const void* buffer);
-    void setNonContiguousBuffer(void** buffer);
-    void setNonContiguousBuffer(const void* const* buffer);
+    bool isConst() const;
+    unsigned getWidth() const;
+    PortDataType getPortDataType() const;
+    SignalDataFormat getDataFormat() const;
+    template <typename T> T* getBuffer() const;
+    template <typename T> T get(const unsigned& i) const;
 
-    const Data get(unsigned index) const;
-    void* getContiguousBuffer();
-    std::vector<double> getStdVector(unsigned length) const;
+    void setWidth(const unsigned& width);
+    bool set(const unsigned& index, const double& data);
+    template <typename T> bool setBuffer(const T* data, const unsigned& length);
+};
 
-    //the missing are cast
-    void set(unsigned index, double data);
-    void setBuffer(const double* data, const unsigned length, unsigned startIndex = 0);
+template <typename T>
+T* wbt::Signal::getBuffer() const
+{
+    // Check the returned matches the same type of the portType.
+    // If this is not met, appliying pointer arithmetics on the returned
+    // pointer would show unknown behaviour.
+    switch(m_portDataType) {
+        case wbt::PortDataTypeDouble:
+            if (typeid(T).hash_code() != typeid(double).hash_code()) {
+                return nullptr;
+            }
+            break;
+        case wbt::PortDataTypeSingle:
+            if (typeid(T).hash_code() != typeid(float).hash_code()) {
+                return nullptr;
+            }
+            break;
+        case wbt::PortDataTypeInt8:
+            if (typeid(T).hash_code() != typeid(int8_t).hash_code()) {
+                return nullptr;
+            }
+            break;
+        case wbt::PortDataTypeUInt8:
+            if (typeid(T).hash_code() != typeid(uint8_t).hash_code()) {
+                return nullptr;
+            }
+            break;
+        case wbt::PortDataTypeInt16:
+            if (typeid(T).hash_code() != typeid(int16_t).hash_code()) {
+                return nullptr;
+            }
+            break;
+        case wbt::PortDataTypeUInt16:
+            if (typeid(T).hash_code() != typeid(uint16_t).hash_code()) {
+                return nullptr;
+            }
+            break;
+        case wbt::PortDataTypeInt32:
+            if (typeid(T).hash_code() != typeid(int32_t).hash_code()) {
+                return nullptr;
+            }
+            break;
+        case wbt::PortDataTypeUInt32:
+            if (typeid(T).hash_code() != typeid(uint32_t).hash_code()) {
+                return nullptr;
+            }
+            break;
+        case wbt::PortDataTypeBoolean:
+            if (typeid(T).hash_code() != typeid(bool).hash_code()) {
+                return nullptr;
+            }
+            break;
+        default:
+            return nullptr;
+            break;
+    }
 
-    void set(unsigned index, int32_t data);
-    void setBuffer(const int32_t* data, const unsigned length, unsigned startIndex = 0);
+    // Return the correct pointer
+    return static_cast<T*>(m_bufferPtr);
+}
 
-    void set(unsigned index, uint32_t data);
-    void setBuffer(const uint32_t* data, const unsigned length, unsigned startIndex = 0);
+template <typename T>
+bool wbt::Signal::setBuffer(const T* data, const unsigned& length)
+{
+    // Non contiguous signals follow the Simulink convention of being read-only
+    if (m_dataFormat == NONCONTIGUOUS || m_isConst) {
+        return false;
+    }
 
-    void set(unsigned index, bool data);
-    void setBuffer(const bool* data, const unsigned length, unsigned startIndex = 0);
+    if (m_dataFormat == CONTIGUOUS_ZEROCOPY && length > m_width) {
+        return false;
+    }
 
-};
+    if (typeid(getBuffer<T>()).hash_code() != typeid(T*).hash_code()) {
+        return false;
+    }
 
+    switch (m_dataFormat) {
+        case CONTIGUOUS:
+            // Delete the current array
+            if (m_bufferPtr) {
+                delete getBuffer<T>();
+                m_bufferPtr = nullptr;
+                m_width = 0;
+            }
+            // Allocate a new empty array
+            m_bufferPtr = static_cast<void*>(new T[length]);
+            m_width = length;
+            // Fill it with new data
+            std::copy(data, data + length, getBuffer<T>());
+            break;
+        case CONTIGUOUS_ZEROCOPY:
+            // Reset current data
+            std::fill(getBuffer<T>(), getBuffer<T>() + m_width, 0);
+            // Copy new data
+            std::copy(data, data + length, getBuffer<T>());
+            // Update the width
+            m_width = length;
+            break;
+        case NONCONTIGUOUS:
+            return false;
+    }
+
+    return true;
+}
+
+template <typename T>
+T wbt::Signal::get(const unsigned& i) const
+{
+    T* buffer = getBuffer<T>();
+    assert(buffer);
+
+    return buffer[i];
+}
 
 #endif /* end of include guard: WBT_SIGNAL_H */
diff --git a/toolbox/include/base/SimulinkBlockInformation.h b/toolbox/include/base/SimulinkBlockInformation.h
index 0da7f51c5..dd79f9b31 100644
--- a/toolbox/include/base/SimulinkBlockInformation.h
+++ b/toolbox/include/base/SimulinkBlockInformation.h
@@ -15,20 +15,30 @@ class wbt::SimulinkBlockInformation : public wbt::BlockInformation
 private:
     SimStruct* simstruct;
 
+    PortDataType mapSimulinkToPortType(const DTypeId& typeId) const;
+    DTypeId mapPortTypeToSimulink(const PortDataType& dataType) const;
+
 public:
     SimulinkBlockInformation(SimStruct* simstruct);
     ~SimulinkBlockInformation() override = default;
 
+    // BLOCK OPTIONS METHODS
+    // =====================
+
     bool optionFromKey(const std::string& key, double& option) const override;
 
-    //Parameters methods
+    // PARAMETERS METHODS
+    // ==================
+
     bool getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) const override;
     bool getScalarParameterAtIndex(unsigned parameterIndex, double& value) const override;
     bool getBooleanParameterAtIndex(unsigned parameterIndex, bool& value) const override;
     bool getStructAtIndex(unsigned parameterIndex, AnyStruct& map) const override;
     bool getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) const override;
 
-    //Port information methods
+    // PORT INFORMATION SETTERS
+    // ========================
+
     bool setNumberOfInputPorts(unsigned numberOfPorts) override;
     bool setNumberOfOutputPorts(unsigned numberOfPorts) override;
     bool setInputPortVectorSize(unsigned portNumber, int portSize) override;
@@ -38,11 +48,13 @@ class wbt::SimulinkBlockInformation : public wbt::BlockInformation
     bool setInputPortType(unsigned portNumber, PortDataType portType) override;
     bool setOutputPortType(unsigned portNumber, PortDataType portType) override;
 
-    //Port data
+    // PORT INFORMATION GETTERS
+    // ========================
+
     unsigned getInputPortWidth(unsigned portNumber) const override;
     unsigned getOutputPortWidth(unsigned portNumber) const override;
-    wbt::Signal getInputPortSignal(unsigned portNumber) const override;
-    wbt::Signal getOutputPortSignal(unsigned portNumber) const override;
+    wbt::Signal getInputPortSignal(unsigned portNumber, int portWidth = DYNAMICALLY_SIZED) const override;
+    wbt::Signal getOutputPortSignal(unsigned portNumber, int portWidth = DYNAMICALLY_SIZED) const override;
 };
 
 #endif /* end of include guard: WBT_SIMULINKBLOCKINFORMATION_H */
diff --git a/toolbox/src/base/Signal.cpp b/toolbox/src/base/Signal.cpp
index 028daef88..b55bb425f 100644
--- a/toolbox/src/base/Signal.cpp
+++ b/toolbox/src/base/Signal.cpp
@@ -1,325 +1,189 @@
 #include "Signal.h"
-#include <cstring>
 
 using namespace wbt;
 
-Signal::Signal()
-: nonContiguousData(nullptr)
-, contiguousData(nullptr)
-{}
-
-void Signal::initSignalType(wbt::PortDataType type, bool constPort)
+Signal::~Signal()
 {
-    this->portType = type;
-    this->isConstPort = constPort;
+    deleteBuffer();
 }
 
-void Signal::setContiguousBuffer(void* buffer)
-{
-    contiguousData = buffer;
-    this->isContiguous = true;
-}
-void Signal::setContiguousBuffer(const void* buffer)
+Signal::Signal(const Signal& signal)
+: m_width(signal.m_width)
+, m_isConst(signal.m_isConst)
+, m_portDataType(signal.m_portDataType)
+, m_dataFormat(signal.m_dataFormat)
+, m_bufferPtr(nullptr)
 {
-    contiguousData = const_cast<void*>(buffer);
-    this->isContiguous = true;
+    if (signal.m_bufferPtr) {
+        switch (signal.m_dataFormat) {
+            // Just copy the pointer to MATLAB's memory
+            case CONTIGUOUS_ZEROCOPY:
+                m_bufferPtr = signal.m_bufferPtr;
+                break;
+            // Copy the allocated data
+            case NONCONTIGUOUS:
+            case CONTIGUOUS:
+                allocateBuffer(signal.m_bufferPtr, m_bufferPtr, signal.m_width);
+                break;
+        }
+    }
 }
 
-void Signal::setNonContiguousBuffer(void** buffer)
+Signal::Signal(const SignalDataFormat& dataFormat,
+               const PortDataType& dataType,
+               const bool& isConst)
+: m_isConst(isConst)
+, m_portDataType(dataType)
+, m_dataFormat(dataFormat)
+, m_bufferPtr(nullptr)
+{}
+
+Signal::Signal(Signal&& other)
+: m_width(other.m_width)
+, m_isConst(other.m_isConst)
+, m_portDataType(other.m_portDataType)
+, m_dataFormat(other.m_dataFormat)
+, m_bufferPtr(other.m_bufferPtr)
 {
-    nonContiguousData = buffer;
-    this->isContiguous = false;
+    other.m_width = 0;
+    other.m_bufferPtr = nullptr;
 }
 
-void Signal::setNonContiguousBuffer(const void* const* buffer)
+void Signal::allocateBuffer(const void* const bufferInput, void*& bufferOutput, unsigned length)
 {
-    nonContiguousData = const_cast<void**>(buffer);
-    this->isContiguous = false;
+    // TODO: Implement other PortDataType
+    switch (m_portDataType) {
+        case PortDataTypeDouble: {
+            // Allocate the array
+            bufferOutput = static_cast<void*>(new double[m_width]);
+            // Cast to double
+            const double* const bufferInputDouble = static_cast<const double*>(bufferInput);
+            double* bufferOutputDouble = static_cast<double*>(bufferOutput);
+            // Copy data
+            std::copy(bufferInputDouble, bufferInputDouble + length, bufferOutputDouble);
+            return;
+        }
+        default:
+            return;
+    }
 }
 
-
-const Data Signal::get(unsigned index) const
+void Signal::deleteBuffer()
 {
-    Data data;
-    switch (portType) {
+    if (m_dataFormat == CONTIGUOUS_ZEROCOPY || !m_bufferPtr) {
+        return;
+    }
+
+    // TODO: Implement other PortDataType
+    switch (m_portDataType) {
         case PortDataTypeDouble:
-            if (isContiguous) {
-                data.doubleData((static_cast<double*>(contiguousData))[index]);
-            }
-            else {
-                const double* buffer = static_cast<const double*>(*nonContiguousData);
-                data.doubleData(static_cast<const double>(buffer[index]));
-            }
-            break;
-        case PortDataTypeSingle:
-            if (isContiguous) {
-                data.floatData((static_cast<float*>(contiguousData))[index]);
-            }
-            else {
-                const float* buffer = static_cast<const float*>(*nonContiguousData);
-                data.floatData(static_cast<const float>(buffer[index]));
-            }
-            break;
-        case PortDataTypeInt8:
-            if (isContiguous) {
-                data.int8Data((static_cast<int8_t*>(contiguousData))[index]);
-            }
-            else {
-                const int8_t* buffer = static_cast<const int8_t*>(*nonContiguousData);
-                data.int8Data(static_cast<const int8_t>(buffer[index]));
-            }
-            break;
-        case PortDataTypeUInt8:
-            if (isContiguous) {
-                data.uint8Data((static_cast<uint8_t*>(contiguousData))[index]);
-            }
-            else {
-                const uint8_t* buffer = static_cast<const uint8_t*>(*nonContiguousData);
-                data.uint8Data(static_cast<const uint8_t>(buffer[index]));
-            }
-            break;
-        case PortDataTypeInt16:
-            if (isContiguous) {
-                data.int16Data((static_cast<int16_t*>(contiguousData))[index]);
-            }
-            else {
-                const int16_t* buffer = static_cast<const int16_t*>(*nonContiguousData);
-                data.int16Data(static_cast<const int16_t>(buffer[index]));
-            }
-            break;
-        case PortDataTypeUInt16:
-            if (isContiguous) {
-                data.uint16Data((static_cast<uint16_t*>(contiguousData))[index]);
-            }
-            else {
-                const uint16_t* buffer = static_cast<const uint16_t*>(*nonContiguousData);
-                data.uint16Data(static_cast<const uint16_t>(buffer[index]));
-            }
-            break;
-        case PortDataTypeInt32:
-            if (isContiguous) {
-                data.int32Data((static_cast<int32_t*>(contiguousData))[index]);
-            }
-            else {
-                const int32_t* buffer = static_cast<const int32_t*>(*nonContiguousData);
-                data.int32Data(static_cast<const int32_t>(buffer[index]));
-            }
-            break;
-        case PortDataTypeUInt32:
-            if (isContiguous) {
-                data.uint32Data((static_cast<uint32_t*>(contiguousData))[index]);
-            }
-            else {
-                const uint32_t* buffer = static_cast<const uint32_t*>(*nonContiguousData);
-                data.uint32Data(static_cast<const uint32_t>(buffer[index]));
-            }
-            break;
-        case PortDataTypeBoolean:
-            if (isContiguous) {
-                data.booleanData((static_cast<bool*>(contiguousData))[index]);
-            }
-            else {
-                const bool* buffer = static_cast<const bool*>(*nonContiguousData);
-                data.booleanData(static_cast<const bool>(buffer[index]));
-            }
+            delete static_cast<double*>(m_bufferPtr);
+            m_bufferPtr = nullptr;
+            return;
+        default:
+            return;
     }
-    return data;
 }
 
-void* Signal::getContiguousBuffer()
+bool Signal::initializeBufferFromContiguousZeroCopy(const void* buffer)
 {
-    if (!isContiguous) return nullptr;
-    return this->contiguousData;
+    if (m_dataFormat != CONTIGUOUS_ZEROCOPY) {
+        return false;
+    }
+
+    m_bufferPtr = const_cast<void*>(buffer);
+    return true;
 }
 
-std::vector<double> Signal::getStdVector(unsigned length) const
+bool Signal::initializeBufferFromContiguous(const void* buffer)
 {
-    std::vector<double> v(length);
-    for (unsigned i = 0; i < length; ++i) {
-        v[i] = get(i).doubleData();
+    if (m_dataFormat != CONTIGUOUS ||
+        m_width <= 0) {
+        return false;
     }
-    return v;
-}
 
-//the missing are cast
-void Signal::set(unsigned index, double data)
-{
-    if (isConstPort) return;
+    if (m_portDataType == PortDataTypeDouble) {
+        // Allocate a new vector to store data from the non-contiguous signal
+        m_bufferPtr = static_cast<void*>(new double[m_width]);
+        const double* bufferInputDouble = static_cast<const double*>(buffer);
+        double* bufferOutputDouble = static_cast<double*>(m_bufferPtr);
 
-    switch (portType) {
-        case PortDataTypeDouble:
-        {
-            double* buffer = static_cast<double*>(contiguousData);
-            buffer[index] = data;
-            break;
-        }
-        case PortDataTypeSingle:
-        {
-            float* buffer = static_cast<float*>(contiguousData);
-            buffer[index] = data;
-            break;
-        }
-        default:
-            break;
+        // Copy data from the input memory location
+        std::copy(bufferInputDouble, bufferInputDouble + m_width, bufferOutputDouble);
     }
+    return true;
 }
 
-void Signal::setBuffer(const double* data, const unsigned length, unsigned startIndex)
+bool Signal::initializeBufferFromNonContiguous(const void* const* bufferPtrs)
 {
-    if (isConstPort) return;
-    unsigned dataSize = 0;
-    const void* address = data;
-
-    switch (portType) {
-        case PortDataTypeDouble:
-        {
-            dataSize = sizeof(double);
-            address = static_cast<const double*>(address) + startIndex;
-            break;
-        }
-        case PortDataTypeSingle:
-        {
-            dataSize = sizeof(float);
-            address = static_cast<const float*>(address) + startIndex;
-            break;
-        }
-        default:
-            break;
+    if (m_dataFormat != NONCONTIGUOUS ||
+        m_width <= 0) {
+        return false;
     }
 
-    memcpy(contiguousData, address, dataSize * length);
+    if (m_portDataType == PortDataTypeDouble) {
+        // Allocate a new vector to store data from the non-contiguous signal
+        m_bufferPtr = static_cast<void*>(new double[m_width]);
+        double* bufferPtrDouble = static_cast<double*>(m_bufferPtr);
 
+        // Copy data from MATLAB's memory to the Signal object
+        for (auto i = 0; i < m_width; ++i) {
+            const double* valuePtr = static_cast<const double*>(*bufferPtrs);
+            bufferPtrDouble[i] = valuePtr[i];
+        }
+    }
+    return true;
 }
 
-void Signal::set(unsigned index, int32_t data)
+void Signal::setWidth(const unsigned& width)
 {
-    //signed integer function
-    switch (portType) {
-        case PortDataTypeInt32:
-        {
-            int32_t* buffer = static_cast<int32_t*>(contiguousData);
-            buffer[index] = data;
-            break;
-        }
-        case PortDataTypeInt16:
-        {
-            int16_t* buffer = static_cast<int16_t*>(contiguousData);
-            buffer[index] = data;
-            break;
-        }
-        case PortDataTypeInt8:
-        {
-            int8_t* buffer = static_cast<int8_t*>(contiguousData);
-            buffer[index] = data;
-            break;
-        }
-        default:
-            break;
-    }
+    m_width = width;
 }
 
-void Signal::setBuffer(const int32_t* data, const unsigned length, unsigned startIndex)
+unsigned Signal::getWidth() const
 {
-    if (isConstPort) return;
-    unsigned dataSize = 0;
-    const void* address = data;
+    return m_width;
+}
 
-    switch (portType) {
-        case PortDataTypeInt32:
-        {
-            dataSize = sizeof(int32_t);
-            address = static_cast<const int32_t*>(address) + startIndex;
-            break;
-        }
-        case PortDataTypeInt16:
-        {
-            dataSize = sizeof(int16_t);
-            address = static_cast<const int16_t*>(address) + startIndex;
-            break;
-        }
-        case PortDataTypeInt8:
-        {
-            dataSize = sizeof(int8_t);
-            address = static_cast<const int8_t*>(address) + startIndex;
-            break;
-        }
-        default:
-            break;
-    }
+PortDataType Signal::getPortDataType() const
+{
+    return m_portDataType;
+}
 
-    memcpy(contiguousData, address, dataSize* length);
+bool Signal::isConst() const
+{
+    return m_isConst;
 }
 
-void Signal::set(unsigned index, uint32_t data)
+
+SignalDataFormat Signal::getDataFormat() const
 {
-    //signed integer function
-    switch (portType) {
-        case PortDataTypeUInt32:
-        {
-            uint32_t* buffer = static_cast<uint32_t*>(contiguousData);
-            buffer[index] = data;
-            break;
-        }
-        case PortDataTypeUInt16:
-        {
-            uint16_t* buffer = static_cast<uint16_t*>(contiguousData);
-            buffer[index] = data;
-            break;
-        }
-        case PortDataTypeUInt8:
-        {
-            uint8_t* buffer = static_cast<uint8_t*>(contiguousData);
-            buffer[index] = data;
-            break;
-        }
-        default:
-            break;
-    }
+    return m_dataFormat;
 }
 
-void Signal::setBuffer(const uint32_t* data, const unsigned length, unsigned startIndex)
+bool Signal::set(const unsigned& index, const double& data)
 {
-    if (isConstPort) return;
-    unsigned dataSize = 0;
-    const void* address = data;
+    if (m_isConst || m_width <= index) {
+        return false;
+    }
 
-    switch (portType) {
-        case PortDataTypeUInt32:
-        {
-            dataSize = sizeof(uint32_t);
-            address = data + startIndex;
-            break;
-        }
-        case PortDataTypeUInt16:
+    // TODO: Implement other PortDataType
+    switch (m_portDataType) {
+        case PortDataTypeDouble:
         {
-            dataSize = sizeof(uint16_t);
-            address = data + startIndex;
+            double* buffer = static_cast<double*>(m_bufferPtr);
+            buffer[index] = data;
             break;
         }
-        case PortDataTypeUInt8:
+        case PortDataTypeSingle:
         {
-            dataSize = sizeof(uint8_t);
-            address = data + startIndex;
+            float* buffer = static_cast<float*>(m_bufferPtr);
+            buffer[index] = data;
             break;
         }
         default:
+            return false;
             break;
     }
-
-    memcpy(contiguousData, address, dataSize* length);
-}
-
-void Signal::set(unsigned index, bool data)
-{
-    bool* buffer = static_cast<bool*>(contiguousData);
-    buffer[index] = data;
-}
-
-void Signal::setBuffer(const bool* data, const unsigned length, unsigned startIndex)
-{
-    if (isConstPort) return;
-    unsigned dataSize = sizeof(bool);
-    const void* address = static_cast<const bool*>(data) + startIndex;
-
-    memcpy(contiguousData, address, dataSize* length);
+    return true;
 }
diff --git a/toolbox/src/base/SimulinkBlockInformation.cpp b/toolbox/src/base/SimulinkBlockInformation.cpp
index 38c1060db..f8825d0c8 100644
--- a/toolbox/src/base/SimulinkBlockInformation.cpp
+++ b/toolbox/src/base/SimulinkBlockInformation.cpp
@@ -11,6 +11,9 @@ SimulinkBlockInformation::SimulinkBlockInformation(SimStruct* S)
 : simstruct(S)
 {}
 
+// BLOCK OPTIONS METHODS
+// =====================
+
 bool SimulinkBlockInformation::optionFromKey(const std::string& key, double& option) const
 {
     if (key == wbt::BlockOptionPrioritizeOrder) {
@@ -21,27 +24,15 @@ bool SimulinkBlockInformation::optionFromKey(const std::string& key, double& opt
     return false;
 }
 
-//Parameters methods
+// PARAMETERS METHODS
+// ==================
+
 bool SimulinkBlockInformation::getStringParameterAtIndex(unsigned parameterIndex, std::string& stringParameter) const
 {
     const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
     return MxAnyType(blockParam).asString(stringParameter);
 }
 
-bool SimulinkBlockInformation::getStructAtIndex(unsigned parameterIndex, AnyStruct& map) const
-{
-    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
-    return MxAnyType(blockParam).asAnyStruct(map);
-}
-
-
-bool SimulinkBlockInformation::getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) const
-{
-    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
-    return MxAnyType(blockParam).asVectorDouble(vec);
-}
-
-
 bool SimulinkBlockInformation::getScalarParameterAtIndex(unsigned parameterIndex, double& value) const
 {
     const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
@@ -65,7 +56,22 @@ bool SimulinkBlockInformation::getBooleanParameterAtIndex(unsigned parameterInde
     return MxAnyType(blockParam).asBool(value);
 }
 
-//Port information methods
+bool SimulinkBlockInformation::getStructAtIndex(unsigned parameterIndex, AnyStruct& map) const
+{
+    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+    return MxAnyType(blockParam).asAnyStruct(map);
+}
+
+
+bool SimulinkBlockInformation::getVectorAtIndex(unsigned parameterIndex, std::vector<double>& vec) const
+{
+    const mxArray* blockParam = ssGetSFcnParam(simstruct, parameterIndex);
+    return MxAnyType(blockParam).asVectorDouble(vec);
+}
+
+// PORT INFORMATION SETTERS
+// ========================
+
 bool SimulinkBlockInformation::setNumberOfInputPorts(unsigned numberOfPorts)
 {
     return ssSetNumInputPorts(simstruct, numberOfPorts);
@@ -104,77 +110,20 @@ bool SimulinkBlockInformation::setOutputPortMatrixSize(unsigned portNumber, int
 
 bool SimulinkBlockInformation::setInputPortType(unsigned portNumber, PortDataType portType)
 {
-    //for now force Direct feedthrough.. If needed create a separate method
     ssSetInputPortDirectFeedThrough(simstruct, portNumber, 1);
-    int matlabDataType = -1;
-    switch (portType) {
-        case PortDataTypeDouble:
-            matlabDataType = SS_DOUBLE;
-            break;
-            case PortDataTypeSingle:
-            matlabDataType = SS_SINGLE;
-            break;
-        case PortDataTypeInt8:
-            matlabDataType = SS_INT8;
-            break;
-        case PortDataTypeUInt8:
-            matlabDataType = SS_UINT8;
-            break;
-        case PortDataTypeInt16:
-            matlabDataType = SS_INT16;
-            break;
-        case PortDataTypeUInt16:
-            matlabDataType = SS_UINT16;
-            break;
-        case PortDataTypeInt32:
-            matlabDataType = SS_INT32;
-            break;
-        case PortDataTypeUInt32:
-            matlabDataType = SS_UINT32;
-            break;
-        case PortDataTypeBoolean:
-            matlabDataType = SS_BOOLEAN;
-            break;
-    }
-    return ssSetInputPortDataType(simstruct, portNumber, matlabDataType);
+    ssSetInputPortDataType(simstruct, portNumber, mapSimulinkToPortType(portType));
+    return true;
 }
 
 bool SimulinkBlockInformation::setOutputPortType(unsigned portNumber, PortDataType portType)
 {
-    int matlabDataType = -1;
-    switch (portType) {
-        case PortDataTypeDouble:
-            matlabDataType = SS_DOUBLE;
-            break;
-        case PortDataTypeSingle:
-            matlabDataType = SS_SINGLE;
-            break;
-        case PortDataTypeInt8:
-            matlabDataType = SS_INT8;
-            break;
-        case PortDataTypeUInt8:
-            matlabDataType = SS_UINT8;
-            break;
-        case PortDataTypeInt16:
-            matlabDataType = SS_INT16;
-            break;
-        case PortDataTypeUInt16:
-            matlabDataType = SS_UINT16;
-            break;
-        case PortDataTypeInt32:
-            matlabDataType = SS_INT32;
-            break;
-        case PortDataTypeUInt32:
-            matlabDataType = SS_UINT32;
-            break;
-        case PortDataTypeBoolean:
-            matlabDataType = SS_BOOLEAN;
-            break;
-    }
-    return ssSetOutputPortDataType(simstruct, portNumber, matlabDataType);
+    ssSetOutputPortDataType(simstruct, portNumber, mapSimulinkToPortType(portType));
+    return true;
 }
 
-//Port data
+// PORT INFORMATION GETTERS
+// ========================
+
 unsigned SimulinkBlockInformation::getInputPortWidth(unsigned portNumber) const
 {
     return ssGetInputPortWidth(simstruct, portNumber);
@@ -185,22 +134,136 @@ unsigned SimulinkBlockInformation::getOutputPortWidth(unsigned portNumber) const
     return ssGetOutputPortWidth(simstruct, portNumber);
 }
 
-wbt::Signal SimulinkBlockInformation::getInputPortSignal(unsigned portNumber) const
+wbt::Signal SimulinkBlockInformation::getInputPortSignal(unsigned portNumber, int portWidth) const
 {
-    Signal signal;
-    InputPtrsType port = ssGetInputPortSignalPtrs(simstruct, portNumber);
-    bool isConstPort = true;
-    signal.initSignalType(PortDataTypeDouble, isConstPort);
-    signal.setNonContiguousBuffer(port);
-    return signal;
-}
+    // Read if the signal is contiguous or non-contiguous
+    boolean_T isContiguous = ssGetInputPortRequiredContiguous(simstruct, portNumber);
+    SignalDataFormat sigDataFormat = isContiguous ? CONTIGUOUS_ZEROCOPY : NONCONTIGUOUS;
+
+    // Check if the signal is dynamically sized (which means that the dimension
+    // cannot be read)
+    bool isDynamicallySized = (ssGetInputPortWidth(simstruct, portNumber) == DYNAMICALLY_SIZED);
+
+    // Note that if the signal is DYNAMICALLY_SIZED (-1), portWidth is necessary
+    if (isDynamicallySized && portWidth == -1) {
+        return Signal();
+    }
+
+    // Read the width of the signal if it is not provided as input and the signal is not
+    // dynamically sized
+    if (!isDynamicallySized && portWidth == -1) {
+        portWidth = ssGetInputPortWidth(simstruct, portNumber);
+    }
 
+    // Get the data type of the Signal if set (default: double)
+    DTypeId dataType = ssGetInputPortDataType(simstruct, portNumber);
+
+    switch (sigDataFormat) {
+        case CONTIGUOUS_ZEROCOPY: {
+            // Initialize the signal
+            bool isConstPort = true;
+            Signal signal(CONTIGUOUS_ZEROCOPY, mapSimulinkToPortType(dataType), isConstPort);
+            signal.setWidth(portWidth);
+            // Initialize signal's data
+            if (!signal.initializeBufferFromContiguousZeroCopy(ssGetInputPortSignal(simstruct, portNumber))) {
+                return Signal();
+            }
+            return signal;
+        }
+        case NONCONTIGUOUS: {
+            // Initialize the signal
+            bool isConstPort = true;
+            Signal signal(NONCONTIGUOUS, mapSimulinkToPortType(dataType), isConstPort);
+            signal.setWidth(portWidth);
+            // Initialize signal's data
+            InputPtrsType port = ssGetInputPortSignalPtrs(simstruct, portNumber);
+            if (!signal.initializeBufferFromNonContiguous(static_cast<const void* const*>(port))) {
+                return Signal();
+            }
+            return signal;
+        }
+        default:
+            return Signal();
+    }
+}
 
-wbt::Signal SimulinkBlockInformation::getOutputPortSignal(unsigned portNumber) const
+wbt::Signal SimulinkBlockInformation::getOutputPortSignal(unsigned portNumber, int portWidth) const
 {
-    Signal signal;
+    // Check if the signal is dynamically sized (which means that the dimension
+    // cannot be read)
+    bool isDynamicallySized = (ssGetOutputPortWidth(simstruct, portNumber) == DYNAMICALLY_SIZED);
+
+    // Note that if the signal is DYNAMICALLY_SIZED (-1), portWidth is necessary
+    if (isDynamicallySized && portWidth == -1) {
+        return Signal();
+    }
+
+    // Read the width of the signal if it is not provided as input and the signal is not
+    // dynamically sized
+    if (!isDynamicallySized && portWidth == -1) {
+        portWidth = ssGetOutputPortWidth(simstruct, portNumber);
+    }
+
+    // Get the data type of the Signal if set (default: double)
+    DTypeId dataType = ssGetOutputPortDataType(simstruct, portNumber);
+
     bool isConstPort = false;
-    signal.initSignalType(PortDataTypeDouble, isConstPort);
-    signal.setContiguousBuffer(ssGetOutputPortSignal(simstruct, portNumber));
+    Signal signal(CONTIGUOUS_ZEROCOPY, mapSimulinkToPortType(dataType), isConstPort);
+    signal.setWidth(portWidth);
+
+    if (!signal.initializeBufferFromContiguousZeroCopy(ssGetOutputPortSignal(simstruct, portNumber))) {
+        return Signal();
+    }
+
     return signal;
 }
+
+PortDataType SimulinkBlockInformation::mapSimulinkToPortType(const DTypeId& typeId) const
+{
+    switch (typeId) {
+        case SS_DOUBLE:
+            return PortDataTypeDouble;
+        case SS_SINGLE:
+            return PortDataTypeSingle;
+        case SS_INT8:
+            return PortDataTypeInt8;
+        case SS_UINT8:
+            return PortDataTypeUInt8;
+        case SS_INT16:
+            return PortDataTypeInt16;
+        case SS_UINT16:
+            return PortDataTypeUInt16;
+        case SS_INT32:
+            return PortDataTypeInt32;
+        case SS_UINT32:
+            return PortDataTypeUInt32;
+        case SS_BOOLEAN:
+            return PortDataTypeBoolean;
+        default:
+            return PortDataTypeDouble;
+    }
+}
+
+DTypeId SimulinkBlockInformation::mapPortTypeToSimulink(const PortDataType& dataType) const
+{
+    switch (dataType) {
+        case PortDataTypeDouble:
+            return SS_DOUBLE;
+        case PortDataTypeSingle:
+            return SS_SINGLE;
+        case PortDataTypeInt8:
+            return SS_INT8;
+        case PortDataTypeUInt8:
+            return SS_UINT8;
+        case PortDataTypeInt16:
+            return SS_INT16;
+        case PortDataTypeUInt16:
+            return SS_UINT16;
+        case PortDataTypeInt32:
+            return SS_INT32;
+        case PortDataTypeUInt32:
+            return SS_UINT32;
+        case PortDataTypeBoolean:
+            return SS_BOOLEAN;
+    }
+}
diff --git a/toolbox/src/base/toolbox.cpp b/toolbox/src/base/toolbox.cpp
index ba9c86cb5..74468baa9 100644
--- a/toolbox/src/base/toolbox.cpp
+++ b/toolbox/src/base/toolbox.cpp
@@ -177,6 +177,15 @@ static void mdlInitializeSizes(SimStruct* S)
     bool ok = block->configureSizeAndPorts(&blockInfo);
     catchLogMessages(ok, S, "\n[" + std::string(__func__) + "]");
 
+    for (auto i = 0; i < ssGetNumInputPorts(S); ++i) {
+        // Set explicitly the inputs port to be SS_NOT_REUSABLE_AND_GLOBAL (which actually
+        // is already the default value). Since the toolbox supports contiguous input signals,
+        // this option should not be changed.
+        ssSetInputPortOptimOpts(S, i, SS_NOT_REUSABLE_AND_GLOBAL);
+        // Set input signals to be allocated in a contiguous memory storage
+        ssSetInputPortRequiredContiguous(S, i, true);
+    }
+
     ssSetNumSampleTimes(S, 1);
 
     ssSetSimStateCompliance(S, USE_CUSTOM_SIM_STATE); //??

From 930b9e4e49eaa2c711fc885a7972242e941f35fa Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 29 Nov 2017 08:03:41 +0000
Subject: [PATCH 70/92] Fixed the parsing of the gravity vector

---
 toolbox/src/base/WBBlock.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/toolbox/src/base/WBBlock.cpp b/toolbox/src/base/WBBlock.cpp
index d4acfbb3f..82cf92a05 100644
--- a/toolbox/src/base/WBBlock.cpp
+++ b/toolbox/src/base/WBBlock.cpp
@@ -131,8 +131,8 @@ bool WBBlock::getWBToolboxParameters(Configuration& config, const BlockInformati
         return false;
     }
     std::array<double, 3> gravityArray;
-    for (auto i : gravityVector) {
-        gravityArray[i] = i;
+    for (auto i = 0; i < 3; ++i) {
+        gravityArray[i] = gravityVector[i];
     }
 
     // Create the ToolboxConfig object

From c9239060b3d2fe220b5b391e0613531e09d2ef6f Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 29 Nov 2017 08:07:01 +0000
Subject: [PATCH 71/92] Moved the update of robot state into WBBlock

This method avoids code duplication in all the child classes
---
 toolbox/include/base/WBBlock.h |   5 ++
 toolbox/src/base/WBBlock.cpp   | 102 +++++++++++++++++++++++++++++++++
 2 files changed, 107 insertions(+)

diff --git a/toolbox/include/base/WBBlock.h b/toolbox/include/base/WBBlock.h
index 227795a1c..bfd289f96 100644
--- a/toolbox/include/base/WBBlock.h
+++ b/toolbox/include/base/WBBlock.h
@@ -12,6 +12,7 @@
 
 namespace wbt {
     class WBBlock;
+    class Signal;
     class Configuration;
     class BlockInformation;
     class RobotInterface;
@@ -70,6 +71,10 @@ class wbt::WBBlock : public wbt::Block
     bool getWBToolboxParameters(Configuration& config, const BlockInformation* blockInfo);
     const std::shared_ptr<wbt::RobotInterface> getRobotInterface();
     const Configuration& getConfiguration();
+    bool setRobotState(const wbt::Signal* basePose,
+                       const wbt::Signal* jointsPos,
+                       const wbt::Signal* baseVelocity,
+                       const wbt::Signal* jointsVelocity);
 
 public:
     WBBlock() = default;
diff --git a/toolbox/src/base/WBBlock.cpp b/toolbox/src/base/WBBlock.cpp
index 82cf92a05..c067c80e1 100644
--- a/toolbox/src/base/WBBlock.cpp
+++ b/toolbox/src/base/WBBlock.cpp
@@ -5,9 +5,13 @@
 #include "ToolboxSingleton.h"
 #include "Configuration.h"
 #include "RobotInterface.h"
+#include "Signal.h"
 #include "AnyType.h"
+#include <Eigen/Core>
 #include <string>
 #include <memory>
+#include "iDynTree/KinDynComputations.h"
+#include <iDynTree/Core/EigenHelpers.h>
 #include <iDynTree/Core/MatrixFixSize.h>
 #include <iDynTree/Core/VectorDynSize.h>
 #include <iDynTree/Core/Twist.h>
@@ -28,6 +32,104 @@ iDynTreeRobotState::iDynTreeRobotState(const unsigned& dofs, const std::array<do
     m_jointsVelocity.zero();
 }
 
+bool WBBlock::setRobotState(const wbt::Signal* basePose,
+                            const wbt::Signal* jointsPos,
+                            const wbt::Signal* baseVelocity,
+                            const wbt::Signal* jointsVelocity)
+{
+    // SAVE THE ROBOT STATE
+    // ====================
+
+    using namespace iDynTree;
+    using namespace Eigen;
+    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
+
+    // Base pose
+    // ---------
+
+    if (basePose) {
+        // Get the buffer
+        double* buffer = basePose->getBuffer<double>();
+        if (!buffer) {
+            Log::getSingleton().error("Failed to read the base pose from input port.");
+            return false;
+        }
+        // Fill the data
+        fromEigen(robotState.m_world_T_base, Matrix4dSimulink(buffer));
+    }
+
+    // Joints position
+    // ---------------
+
+    if (jointsPos) {
+        // Get the buffer
+        double* buffer = jointsPos->getBuffer<double>();
+        if (!buffer) {
+            Log::getSingleton().error("Failed to read joints positions from input port.");
+            return false;
+        }
+        // Fill the data
+        for (auto i = 0; i < jointsPos->getWidth(); ++i) {
+            robotState.m_jointsPosition.setVal(i, buffer[i]);
+        }
+
+    }
+
+    // Base Velocity
+    // -------------
+
+    if (baseVelocity) {
+        // Get the buffer
+        double* buffer = baseVelocity->getBuffer<double>();
+        if (!buffer) {
+            Log::getSingleton().error("Failed to read the base velocity from input port.");
+            return false;
+        }
+        // Fill the data
+        robotState.m_baseVelocity = Twist(LinVelocity(buffer, 3),
+                                          AngVelocity(buffer+3, 3));
+    }
+
+    // Joints velocity
+    // ---------------
+
+    if (jointsVelocity) {
+        // Get the buffer
+        double* buffer = jointsVelocity->getBuffer<double>();
+        if (!buffer) {
+            Log::getSingleton().error("Failed to read joints velocities from input port.");
+            return false;
+        }
+        // Fill the data
+        for (auto i = 0; i < jointsVelocity->getWidth(); ++i) {
+            robotState.m_jointsVelocity.setVal(i, buffer[i]);
+        }
+    }
+
+    // UPDATE THE IDYNTREE ROBOT STATE WITH NEW DATA
+    // =============================================
+
+    const auto& model = getRobotInterface()->getKinDynComputations();
+
+    if (!model) {
+        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+        return false;
+    }
+
+    bool ok = model->setRobotState(robotState.m_world_T_base,
+                                   robotState.m_jointsPosition,
+                                   robotState.m_baseVelocity,
+                                   robotState.m_jointsVelocity,
+                                   robotState.m_gravity);
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to set the iDynTree robot state.");
+        return false;
+    }
+
+    return true;
+}
+
 unsigned WBBlock::numberOfParameters() { return 2; }
 
 bool WBBlock::getWBToolboxParameters(Configuration& config, const BlockInformation* blockInfo)

From fc50b088f15d3c93187559c0b5c12a188a3c6ed7 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 29 Nov 2017 08:14:26 +0000
Subject: [PATCH 72/92] Updated all  blocks to the new Signal class and
 WBBlock::setRobotState

---
 toolbox/include/SetReferences.h               |  2 +-
 toolbox/src/CentroidalMomentum.cpp            | 49 +++-------
 toolbox/src/DotJNu.cpp                        | 49 +++-------
 toolbox/src/ForwardKinematics.cpp             | 41 ++++-----
 toolbox/src/GetMeasurement.cpp                |  4 +-
 toolbox/src/InverseDynamics.cpp               | 90 +++++++++----------
 toolbox/src/Jacobian.cpp                      | 38 +++-----
 toolbox/src/MassMatrix.cpp                    | 37 +++-----
 .../src/MinimumJerkTrajectoryGenerator.cpp    | 13 ++-
 toolbox/src/ModelPartitioner.cpp              | 10 +--
 toolbox/src/SetReferences.cpp                 | 43 +++++----
 toolbox/src/YarpWrite.cpp                     |  2 +-
 12 files changed, 152 insertions(+), 226 deletions(-)

diff --git a/toolbox/include/SetReferences.h b/toolbox/include/SetReferences.h
index 74b5c4b19..9ec5a385d 100644
--- a/toolbox/include/SetReferences.h
+++ b/toolbox/include/SetReferences.h
@@ -13,7 +13,7 @@ class wbt::SetReferences : public wbt::WBBlock
 private:
     std::vector<int> m_controlModes;
     bool m_resetControlMode;
-    static void rad2deg(std::vector<double>& v);
+    static const std::vector<double> rad2deg(const double* buffer, const unsigned width);
 
 public:
     static const std::string ClassName;
diff --git a/toolbox/src/CentroidalMomentum.cpp b/toolbox/src/CentroidalMomentum.cpp
index 58484cb9e..126105c9c 100644
--- a/toolbox/src/CentroidalMomentum.cpp
+++ b/toolbox/src/CentroidalMomentum.cpp
@@ -8,7 +8,6 @@
 #include <iDynTree/Core/SpatialMomentum.h>
 #include <iDynTree/Core/EigenHelpers.h>
 #include <iDynTree/KinDynComputations.h>
-#include <Eigen/Core>
 
 using namespace wbt;
 
@@ -99,10 +98,6 @@ bool CentroidalMomentum::terminate(const BlockInformation* blockInfo)
 
 bool CentroidalMomentum::output(const BlockInformation* blockInfo)
 {
-    using namespace iDynTree;
-    using namespace Eigen;
-    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
-
     const auto& model = getRobotInterface()->getKinDynComputations();
 
     if (!model) {
@@ -110,41 +105,23 @@ bool CentroidalMomentum::output(const BlockInformation* blockInfo)
         return false;
     }
 
-    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-    // ====================================================
-
-    unsigned signalWidth;
+    // GET THE SIGNALS POPULATE THE ROBOT STATE
+    // ========================================
 
-    // Base pose
     Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-    fromEigen(robotState.m_world_T_base,
-              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-    // Joints position
-    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-    // Base velocity
+    Signal jointsPosSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
     Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
-    double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
-    robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
-                                 AngVelocity(m_baseVelocityBuffer+3, 3));
-
-    // Joints velocity
     Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
-    robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
-
-    // UPDATE THE ROBOT STATUS
-    // =======================
-    model->setRobotState(robotState.m_world_T_base,
-                         robotState.m_jointsPosition,
-                         robotState.m_baseVelocity,
-                         robotState.m_jointsVelocity,
-                         robotState.m_gravity);
+
+    bool ok = setRobotState(&basePoseSig,
+                            &jointsPosSig,
+                            &baseVelocitySignal,
+                            &jointsVelocitySignal);
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to set the robot state.");
+        return false;
+    }
 
     // OUTPUT
     // ======
diff --git a/toolbox/src/DotJNu.cpp b/toolbox/src/DotJNu.cpp
index c6fcd7c2a..8beab3e06 100644
--- a/toolbox/src/DotJNu.cpp
+++ b/toolbox/src/DotJNu.cpp
@@ -7,7 +7,6 @@
 #include <memory>
 #include <iDynTree/Core/EigenHelpers.h>
 #include <iDynTree/KinDynComputations.h>
-#include <Eigen/Core>
 
 using namespace wbt;
 
@@ -139,10 +138,6 @@ bool DotJNu::terminate(const BlockInformation* blockInfo)
 
 bool DotJNu::output(const BlockInformation* blockInfo)
 {
-    using namespace iDynTree;
-    using namespace Eigen;
-    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
-
     const auto& model = getRobotInterface()->getKinDynComputations();
 
     if (!model) {
@@ -150,41 +145,23 @@ bool DotJNu::output(const BlockInformation* blockInfo)
         return false;
     }
 
-    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-    // ====================================================
-
-    unsigned signalWidth;
+    // GET THE SIGNALS POPULATE THE ROBOT STATE
+    // ========================================
 
-    // Base pose
     Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-    fromEigen(robotState.m_world_T_base,
-              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-    // Joints position
-    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-    // Base velocity
+    Signal jointsPosSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
     Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
-    double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
-    robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
-                                  AngVelocity(m_baseVelocityBuffer+3, 3));
-
-    // Joints velocity
     Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
-    robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
-
-    // UPDATE THE ROBOT STATUS
-    // =======================
-    model->setRobotState(robotState.m_world_T_base,
-                         robotState.m_jointsPosition,
-                         robotState.m_baseVelocity,
-                         robotState.m_jointsVelocity,
-                         robotState.m_gravity);
+
+    bool ok = setRobotState(&basePoseSig,
+                            &jointsPosSig,
+                            &baseVelocitySignal,
+                            &jointsVelocitySignal);
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to set the robot state.");
+        return false;
+    }
 
     // OUTPUT
     // ======
diff --git a/toolbox/src/ForwardKinematics.cpp b/toolbox/src/ForwardKinematics.cpp
index a34f5c72b..aca145cac 100644
--- a/toolbox/src/ForwardKinematics.cpp
+++ b/toolbox/src/ForwardKinematics.cpp
@@ -126,7 +126,6 @@ bool ForwardKinematics::terminate(const BlockInformation* blockInfo)
 
 bool ForwardKinematics::output(const BlockInformation* blockInfo)
 {
-    using namespace iDynTree;
     using namespace Eigen;
     typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
     typedef Matrix<double, 4, 4, Eigen::RowMajor> Matrix4diDynTree;
@@ -138,31 +137,23 @@ bool ForwardKinematics::output(const BlockInformation* blockInfo)
         return false;
     }
 
-    // Get the signals and convert them to iDynTree objects
-    // ====================================================
+    // GET THE SIGNALS POPULATE THE ROBOT STATE
+    // ========================================
 
-    unsigned signalWidth;
-
-    // Base pose
     Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-    fromEigen(robotState.m_world_T_base,
-              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-    // Joints position
-    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-    // Update the robot status
-    // =======================
-    model->setRobotState(robotState.m_world_T_base,
-                         robotState.m_jointsPosition,
-                         robotState.m_baseVelocity,
-                         robotState.m_jointsVelocity,
-                         robotState.m_gravity);
-
-    // Output
+    Signal jointsPosSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+
+    bool ok = setRobotState(&basePoseSig,
+                            &jointsPosSig,
+                            nullptr,
+                            nullptr);
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to set the robot state.");
+        return false;
+    }
+
+    // OUTPUT
     // ======
 
     iDynTree::Transform world_H_frame;
@@ -180,7 +171,7 @@ bool ForwardKinematics::output(const BlockInformation* blockInfo)
 
     // Allocate objects for row-major -> col-major conversion
     Map<const Matrix4diDynTree> world_H_frame_RowMajor = toEigen(world_H_frame.asHomogeneousTransform());
-    Map<Matrix4dSimulink> world_H_frame_ColMajor((double*)output.getContiguousBuffer(),
+    Map<Matrix4dSimulink> world_H_frame_ColMajor(output.getBuffer<double>(),
                            4, 4);
 
     // Forward the buffer to Simulink transforming it to ColMajor
diff --git a/toolbox/src/GetMeasurement.cpp b/toolbox/src/GetMeasurement.cpp
index a245105c6..e95e31dad 100644
--- a/toolbox/src/GetMeasurement.cpp
+++ b/toolbox/src/GetMeasurement.cpp
@@ -16,9 +16,9 @@ const std::string GetMeasurement::ClassName = "GetMeasurement";
 
 void GetMeasurement::deg2rad(std::vector<double>& v)
 {
-    const double deg2rad = M_PI / 180.0;
+    const double Deg2Rad = M_PI / 180.0;
     for (auto& element : v) {
-        element *= deg2rad;
+        element *= Deg2Rad;
     }
 }
 
diff --git a/toolbox/src/InverseDynamics.cpp b/toolbox/src/InverseDynamics.cpp
index 514c96d2b..49b3e8386 100644
--- a/toolbox/src/InverseDynamics.cpp
+++ b/toolbox/src/InverseDynamics.cpp
@@ -5,10 +5,8 @@
 #include "Signal.h"
 #include "RobotInterface.h"
 #include <memory>
-#include <iDynTree/Core/EigenHelpers.h>
 #include <iDynTree/Model/FreeFloatingState.h>
 #include <iDynTree/KinDynComputations.h>
-#include <Eigen/Core>
 
 using namespace wbt;
 
@@ -130,70 +128,64 @@ bool InverseDynamics::terminate(const BlockInformation* blockInfo)
 
 bool InverseDynamics::output(const BlockInformation* blockInfo)
 {
-    using namespace iDynTree;
-    using namespace Eigen;
-    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
-
-    const auto& model = getRobotInterface()->getKinDynComputations();
-
-    if (!model) {
-        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
-        return false;
-    }
-
-    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-    // ====================================================
+    // GET THE SIGNALS POPULATE THE ROBOT STATE
+    // ========================================
 
-    unsigned signalWidth;
-
-    // Base pose
     Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-    fromEigen(robotState.m_world_T_base,
-              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-    // Joints position
-    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-    // Base velocity
+    Signal jointsPosSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
     Signal baseVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_VEL);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_VEL);
-    double* m_baseVelocityBuffer = baseVelocitySignal.getStdVector(signalWidth).data();
-    robotState.m_baseVelocity = Twist(LinVelocity(m_baseVelocityBuffer, 3),
-                                 AngVelocity(m_baseVelocityBuffer+3, 3));
-
-    // Joints velocity
     Signal jointsVelocitySignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_VEL);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_VEL);
-    robotState.m_jointsVelocity.fillBuffer(jointsVelocitySignal.getStdVector(signalWidth).data());
+
+    bool ok = setRobotState(&basePoseSig,
+                            &jointsPosSig,
+                            &baseVelocitySignal,
+                            &jointsVelocitySignal);
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to set the robot state.");
+        return false;
+    }
 
     // Base acceleration
+    // -----------------
+
     Signal baseAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_BASE_ACC);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_ACC);
-    m_baseAcceleration->fillBuffer(baseAccelerationSignal.getStdVector(signalWidth).data());
+    double* bufBaseAcc = baseAccelerationSignal.getBuffer<double>();
+    if (!bufBaseAcc) {
+        Log::getSingleton().error("Failed to read data from input port.");
+        return false;
+    }
+    for (auto i = 0; i < baseAccelerationSignal.getWidth(); ++i) {
+        m_baseAcceleration->setVal(i, bufBaseAcc[i]);
+    }
 
     // Joints acceleration
-    Signal jointsAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_ACC);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINT_ACC);
-    m_jointsAcceleration->fillBuffer(jointsAccelerationSignal.getStdVector(signalWidth).data());
+    // -------------------
 
-    // UPDATE THE ROBOT STATUS
-    // =======================
-    model->setRobotState(robotState.m_world_T_base,
-                         robotState.m_jointsPosition,
-                         robotState.m_baseVelocity,
-                         robotState.m_jointsVelocity,
-                         robotState.m_gravity);
+    Signal jointsAccelerationSignal = blockInfo->getInputPortSignal(INPUT_IDX_JOINT_ACC);
+    double* bufJointsAcc = jointsAccelerationSignal.getBuffer<double>();
+    if (!bufJointsAcc) {
+        Log::getSingleton().error("Failed to read data from input port.");
+        return false;
+    }
+    for (auto i = 0; i < jointsAccelerationSignal.getWidth(); ++i) {
+        m_jointsAcceleration->setVal(i, bufJointsAcc[i]);
+    }
 
     // OUTPUT
     // ======
 
+    const auto& model = getRobotInterface()->getKinDynComputations();
+
+    if (!model) {
+        Log::getSingleton().error("Failed to retrieve the KinDynComputations object.");
+        return false;
+    }
+
     // Calculate the inverse dynamics (assuming zero external forces)
     model->inverseDynamics(*m_baseAcceleration,
                            *m_jointsAcceleration,
-                           LinkNetExternalWrenches(model->getNrOfLinks()), // TODO
+                           iDynTree::LinkNetExternalWrenches(model->getNrOfLinks()),
                            *m_torques);
 
     // Forward the output to Simulink
diff --git a/toolbox/src/Jacobian.cpp b/toolbox/src/Jacobian.cpp
index 901a0a822..c7574974c 100644
--- a/toolbox/src/Jacobian.cpp
+++ b/toolbox/src/Jacobian.cpp
@@ -139,9 +139,7 @@ bool Jacobian::terminate(const BlockInformation* blockInfo)
 
 bool Jacobian::output(const BlockInformation* blockInfo)
 {
-    using namespace iDynTree;
     using namespace Eigen;
-    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
     typedef Matrix<double, Dynamic, Dynamic, ColMajor> MatrixXdSimulink;
     typedef Matrix<double, Dynamic, Dynamic, Eigen::RowMajor> MatrixXdiDynTree;
 
@@ -152,31 +150,21 @@ bool Jacobian::output(const BlockInformation* blockInfo)
         return false;
     }
 
-    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-    // ====================================================
+    // GET THE SIGNALS POPULATE THE ROBOT STATE
+    // ========================================
 
-    unsigned signalWidth;
-
-    // Base pose
     Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-    fromEigen(robotState.m_world_T_base,
-              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-    // Joints position
-    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
+    Signal jointsPosSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
 
-    // TODO: what about the other inputs of setRobotState?
+    bool ok = setRobotState(&basePoseSig,
+                            &jointsPosSig,
+                            nullptr,
+                            nullptr);
 
-    // UPDATE THE ROBOT STATUS
-    // =======================
-    model->setRobotState(robotState.m_world_T_base,
-                         robotState.m_jointsPosition,
-                         robotState.m_baseVelocity,
-                         robotState.m_jointsVelocity,
-                         robotState.m_gravity);
+    if (!ok) {
+        Log::getSingleton().error("Failed to set the robot state.");
+        return false;
+    }
 
     // OUTPUT
     // ======
@@ -184,7 +172,7 @@ bool Jacobian::output(const BlockInformation* blockInfo)
     iDynTree::Transform world_H_frame;
 
     // Compute the jacobian
-    bool ok = false;
+    ok = false;
     if (!m_frameIsCoM) {
         world_H_frame = model->getWorldTransform(m_frameIndex);
         ok = model->getFrameFreeFloatingJacobian(m_frameIndex, *m_jacobian);
@@ -203,7 +191,7 @@ bool Jacobian::output(const BlockInformation* blockInfo)
 
     // Allocate objects for row-major -> col-major conversion
     Map<MatrixXdiDynTree> jacobianRowMajor = toEigen(*m_jacobian);
-    Map<MatrixXdSimulink> jacobianColMajor((double*)output.getContiguousBuffer(),
+    Map<MatrixXdSimulink> jacobianColMajor(output.getBuffer<double>(),
                                            6, 6 + dofs);
 
     // Forward the buffer to Simulink transforming it to ColMajor
diff --git a/toolbox/src/MassMatrix.cpp b/toolbox/src/MassMatrix.cpp
index a14a9f78c..6a6aa50fc 100644
--- a/toolbox/src/MassMatrix.cpp
+++ b/toolbox/src/MassMatrix.cpp
@@ -96,7 +96,6 @@ bool MassMatrix::output(const BlockInformation* blockInfo)
 {
     using namespace Eigen;
     using namespace iDynTree;
-    typedef Matrix<double, 4, 4, ColMajor> Matrix4dSimulink;
     typedef Matrix<double, Dynamic, Dynamic, ColMajor> MatrixXdSimulink;
     typedef Matrix<double, Dynamic, Dynamic, Eigen::RowMajor> MatrixXdiDynTree;
 
@@ -107,29 +106,21 @@ bool MassMatrix::output(const BlockInformation* blockInfo)
         return false;
     }
 
-    // GET THE SIGNALS AND CONVERT THEM TO IDYNTREE OBJECTS
-    // ====================================================
+    // GET THE SIGNALS POPULATE THE ROBOT STATE
+    // ========================================
 
-    unsigned signalWidth;
-
-    // Base pose
     Signal basePoseSig = blockInfo->getInputPortSignal(INPUT_IDX_BASE_POSE);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_BASE_POSE);
-    fromEigen(robotState.m_world_T_base,
-              Matrix4dSimulink(basePoseSig.getStdVector(signalWidth).data()));
-
-    // Joints position
-    Signal jointsPositionSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
-    signalWidth = blockInfo->getInputPortWidth(INPUT_IDX_JOINTCONF);
-    robotState.m_jointsPosition.fillBuffer(jointsPositionSig.getStdVector(signalWidth).data());
-
-    // UPDATE THE ROBOT STATUS
-    // =======================
-    model->setRobotState(robotState.m_world_T_base,
-                         robotState.m_jointsPosition,
-                         robotState.m_baseVelocity,
-                         robotState.m_jointsVelocity,
-                         robotState.m_gravity);
+    Signal jointsPosSig = blockInfo->getInputPortSignal(INPUT_IDX_JOINTCONF);
+
+    bool ok = setRobotState(&basePoseSig,
+                            &jointsPosSig,
+                            nullptr,
+                            nullptr);
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to set the robot state.");
+        return false;
+    }
 
     // OUTPUT
     // ======
@@ -143,7 +134,7 @@ bool MassMatrix::output(const BlockInformation* blockInfo)
 
     // Allocate objects for row-major -> col-major conversion
     Map<MatrixXdiDynTree> massMatrixRowMajor = toEigen(*m_massMatrix);
-    Map<MatrixXdSimulink> massMatrixColMajor((double*)output.getContiguousBuffer(),
+    Map<MatrixXdSimulink> massMatrixColMajor(output.getBuffer<double>(),
                                              6 + dofs, 6 + dofs);
 
     // Forward the buffer to Simulink transforming it to ColMajor
diff --git a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
index 6c7e82e36..05aa56527 100644
--- a/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
+++ b/toolbox/src/MinimumJerkTrajectoryGenerator.cpp
@@ -154,8 +154,8 @@ bool MinimumJerkTrajectoryGenerator::initialize(const BlockInformation* blockInf
         m_outputSecondDerivativeIndex = outputFirstDerivative ? 2 : 1;
     }
 
-    double sampleTime;
-    double settlingTime;
+    double sampleTime = 0;
+    double settlingTime = 0;
 
     ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_IDX_SAMPLE_TIME, sampleTime);
     ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_IDX_SETTLING_TIME, settlingTime);
@@ -190,7 +190,7 @@ bool MinimumJerkTrajectoryGenerator::output(const BlockInformation* blockInfo)
         unsigned portIndex = 1;
         if (m_explicitInitialValue) portIndex++;
         Signal externalTimePort = blockInfo->getInputPortSignal(portIndex);
-        double externalTime = externalTimePort.get(0).doubleData();
+        double externalTime = externalTimePort.get<double>(0);
 
         if (std::abs(m_previousSettlingTime - externalTime) > 1e-5) {
             m_previousSettlingTime = externalTime;
@@ -204,14 +204,13 @@ bool MinimumJerkTrajectoryGenerator::output(const BlockInformation* blockInfo)
 
     if (m_firstRun) {
         m_firstRun = false;
-        Signal initialValues;
         unsigned portIndex = 0;
         if (m_explicitInitialValue) {
             portIndex = 1;
         }
-        initialValues = blockInfo->getInputPortSignal(portIndex);
+        Signal initialValues = blockInfo->getInputPortSignal(portIndex);
         for (unsigned i = 0; i < blockInfo->getInputPortWidth(portIndex); ++i) {
-            (*m_initialValues)[i] = initialValues.get(i).doubleData();
+            (*m_initialValues)[i] = initialValues.get<double>(i);
         }
         m_generator->init(*m_initialValues);
     }
@@ -219,7 +218,7 @@ bool MinimumJerkTrajectoryGenerator::output(const BlockInformation* blockInfo)
 
     Signal references = blockInfo->getInputPortSignal(0);
     for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-        (*m_reference)[i] = references.get(i).doubleData();
+        (*m_reference)[i] = references.get<double>(i);
     }
     m_generator->computeNextValues(*m_reference);
 
diff --git a/toolbox/src/ModelPartitioner.cpp b/toolbox/src/ModelPartitioner.cpp
index e987604f8..21f872c9c 100644
--- a/toolbox/src/ModelPartitioner.cpp
+++ b/toolbox/src/ModelPartitioner.cpp
@@ -168,10 +168,8 @@ bool ModelPartitioner::terminate(const BlockInformation* blockInfo)
 
 bool ModelPartitioner::output(const BlockInformation* blockInfo)
 {
-    Signal dofsSignal;
-
     if (m_yarp2WBI) {
-        dofsSignal = blockInfo->getInputPortSignal(0);
+        Signal dofsSignal = blockInfo->getInputPortSignal(0);
 
         for (unsigned ithJoint = 0; ithJoint < getConfiguration().getNumberOfDoFs(); ++ithJoint) {
             const std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
@@ -183,11 +181,11 @@ bool ModelPartitioner::output(const BlockInformation* blockInfo)
 
             // Get the data to forward
             Signal ithOutput = blockInfo->getOutputPortSignal(controlBoardOfJoint);
-            ithOutput.set(contrJointIdxCB, dofsSignal.get(ithJoint).doubleData());
+            ithOutput.set(contrJointIdxCB, dofsSignal.get<double>(ithJoint));
         }
     }
     else {
-        dofsSignal = blockInfo->getOutputPortSignal(0);
+        Signal dofsSignal = blockInfo->getOutputPortSignal(0);
 
         for (unsigned ithJoint = 0; ithJoint < getConfiguration().getNumberOfDoFs(); ++ithJoint) {
             const std::string ithJointName = getConfiguration().getControlledJoints()[ithJoint];
@@ -199,7 +197,7 @@ bool ModelPartitioner::output(const BlockInformation* blockInfo)
 
             // Get the data to forward
             const Signal ithInput = blockInfo->getInputPortSignal(controlBoardOfJoint);
-            dofsSignal.set(ithJoint, ithInput.get(contrJointIdxCB).doubleData());
+            dofsSignal.set(ithJoint, ithInput.get<double>(contrJointIdxCB));
         }
     }
     return true;
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 05317332e..5aca71d0a 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -17,12 +17,17 @@ SetReferences::SetReferences()
 : m_resetControlMode(true)
 {}
 
-void SetReferences::rad2deg(std::vector<double>& v)
+const std::vector<double> SetReferences::rad2deg(const double* buffer, const unsigned width)
 {
-    const double rad2deg = 180.0 / M_PI;
-    for (auto& element : v) {
-        element *= rad2deg;
+    const double Rad2Deg = 180.0 / M_PI;
+
+    std::vector<double> vectorDeg(width);
+
+    for (auto i = 0; i < width; ++i) {
+        vectorDeg[i] = buffer[i] * Rad2Deg;
     }
+
+    return vectorDeg;
 }
 
 unsigned SetReferences::numberOfParameters()
@@ -125,7 +130,7 @@ bool SetReferences::initialize(const BlockInformation* blockInfo)
             return false;
         }
         // TODO: Set this parameter from the mask
-        std::vector<double> speedInitalization(dofs, 10.0);
+        std::vector<double> speedInitalization(dofs, 50.0);
         // Set the references
         if (!interface->setRefSpeeds(speedInitalization.data())) {
             Log::getSingleton().error("Failed to initialize speed references.");
@@ -214,7 +219,12 @@ bool SetReferences::output(const BlockInformation* blockInfo)
     // Get the signal
     Signal references = blockInfo->getInputPortSignal(0);
     unsigned signalWidth = blockInfo->getInputPortWidth(0);
-    std::vector<double> referencesVector = references.getStdVector(signalWidth);
+
+    double* bufferReferences = references.getBuffer<double>();
+    if (!bufferReferences) {
+        Log::getSingleton().error("Failed to get the buffer containing references.");
+        return false;
+    }
 
     bool ok = false;
     // TODO: here only the first element is checked
@@ -231,9 +241,9 @@ bool SetReferences::output(const BlockInformation* blockInfo)
                 return false;
             }
             // Convert from rad to deg
-            rad2deg(referencesVector);
+            auto referencesDeg = rad2deg(bufferReferences, signalWidth);
             // Set the references
-            ok = interface->positionMove(referencesVector.data());
+            ok = interface->positionMove(referencesDeg.data());
             break;
         }
         case VOCAB_CM_POSITION_DIRECT: {
@@ -244,9 +254,9 @@ bool SetReferences::output(const BlockInformation* blockInfo)
                 return false;
             }
             // Convert from rad to deg
-            rad2deg(referencesVector);
+            auto referencesDeg = rad2deg(bufferReferences, signalWidth);
             // Set the references
-            ok = interface->setPositions(referencesVector.data());
+            ok = interface->setPositions(referencesDeg.data());
             break;
         }
         case VOCAB_CM_VELOCITY: {
@@ -257,9 +267,9 @@ bool SetReferences::output(const BlockInformation* blockInfo)
                 return false;
             }
             // Convert from rad to deg
-            rad2deg(referencesVector);
+            auto referencesDeg = rad2deg(bufferReferences, signalWidth);
             // Set the references
-            ok = interface->velocityMove(referencesVector.data());
+            ok = interface->velocityMove(referencesDeg.data());
             break;
         }
         case VOCAB_CM_TORQUE: {
@@ -269,7 +279,8 @@ bool SetReferences::output(const BlockInformation* blockInfo)
                 Log::getSingleton().error("Failed to get ITorqueControl interface.");
                 return false;
             }
-            ok = interface->setRefTorques(referencesVector.data());
+            // Set the references
+            ok = interface->setRefTorques(bufferReferences);
             break;
         }
         case VOCAB_CM_PWM: {
@@ -279,7 +290,8 @@ bool SetReferences::output(const BlockInformation* blockInfo)
                 Log::getSingleton().error("Failed to get IPWMControl interface.");
                 return false;
             }
-            ok = interface->setRefDutyCycles(referencesVector.data());
+            // Set the references
+            ok = interface->setRefDutyCycles(bufferReferences);
             break;
         }
         case VOCAB_CM_CURRENT: {
@@ -289,7 +301,8 @@ bool SetReferences::output(const BlockInformation* blockInfo)
                 Log::getSingleton().error("Failed to get ICurrentControl interface.");
                 return false;
             }
-            ok = interface->setRefCurrents(referencesVector.data());
+            // Set the references
+            ok = interface->setRefCurrents(bufferReferences);
             break;
         }
     }
diff --git a/toolbox/src/YarpWrite.cpp b/toolbox/src/YarpWrite.cpp
index 5c59fd035..bb445a405 100644
--- a/toolbox/src/YarpWrite.cpp
+++ b/toolbox/src/YarpWrite.cpp
@@ -143,7 +143,7 @@ bool YarpWrite::output(const BlockInformation* blockInfo)
     Signal signal = blockInfo->getInputPortSignal(0);
 
     for (unsigned i = 0; i < blockInfo->getInputPortWidth(0); ++i) {
-        outputVector[i] = signal.get(i).doubleData();
+        outputVector[i] = signal.get<double>(i);
     }
 
     m_port->write();

From b922c549f47b9f7d5cf88dbbdb5f4a090a0c61f9 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 29 Nov 2017 15:32:00 +0000
Subject: [PATCH 73/92] New SetReferences mask param to set the reference speed
  (Position mode)

The YARP iPositionControl interface needs to find the reference speed initialized in order to produce the wanted trajectory. Before this commit, this value was hardcoded,
---
 toolbox/include/SetReferences.h |  1 +
 toolbox/src/SetReferences.cpp   | 13 ++++++++++---
 2 files changed, 11 insertions(+), 3 deletions(-)

diff --git a/toolbox/include/SetReferences.h b/toolbox/include/SetReferences.h
index 9ec5a385d..16e2eba7a 100644
--- a/toolbox/include/SetReferences.h
+++ b/toolbox/include/SetReferences.h
@@ -13,6 +13,7 @@ class wbt::SetReferences : public wbt::WBBlock
 private:
     std::vector<int> m_controlModes;
     bool m_resetControlMode;
+    double m_refSpeed;
     static const std::vector<double> rad2deg(const double* buffer, const unsigned width);
 
 public:
diff --git a/toolbox/src/SetReferences.cpp b/toolbox/src/SetReferences.cpp
index 5aca71d0a..e8681fc33 100644
--- a/toolbox/src/SetReferences.cpp
+++ b/toolbox/src/SetReferences.cpp
@@ -15,6 +15,7 @@ const std::string SetReferences::ClassName = "SetReferences";
 
 SetReferences::SetReferences()
 : m_resetControlMode(true)
+, m_refSpeed(0)
 {}
 
 const std::vector<double> SetReferences::rad2deg(const double* buffer, const unsigned width)
@@ -32,7 +33,7 @@ const std::vector<double> SetReferences::rad2deg(const double* buffer, const uns
 
 unsigned SetReferences::numberOfParameters()
 {
-    return WBBlock::numberOfParameters() + 1;
+    return WBBlock::numberOfParameters() + 2;
 }
 
 bool SetReferences::configureSizeAndPorts(BlockInformation* blockInfo)
@@ -90,6 +91,13 @@ bool SetReferences::initialize(const BlockInformation* blockInfo)
         return false;
     }
 
+    // Reading the refSpeed
+    if (!blockInfo->getScalarParameterAtIndex(WBBlock::numberOfParameters() + 2,
+                                              m_refSpeed)) {
+        Log::getSingleton().error("Could not read reference speed parameter.");
+        return false;
+    }
+
     // Initialize the std::vectors
     const unsigned dofs = getConfiguration().getNumberOfDoFs();
     m_controlModes.assign(dofs, VOCAB_CM_UNKNOWN);
@@ -129,8 +137,7 @@ bool SetReferences::initialize(const BlockInformation* blockInfo)
             Log::getSingleton().error("Failed to get IPositionControl interface.");
             return false;
         }
-        // TODO: Set this parameter from the mask
-        std::vector<double> speedInitalization(dofs, 50.0);
+        std::vector<double> speedInitalization(dofs, m_refSpeed);
         // Set the references
         if (!interface->setRefSpeeds(speedInitalization.data())) {
             Log::getSingleton().error("Failed to initialize speed references.");

From 7ca1c9c5d51041aac3395ad9949a54b482c81949 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 29 Nov 2017 12:21:35 +0000
Subject: [PATCH 74/92] Cleaned CMakeLists.txt and folder structure, updated
 library

- The library is now exported only in R2014B_SLX format
- Removed yarpWholeBodyInterface
- Use default FindMatlab.cmake (cmake > 3.3) and Eigen3Config.cmake
---
 CMakeLists.txt                                |   10 +-
 cmake/FindEigen3.cmake                        |   90 -
 cmake/FindMatlab.cmake                        | 1467 ------
 toolbox/CMakeLists.txt                        |   88 +-
 toolbox/WBToolboxLibrary.mdl                  | 4383 -----------------
 toolbox/WBToolboxLibrary.slx                  |  Bin 38548 -> 0 bytes
 .../+WBToolbox/BlockInitialization.m          |    0
 .../+WBToolbox/Mask2WBToolboxConfig.m         |    0
 toolbox/{ => matlab}/+WBToolbox/PID.m         |    0
 .../{ => matlab}/+WBToolbox/WBTPIDConfig.m    |    0
 .../{ => matlab}/+WBToolbox/WBToolboxConfig.m |    0
 .../+WBToolbox/WBToolboxConfig2Mask.m         |    0
 toolbox/{ => matlab}/export_library.m         |   28 +-
 .../library}/WBToolboxLibrary_repository.mdl  | 2709 +++++-----
 .../library/exported/WBToolboxLibrary.slx     |  Bin 0 -> 535297 bytes
 .../setupForMatlabDebug.m.in}                 |    0
 toolbox/matlab/slblocks.m                     |    8 +
 .../startup_wbitoolbox.m.in}                  |    0
 toolbox/slblocks.m                            |   54 -
 19 files changed, 1301 insertions(+), 7536 deletions(-)
 delete mode 100644 cmake/FindEigen3.cmake
 delete mode 100644 cmake/FindMatlab.cmake
 delete mode 100644 toolbox/WBToolboxLibrary.mdl
 delete mode 100644 toolbox/WBToolboxLibrary.slx
 rename toolbox/{ => matlab}/+WBToolbox/BlockInitialization.m (100%)
 rename toolbox/{ => matlab}/+WBToolbox/Mask2WBToolboxConfig.m (100%)
 rename toolbox/{ => matlab}/+WBToolbox/PID.m (100%)
 rename toolbox/{ => matlab}/+WBToolbox/WBTPIDConfig.m (100%)
 rename toolbox/{ => matlab}/+WBToolbox/WBToolboxConfig.m (100%)
 rename toolbox/{ => matlab}/+WBToolbox/WBToolboxConfig2Mask.m (100%)
 rename toolbox/{ => matlab}/export_library.m (56%)
 rename toolbox/{ => matlab/library}/WBToolboxLibrary_repository.mdl (74%)
 create mode 100644 toolbox/matlab/library/exported/WBToolboxLibrary.slx
 rename toolbox/{.setupForMatlabDebug.m.in => matlab/setupForMatlabDebug.m.in} (100%)
 create mode 100644 toolbox/matlab/slblocks.m
 rename toolbox/{.startup_wbitoolbox.m.in => matlab/startup_wbitoolbox.m.in} (100%)
 delete mode 100644 toolbox/slblocks.m

diff --git a/CMakeLists.txt b/CMakeLists.txt
index 034310442..7b99e7077 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -1,11 +1,13 @@
-# Copyright (C) 2013-2015 Instituto Italiano di Tecnologia
-# Author: Jorhabib Eljaik, Francesco Romano
+# Copyright (C) 2013-2017 iCub Facility - Istituto Italiano di Tecnologia
+# Author: Jorhabib Eljaik, Francesco Romano, Diego Ferigo
 # CopyPolicy: Released under the terms of the GNU GPL v2.0.
 
-cmake_minimum_required(VERSION 2.8.11)
-
+cmake_minimum_required(VERSION 3.3)
 project(WB-Toolbox)
 
+set(CMAKE_CXX_STANDARD 11)
+set(CMAKE_CXX_STANDARD_REQUIRED ON)
+
 find_package(YCM REQUIRED)
 include(YCMDefaultDirs)
 
diff --git a/cmake/FindEigen3.cmake b/cmake/FindEigen3.cmake
deleted file mode 100644
index 82846c3ad..000000000
--- a/cmake/FindEigen3.cmake
+++ /dev/null
@@ -1,90 +0,0 @@
-
-# - Try to find Eigen3 lib
-#
-# This module supports requiring a minimum version, e.g. you can do
-#   find_package(Eigen3 3.1.2)
-# to require version 3.1.2 or newer of Eigen3.
-#
-# Once done this will define
-#
-#  EIGEN3_FOUND - system has eigen lib with correct version
-#  EIGEN3_INCLUDE_DIR - the eigen include directory
-#  EIGEN3_VERSION - eigen version
-#
-# This module reads hints about search locations from 
-# the following enviroment variables:
-#
-# EIGEN3_ROOT
-# EIGEN3_ROOT_DIR
-
-# Copyright (c) 2006, 2007 Montel Laurent, <montel@kde.org>
-# Copyright (c) 2008, 2009 Gael Guennebaud, <g.gael@free.fr>
-# Copyright (c) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
-# Redistribution and use is allowed according to the terms of the 2-clause BSD license.
-
-if(NOT Eigen3_FIND_VERSION)
-  if(NOT Eigen3_FIND_VERSION_MAJOR)
-    set(Eigen3_FIND_VERSION_MAJOR 2)
-  endif(NOT Eigen3_FIND_VERSION_MAJOR)
-  if(NOT Eigen3_FIND_VERSION_MINOR)
-    set(Eigen3_FIND_VERSION_MINOR 91)
-  endif(NOT Eigen3_FIND_VERSION_MINOR)
-  if(NOT Eigen3_FIND_VERSION_PATCH)
-    set(Eigen3_FIND_VERSION_PATCH 0)
-  endif(NOT Eigen3_FIND_VERSION_PATCH)
-
-  set(Eigen3_FIND_VERSION "${Eigen3_FIND_VERSION_MAJOR}.${Eigen3_FIND_VERSION_MINOR}.${Eigen3_FIND_VERSION_PATCH}")
-endif(NOT Eigen3_FIND_VERSION)
-
-macro(_eigen3_check_version)
-  file(READ "${EIGEN3_INCLUDE_DIR}/Eigen/src/Core/util/Macros.h" _eigen3_version_header)
-
-  string(REGEX MATCH "define[ \t]+EIGEN_WORLD_VERSION[ \t]+([0-9]+)" _eigen3_world_version_match "${_eigen3_version_header}")
-  set(EIGEN3_WORLD_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MAJOR_VERSION[ \t]+([0-9]+)" _eigen3_major_version_match "${_eigen3_version_header}")
-  set(EIGEN3_MAJOR_VERSION "${CMAKE_MATCH_1}")
-  string(REGEX MATCH "define[ \t]+EIGEN_MINOR_VERSION[ \t]+([0-9]+)" _eigen3_minor_version_match "${_eigen3_version_header}")
-  set(EIGEN3_MINOR_VERSION "${CMAKE_MATCH_1}")
-
-  set(EIGEN3_VERSION ${EIGEN3_WORLD_VERSION}.${EIGEN3_MAJOR_VERSION}.${EIGEN3_MINOR_VERSION})
-  if(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-    set(EIGEN3_VERSION_OK FALSE)
-  else(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-    set(EIGEN3_VERSION_OK TRUE)
-  endif(${EIGEN3_VERSION} VERSION_LESS ${Eigen3_FIND_VERSION})
-
-  if(NOT EIGEN3_VERSION_OK)
-
-    message(STATUS "Eigen3 version ${EIGEN3_VERSION} found in ${EIGEN3_INCLUDE_DIR}, "
-                   "but at least version ${Eigen3_FIND_VERSION} is required")
-  endif(NOT EIGEN3_VERSION_OK)
-endmacro(_eigen3_check_version)
-
-if (EIGEN3_INCLUDE_DIR)
-
-  # in cache already
-  _eigen3_check_version()
-  set(EIGEN3_FOUND ${EIGEN3_VERSION_OK})
-
-else (EIGEN3_INCLUDE_DIR)
-
-  find_path(EIGEN3_INCLUDE_DIR NAMES signature_of_eigen3_matrix_library
-      HINTS
-      ENV EIGEN3_ROOT 
-      ENV EIGEN3_ROOT_DIR
-      PATHS
-      ${CMAKE_INSTALL_PREFIX}/include
-      ${KDE4_INCLUDE_DIR}
-      PATH_SUFFIXES eigen3 eigen
-    )
-
-  if(EIGEN3_INCLUDE_DIR)
-    _eigen3_check_version()
-  endif(EIGEN3_INCLUDE_DIR)
-
-  include(FindPackageHandleStandardArgs)
-  find_package_handle_standard_args(Eigen3 DEFAULT_MSG EIGEN3_INCLUDE_DIR EIGEN3_VERSION_OK)
-
-  mark_as_advanced(EIGEN3_INCLUDE_DIR)
-
-endif(EIGEN3_INCLUDE_DIR)
diff --git a/cmake/FindMatlab.cmake b/cmake/FindMatlab.cmake
deleted file mode 100644
index 373aa38a3..000000000
--- a/cmake/FindMatlab.cmake
+++ /dev/null
@@ -1,1467 +0,0 @@
-#.rst:
-# FindMatlab
-# ----------
-#
-# Finds Matlab installations and provides Matlab tools and libraries to cmake.
-#
-# This package first intention is to find the libraries associated with Matlab
-# in order to be able to build Matlab extensions (mex files). It can also be
-# used:
-#
-# * run specific commands in Matlab
-# * declare Matlab unit test
-# * retrieve various information from Matlab (mex extensions, versions and
-#   release queries, ...)
-#
-# The module supports the following components:
-#
-# * ``MX_LIBRARY`` and ``ENG_LIBRARY`` respectively the MX and ENG libraries of
-#   Matlab
-# * ``MAIN_PROGRAM`` the Matlab binary program.
-#
-# .. note::
-#
-#   The version given to the :command:`find_package` directive is the Matlab
-#   **version**, which should not be confused with the Matlab *release* name
-#   (eg. `R2014`).
-#   The :command:`matlab_get_version_from_release_name` and
-#   :command:`matlab_get_release_name_from_version` allow a mapping
-#   from the release name to the version.
-#
-# The variable :variable:`Matlab_ROOT_DIR` may be specified in order to give
-# the path of the desired Matlab version. Otherwise, the behaviour is platform
-# specific:
-#
-# * Windows: The installed versions of Matlab are retrieved from the
-#   Windows registry
-# * OS X: The installed versions of Matlab are given by the MATLAB
-#   paths in ``/Application``. If no such application is found, it falls back
-#   to the one that might be accessible from the PATH.
-# * Unix: The desired Matlab should be accessible from the PATH.
-#
-# Additional information is provided when :variable:`MATLAB_FIND_DEBUG` is set.
-# When a Matlab binary is found automatically and the ``MATLAB_VERSION``
-# is not given, the version is queried from Matlab directly.
-# On Windows, it can make a window running Matlab appear.
-#
-# The mapping of the release names and the version of Matlab is performed by
-# defining pairs (name, version).  The variable
-# :variable:`MATLAB_ADDITIONAL_VERSIONS` may be provided before the call to
-# the :command:`find_package` in order to handle additional versions.
-#
-# A Matlab scripts can be added to the set of tests using the
-# :command:`matlab_add_unit_test`. By default, the Matlab unit test framework
-# will be used (>= 2013a) to run this script, but regular ``.m`` files
-# returning an exit code can be used as well (0 indicating a success).
-#
-# Module Input Variables
-# ^^^^^^^^^^^^^^^^^^^^^^
-#
-# Users or projects may set the following variables to configure the module
-# behaviour:
-#
-# :variable:`Matlab_ROOT_DIR`
-#   the root of the Matlab installation.
-# :variable:`MATLAB_FIND_DEBUG`
-#   outputs debug information
-# :variable:`MATLAB_ADDITIONAL_VERSIONS`
-#   additional versions of Matlab for the automatic retrieval of the installed
-#   versions.
-#
-# Variables defined by the module
-# ^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^^
-#
-# Result variables
-# """"""""""""""""
-#
-# ``Matlab_FOUND``
-#   ``TRUE`` if the Matlab installation is found, ``FALSE``
-#   otherwise. All variable below are defined if Matlab is found.
-# ``Matlab_ROOT_DIR``
-#   the final root of the Matlab installation determined by the FindMatlab
-#   module.
-# ``Matlab_MAIN_PROGRAM``
-#   the Matlab binary program. Available only if the component ``MAIN_PROGRAM``
-#   is given in the :command:`find_package` directive.
-# ``Matlab_INCLUDE_DIRS``
-#  the path of the Matlab libraries headers
-# ``Matlab_MEX_LIBRARY``
-#   library for mex, always available.
-# ``Matlab_MX_LIBRARY``
-#   mx library of Matlab (arrays). Available only if the component
-#   ``MX_LIBRARY`` has been requested.
-# ``Matlab_ENG_LIBRARY``
-#   Matlab engine library. Available only if the component ``ENG_LIBRARY``
-#   is requested.
-# ``Matlab_LIBRARIES``
-#   the whole set of libraries of Matlab
-# ``Matlab_MEX_COMPILER``
-#   the mex compiler of Matlab. Currently not used.
-#   Available only if the component ``MEX_COMPILER`` is asked
-#
-# Cached variables
-# """"""""""""""""
-#
-# ``Matlab_MEX_EXTENSION``
-#   the extension of the mex files for the current platform (given by Matlab).
-# ``Matlab_ROOT_DIR``
-#   the location of the root of the Matlab installation found. If this value
-#   is changed by the user, the result variables are recomputed.
-#
-# Provided macros
-# ^^^^^^^^^^^^^^^
-#
-# :command:`matlab_get_version_from_release_name`
-#   returns the version from the release name
-# :command:`matlab_get_release_name_from_version`
-#   returns the release name from the Matlab version
-#
-# Provided functions
-# ^^^^^^^^^^^^^^^^^^
-#
-# :command:`matlab_add_mex`
-#   adds a target compiling a MEX file.
-# :command:`matlab_add_unit_test`
-#   adds a Matlab unit test file as a test to the project.
-# :command:`matlab_extract_all_installed_versions_from_registry`
-#   parses the registry for all Matlab versions. Available on Windows only.
-#   The part of the registry parsed is dependent on the host processor
-# :command:`matlab_get_all_valid_matlab_roots_from_registry`
-#   returns all the possible Matlab paths, according to a previously
-#   given list. Only the existing/accessible paths are kept. This is mainly
-#   useful for the searching all possible Matlab installation.
-# :command:`matlab_get_mex_suffix`
-#   returns the suffix to be used for the mex files
-#   (platform/architecture dependant)
-# :command:`matlab_get_version_from_matlab_run`
-#   returns the version of Matlab, given the full directory of the Matlab
-#   program.
-#
-#
-# Known issues
-# ^^^^^^^^^^^^
-#
-# **Symbol clash in a MEX target**
-#   By default, every symbols inside a MEX
-#   file defined with the command :command:`matlab_add_mex` have hidden
-#   visibility, except for the entry point. This is the default behaviour of
-#   the MEX compiler, which lowers the risk of symbol collision between the
-#   libraries shipped with Matlab, and the libraries to which the MEX file is
-#   linking to. This is also the default on Windows platforms.
-#
-#   However, this is not sufficient in certain case, where for instance your
-#   MEX file is linking against libraries that are already loaded by Matlab,
-#   even if those libraries have different SONAMES.
-#   A possible solution is to hide the symbols of the libraries to which the
-#   MEX target is linking to. This can be achieved in GNU GCC compilers with
-#   the linker option ``-Wl,--exclude-libs,ALL``.
-#
-# **Tests using GPU resources**
-#   in case your MEX file is using the GPU and
-#   in order to be able to run unit tests on this MEX file, the GPU resources
-#   should be properly released by Matlab. A possible solution is to make
-#   Matlab aware of the use of the GPU resources in the session, which can be
-#   performed by a command such as ``D = gpuDevice()`` at the beginning of
-#   the test script (or via a fixture).
-#
-#
-# Reference
-# ^^^^^^^^^
-#
-# .. variable:: Matlab_ROOT_DIR
-#
-#    The root folder of the Matlab installation. If set before the call to
-#    :command:`find_package`, the module will look for the components in that
-#    path. If not set, then an automatic search of Matlab
-#    will be performed. If set, it should point to a valid version of Matlab.
-#
-# .. variable:: MATLAB_FIND_DEBUG
-#
-#    If set, the lookup of Matlab and the intermediate configuration steps are
-#    outputted to the console.
-#
-# .. variable:: MATLAB_ADDITIONAL_VERSIONS
-#
-#   If set, specifies additional versions of Matlab that may be looked for.
-#   The variable should be a list of strings, organised by pairs of release
-#   name and versions, such as follows::
-#
-#     set(MATLAB_ADDITIONAL_VERSIONS
-#         "release_name1=corresponding_version1"
-#         "release_name2=corresponding_version2"
-#         ...
-#         )
-#
-#   Example::
-#
-#     set(MATLAB_ADDITIONAL_VERSIONS
-#         "R2013b=8.2"
-#         "R2013a=8.1"
-#         "R2012b=8.0")
-#
-#   The order of entries in this list matters when several versions of
-#   Matlab are installed. The priority is set according to the ordering in
-#   this list.
-
-#=============================================================================
-# Copyright 2014-2015 Raffi Enficiaud, Max Planck Society
-#
-# Distributed under the OSI-approved BSD License (the "License");
-# see accompanying file Copyright.txt for details.
-#
-# This software is distributed WITHOUT ANY WARRANTY; without even the
-# implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
-# See the License for more information.
-#=============================================================================
-# (To distribute this file outside of CMake, substitute the full
-#  License text for the above reference.)
-
-set(_FindMatlab_SELF_DIR "${CMAKE_CURRENT_LIST_DIR}")
-
-include(FindPackageHandleStandardArgs)
-include(CheckCXXCompilerFlag)
-
-
-# The currently supported versions. Other version can be added by the user by
-# providing MATLAB_ADDITIONAL_VERSIONS
-if(NOT MATLAB_ADDITIONAL_VERSIONS)
-  set(MATLAB_ADDITIONAL_VERSIONS)
-endif()
-
-set(MATLAB_VERSIONS_MAPPING
-  "R2016b=9.1"
-  "R2016a=9.0"
-  "R2015b=8.6"
-  "R2015a=8.5"
-  "R2014b=8.4"
-  "R2014a=8.3"
-  "R2013b=8.2"
-  "R2013a=8.1"
-  "R2012b=8.0"
-  "R2012a=7.14"
-
-  "R2011b=7.13"
-  "R2011a=7.12"
-  "R2010b=7.11"
-
-  ${MATLAB_ADDITIONAL_VERSIONS}
-  )
-
-
-# temporary folder for all Matlab runs
-set(_matlab_temporary_folder ${CMAKE_BINARY_DIR}/Matlab)
-
-if(NOT EXISTS "${_matlab_temporary_folder}")
-  file(MAKE_DIRECTORY "${_matlab_temporary_folder}")
-endif()
-
-#.rst:
-# .. command:: matlab_get_version_from_release_name
-#
-#   Returns the version of Matlab (17.58) from a release name (R2017k)
-macro (matlab_get_version_from_release_name release_name version_name)
-
-  string(REGEX MATCHALL "${release_name}=([0-9]+\\.?[0-9]*)" _matched ${MATLAB_VERSIONS_MAPPING})
-
-  set(${version_name} "")
-  if(NOT _matched STREQUAL "")
-    set(${version_name} ${CMAKE_MATCH_1})
-  else()
-    message(WARNING "The release name ${release_name} is not registered")
-  endif()
-  unset(_matched)
-
-endmacro()
-
-
-
-
-
-#.rst:
-# .. command:: matlab_get_release_name_from_version
-#
-#   Returns the release name (R2017k) from the version of Matlab (17.58)
-macro (matlab_get_release_name_from_version version release_name)
-
-  set(${release_name} "")
-  foreach(_var IN LISTS MATLAB_VERSIONS_MAPPING)
-    string(REGEX MATCHALL "(.+)=${version}" _matched ${_var})
-    if(NOT _matched STREQUAL "")
-      set(${release_name} ${CMAKE_MATCH_1})
-      break()
-    endif()
-  endforeach(_var)
-
-  unset(_var)
-  unset(_matched)
-  if(${release_name} STREQUAL "")
-    message(WARNING "The version ${version} is not registered")
-  endif()
-
-endmacro()
-
-
-
-
-
-# extracts all the supported release names (R2017k...) of Matlab
-# internal use
-macro(matlab_get_supported_releases list_releases)
-  set(${list_releases})
-  foreach(_var IN LISTS MATLAB_VERSIONS_MAPPING)
-    string(REGEX MATCHALL "(.+)=([0-9]+\\.?[0-9]*)" _matched ${_var})
-    if(NOT _matched STREQUAL "")
-      list(APPEND ${list_releases} ${CMAKE_MATCH_1})
-    endif()
-    unset(_matched)
-    unset(CMAKE_MATCH_1)
-  endforeach(_var)
-  unset(_var)
-endmacro()
-
-
-
-# extracts all the supported versions of Matlab
-# internal use
-macro(matlab_get_supported_versions list_versions)
-  set(${list_versions})
-  foreach(_var IN LISTS MATLAB_VERSIONS_MAPPING)
-    string(REGEX MATCHALL "(.+)=([0-9]+\\.?[0-9]*)" _matched ${_var})
-    if(NOT _matched STREQUAL "")
-      list(APPEND ${list_versions} ${CMAKE_MATCH_2})
-    endif()
-    unset(_matched)
-    unset(CMAKE_MATCH_1)
-  endforeach(_var)
-  unset(_var)
-endmacro()
-
-
-#.rst:
-# .. command:: matlab_extract_all_installed_versions_from_registry
-#
-#   This function parses the registry and founds the Matlab versions that are
-#   installed. The found versions are returned in `matlab_versions`.
-#   Set `win64` to `TRUE` if the 64 bit version of Matlab should be looked for
-#   The returned list contains all versions under
-#   ``HKLM\\SOFTWARE\\Mathworks\\MATLAB`` or an empty list in case an error
-#   occurred (or nothing found).
-#
-#   .. note::
-#
-#     Only the versions are provided. No check is made over the existence of the
-#     installation referenced in the registry,
-#
-function(matlab_extract_all_installed_versions_from_registry win64 matlab_versions)
-
-  if(NOT CMAKE_HOST_WIN32)
-    message(FATAL_ERROR "This macro can only be called by a windows host (call to reg.exe")
-  endif()
-
-
-  if(${win64} AND ${CMAKE_HOST_SYSTEM_PROCESSOR} MATCHES "64")
-    set(APPEND_REG "/reg:64")
-  else()
-    set(APPEND_REG "/reg:32")
-  endif()
-
-  # /reg:64 should be added on 64 bits capable OSs in order to enable the
-  # redirection of 64 bits applications
-  execute_process(
-    COMMAND reg query HKEY_LOCAL_MACHINE\\SOFTWARE\\Mathworks\\MATLAB /f * /k ${APPEND_REG}
-    RESULT_VARIABLE resultMatlab
-    OUTPUT_VARIABLE varMatlab
-    ERROR_VARIABLE errMatlab
-    INPUT_FILE NUL
-    )
-
-
-  set(matlabs_from_registry)
-  if(${resultMatlab} EQUAL 0)
-
-    string(
-      REGEX MATCHALL "MATLAB\\\\([0-9]+(\\.[0-9]+)?)"
-      matlab_versions_regex ${varMatlab})
-
-    foreach(match IN LISTS matlab_versions_regex)
-      string(
-        REGEX MATCH "MATLAB\\\\(([0-9]+)(\\.([0-9]+))?)"
-        current_match ${match})
-
-      set(_matlab_current_version ${CMAKE_MATCH_1})
-      set(current_matlab_version_major ${CMAKE_MATCH_2})
-      set(current_matlab_version_minor ${CMAKE_MATCH_4})
-      if(NOT current_matlab_version_minor)
-        set(current_matlab_version_minor "0")
-      endif()
-
-      list(APPEND matlabs_from_registry ${_matlab_current_version})
-      unset(_matlab_current_version)
-    endforeach(match)
-
-  endif()
-
-  if(matlabs_from_registry)
-    list(REMOVE_DUPLICATES matlabs_from_registry)
-    list(SORT matlabs_from_registry)
-    list(REVERSE matlabs_from_registry)
-  endif()
-
-  set(${matlab_versions} ${matlabs_from_registry} PARENT_SCOPE)
-
-endfunction()
-
-
-
-# (internal)
-macro(extract_matlab_versions_from_registry_brute_force matlab_versions)
-  # get the supported versions
-  set(matlab_supported_versions)
-  matlab_get_supported_versions(matlab_supported_versions)
-
-
-  # this is a manual population of the versions we want to look for
-  # this can be done as is, but preferably with the call to
-  # matlab_get_supported_versions and variable
-
-  # populating the versions we want to look for
-  # set(matlab_supported_versions)
-
-  # # Matlab 7
-  # set(matlab_major 7)
-  # foreach(current_matlab_minor RANGE 4 20)
-    # list(APPEND matlab_supported_versions "${matlab_major}.${current_matlab_minor}")
-  # endforeach(current_matlab_minor)
-
-  # # Matlab 8
-  # set(matlab_major 8)
-  # foreach(current_matlab_minor RANGE 0 5)
-    # list(APPEND matlab_supported_versions "${matlab_major}.${current_matlab_minor}")
-  # endforeach(current_matlab_minor)
-
-  # # taking into account the possible additional versions provided by the user
-  # if(DEFINED MATLAB_ADDITIONAL_VERSIONS)
-    # list(APPEND matlab_supported_versions MATLAB_ADDITIONAL_VERSIONS)
-  # endif()
-
-
-  # we order from more recent to older
-  if(matlab_supported_versions)
-    list(REMOVE_DUPLICATES matlab_supported_versions)
-    list(SORT matlab_supported_versions)
-    list(REVERSE matlab_supported_versions)
-  endif()
-
-
-  set(${matlab_versions} ${matlab_supported_versions})
-
-
-endmacro()
-
-
-
-
-#.rst:
-# .. command:: matlab_get_all_valid_matlab_roots_from_registry
-#
-#   Populates the Matlab root with valid versions of Matlab.
-#   The returned matlab_roots is organized in pairs
-#   ``(version_number,matlab_root_path)``.
-#
-#   ::
-#
-#     matlab_get_all_valid_matlab_roots_from_registry(
-#         matlab_versions
-#         matlab_roots)
-#
-#   ``matlab_versions``
-#     the versions of each of the Matlab installations
-#   ``matlab_roots``
-#     the location of each of the Matlab installations
-function(matlab_get_all_valid_matlab_roots_from_registry matlab_versions matlab_roots)
-
-  # The matlab_versions comes either from
-  # extract_matlab_versions_from_registry_brute_force or
-  # matlab_extract_all_installed_versions_from_registry.
-
-
-  set(_matlab_roots_list )
-  foreach(_matlab_current_version ${matlab_versions})
-    get_filename_component(
-      current_MATLAB_ROOT
-      "[HKEY_LOCAL_MACHINE\\SOFTWARE\\MathWorks\\MATLAB\\${_matlab_current_version};MATLABROOT]"
-      ABSOLUTE)
-
-    if(EXISTS ${current_MATLAB_ROOT})
-      list(APPEND _matlab_roots_list ${_matlab_current_version} ${current_MATLAB_ROOT})
-    endif()
-
-  endforeach(_matlab_current_version)
-  unset(_matlab_current_version)
-  set(${matlab_roots} ${_matlab_roots_list} PARENT_SCOPE)
-  unset(_matlab_roots_list)
-endfunction()
-
-#.rst:
-# .. command:: matlab_get_mex_suffix
-#
-#   Returns the extension of the mex files (the suffixes).
-#   This function should not be called before the appropriate Matlab root has
-#   been found.
-#
-#   ::
-#
-#     matlab_get_mex_suffix(
-#         matlab_root
-#         mex_suffix)
-#
-#   ``matlab_root``
-#     the root of the Matlab installation
-#   ``mex_suffix``
-#     the variable name in which the suffix will be returned.
-function(matlab_get_mex_suffix matlab_root mex_suffix)
-
-  # todo setup the extension properly. Currently I do not know if this is
-  # sufficient for all win32 distributions.
-  # there is also CMAKE_EXECUTABLE_SUFFIX that could be tweaked
-  set(mexext_suffix "")
-  if(WIN32)
-    list(APPEND mexext_suffix ".bat")
-  endif()
-
-  # we first try without suffix, since cmake does not understand a list with
-  # one empty string element
-  find_program(
-    Matlab_MEXEXTENSIONS_PROG
-    NAMES mexext
-    PATHS ${matlab_root}/bin
-    DOC "Matlab MEX extension provider"
-    NO_DEFAULT_PATH
-  )
-
-  foreach(current_mexext_suffix IN LISTS mexext_suffix)
-    if(NOT DEFINED Matlab_MEXEXTENSIONS_PROG OR NOT Matlab_MEXEXTENSIONS_PROG)
-      # this call should populate the cache automatically
-      find_program(
-        Matlab_MEXEXTENSIONS_PROG
-        "mexext${current_mexext_suffix}"
-        PATHS ${matlab_root}/bin
-        DOC "Matlab MEX extension provider"
-        NO_DEFAULT_PATH
-      )
-    endif()
-  endforeach(current_mexext_suffix)
-
-
-  # the program has been found?
-  if((NOT Matlab_MEXEXTENSIONS_PROG) OR (NOT EXISTS ${Matlab_MEXEXTENSIONS_PROG}))
-    if(MATLAB_FIND_DEBUG)
-      message(WARNING "[MATLAB] Cannot found mexext program. Matlab root is ${matlab_root}")
-    endif()
-    unset(Matlab_MEXEXTENSIONS_PROG CACHE)
-    return()
-  endif()
-
-  set(_matlab_mex_extension)
-
-  set(devnull)
-  if(UNIX)
-    set(devnull INPUT_FILE /dev/null)
-  elseif(WIN32)
-    set(devnull INPUT_FILE NUL)
-  endif()
-
-  execute_process(
-    COMMAND ${Matlab_MEXEXTENSIONS_PROG}
-    OUTPUT_VARIABLE _matlab_mex_extension
-    ERROR_VARIABLE _matlab_mex_extension_error
-    ${devnull})
-  string(STRIP ${_matlab_mex_extension} _matlab_mex_extension)
-
-  unset(Matlab_MEXEXTENSIONS_PROG CACHE)
-  set(${mex_suffix} ${_matlab_mex_extension} PARENT_SCOPE)
-endfunction()
-
-
-
-
-#.rst:
-# .. command:: matlab_get_version_from_matlab_run
-#
-#   This function runs Matlab program specified on arguments and extracts its
-#   version.
-#
-#   ::
-#
-#     matlab_get_version_from_matlab_run(
-#         matlab_binary_path
-#         matlab_list_versions)
-#
-#   ``matlab_binary_path``
-#     the location of the `matlab` binary executable
-#   ``matlab_list_versions``
-#     the version extracted from Matlab
-function(matlab_get_version_from_matlab_run matlab_binary_program matlab_list_versions)
-
-  set(${matlab_list_versions} "" PARENT_SCOPE)
-
-
-  if(MATLAB_FIND_DEBUG)
-    message(STATUS "[MATLAB] Determining the version of Matlab from ${matlab_binary_program}")
-  endif()
-
-  if(EXISTS "${_matlab_temporary_folder}/matlabVersionLog.cmaketmp")
-    if(MATLAB_FIND_DEBUG)
-      message(STATUS "[MATLAB] Removing previous ${_matlab_temporary_folder}/matlabVersionLog.cmaketmp file")
-    endif()
-    file(REMOVE "${_matlab_temporary_folder}/matlabVersionLog.cmaketmp")
-  endif()
-
-
-  # the log file is needed since on windows the command executes in a new
-  # window and it is not possible to get back the answer of Matlab
-  # the -wait command is needed on windows, otherwise the call returns
-  # immediately after the program launches itself.
-  if(WIN32)
-    set(_matlab_additional_commands "-wait")
-  endif()
-
-  set(devnull)
-  if(UNIX)
-    set(devnull INPUT_FILE /dev/null)
-  elseif(WIN32)
-    set(devnull INPUT_FILE NUL)
-  endif()
-
-  # timeout set to 30 seconds, in case it does not start
-  # note as said before OUTPUT_VARIABLE cannot be used in a platform
-  # independent manner however, not setting it would flush the output of Matlab
-  # in the current console (unix variant)
-  execute_process(
-    COMMAND "${matlab_binary_program}" -nosplash -nojvm ${_matlab_additional_commands} -logfile "matlabVersionLog.cmaketmp" -nodesktop -nodisplay -r "version, exit"
-    OUTPUT_VARIABLE _matlab_version_from_cmd_dummy
-    RESULT_VARIABLE _matlab_result_version_call
-    ERROR_VARIABLE _matlab_result_version_call_error
-    TIMEOUT 30
-    WORKING_DIRECTORY "${_matlab_temporary_folder}"
-    ${devnull}
-    )
-
-
-  if(${_matlab_result_version_call})
-    if(MATLAB_FIND_DEBUG)
-      message(WARNING "[MATLAB] Unable to determine the version of Matlab. Matlab call returned with error ${_matlab_result_version_call}.")
-    endif()
-    return()
-  elseif(NOT EXISTS "${_matlab_temporary_folder}/matlabVersionLog.cmaketmp")
-    if(MATLAB_FIND_DEBUG)
-      message(WARNING "[MATLAB] Unable to determine the version of Matlab. The log file does not exist.")
-    endif()
-    return()
-  endif()
-
-  # if successful, read back the log
-  file(READ "${_matlab_temporary_folder}/matlabVersionLog.cmaketmp" _matlab_version_from_cmd)
-  file(REMOVE "${_matlab_temporary_folder}/matlabVersionLog.cmaketmp")
-
-  set(index -1)
-  string(FIND ${_matlab_version_from_cmd} "ans" index)
-  if(index EQUAL -1)
-
-    if(MATLAB_FIND_DEBUG)
-      message(WARNING "[MATLAB] Cannot find the version of Matlab returned by the run.")
-    endif()
-
-  else()
-    set(matlab_list_of_all_versions_tmp)
-
-    string(SUBSTRING ${_matlab_version_from_cmd} ${index} -1 substring_ans)
-    string(
-      REGEX MATCHALL "ans[\r\n\t ]*=[\r\n\t ]*([0-9]+(\\.[0-9]+)?)"
-      matlab_versions_regex
-      ${substring_ans})
-    foreach(match IN LISTS matlab_versions_regex)
-      string(
-        REGEX MATCH "ans[\r\n\t ]*=[\r\n\t ]*(([0-9]+)(\\.([0-9]+))?)"
-        current_match ${match})
-
-      list(APPEND matlab_list_of_all_versions_tmp ${CMAKE_MATCH_1})
-    endforeach()
-    if(matlab_list_of_all_versions_tmp)
-      list(REMOVE_DUPLICATES matlab_list_of_all_versions_tmp)
-    endif()
-    set(${matlab_list_versions} ${matlab_list_of_all_versions_tmp} PARENT_SCOPE)
-
-  endif()
-
-endfunction()
-
-
-#.rst:
-# .. command:: matlab_add_unit_test
-#
-#   Adds a Matlab unit test to the test set of cmake/ctest.
-#   This command requires the component ``MAIN_PROGRAM``.
-#   The unit test uses the Matlab unittest framework (default, available
-#   starting Matlab 2013b+) except if the option ``NO_UNITTEST_FRAMEWORK``
-#   is given.
-#
-#   The function expects one Matlab test script file to be given.
-#   In the case ``NO_UNITTEST_FRAMEWORK`` is given, the unittest script file
-#   should contain the script to be run, plus an exit command with the exit
-#   value. This exit value will be passed to the ctest framework (0 success,
-#   non 0 failure). Additional arguments accepted by :command:`add_test` can be
-#   passed through ``TEST_ARGS`` (eg. ``CONFIGURATION <config> ...``).
-#
-#   ::
-#
-#     matlab_add_unit_test(
-#         NAME <name>
-#         UNITTEST_FILE matlab_file_containing_unittest.m
-#         [UNITTEST_PRECOMMAND matlab_command_to_run]
-#         [TIMEOUT timeout]
-#         [ADDITIONAL_PATH path1 [path2 ...]]
-#         [MATLAB_ADDITIONAL_STARTUP_OPTIONS option1 [option2 ...]]
-#         [TEST_ARGS arg1 [arg2 ...]]
-#         [NO_UNITTEST_FRAMEWORK]
-#         )
-#
-#   The function arguments are:
-#
-#   ``NAME``
-#     name of the unittest in ctest.
-#   ``UNITTEST_FILE``
-#     the matlab unittest file. Its path will be automatically
-#     added to the Matlab path.
-#   ``UNITTEST_PRECOMMAND``
-#     Matlab script command to be ran before the file
-#     containing the test (eg. GPU device initialisation based on CMake
-#     variables).
-#   ``TIMEOUT``
-#     the test timeout in seconds. Defaults to 180 seconds as the
-#     Matlab unit test may hang.
-#   ``ADDITIONAL_PATH``
-#     a list of paths to add to the Matlab path prior to
-#     running the unit test.
-#   ``MATLAB_ADDITIONAL_STARTUP_OPTIONS``
-#     a list of additional option in order
-#     to run Matlab from the command line.
-#   ``TEST_ARGS``
-#     Additional options provided to the add_test command. These
-#     options are added to the default options (eg. "CONFIGURATIONS Release")
-#   ``NO_UNITTEST_FRAMEWORK``
-#     when set, indicates that the test should not
-#     use the unittest framework of Matlab (available for versions >= R2013a).
-#
-function(matlab_add_unit_test)
-
-  if(NOT Matlab_MAIN_PROGRAM)
-    message(FATAL_ERROR "[MATLAB] This functionality needs the MAIN_PROGRAM component (not default)")
-  endif()
-
-  set(options NO_UNITTEST_FRAMEWORK)
-  set(oneValueArgs NAME UNITTEST_PRECOMMAND UNITTEST_FILE TIMEOUT)
-  set(multiValueArgs ADDITIONAL_PATH MATLAB_ADDITIONAL_STARTUP_OPTIONS TEST_ARGS)
-
-  set(prefix _matlab_unittest_prefix)
-  cmake_parse_arguments(${prefix} "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN} )
-
-  if(NOT ${prefix}_NAME)
-    message(FATAL_ERROR "[MATLAB] The Matlab test name cannot be empty")
-  endif()
-
-  add_test(NAME ${${prefix}_NAME}
-           COMMAND ${CMAKE_COMMAND}
-            -Dtest_name=${${prefix}_NAME}
-            -Dadditional_paths=${${prefix}_ADDITIONAL_PATH}
-            -Dtest_timeout=${${prefix}_TIMEOUT}
-            -Doutput_directory=${_matlab_temporary_folder}
-            -DMatlab_PROGRAM=${Matlab_MAIN_PROGRAM}
-            -Dno_unittest_framework=${${prefix}_NO_UNITTEST_FRAMEWORK}
-            -DMatlab_ADDITIONNAL_STARTUP_OPTIONS=${${prefix}_MATLAB_ADDITIONAL_STARTUP_OPTIONS}
-            -Dunittest_file_to_run=${${prefix}_UNITTEST_FILE}
-            -Dcmd_to_run_before_test=${${prefix}_UNITTEST_PRECOMMAND}
-            -P ${_FindMatlab_SELF_DIR}/MatlabTestsRedirect.cmake
-           ${${prefix}_TEST_ARGS}
-           ${${prefix}_UNPARSED_ARGUMENTS}
-           )
-endfunction()
-
-
-#.rst:
-# .. command:: matlab_add_mex
-#
-#   Adds a Matlab MEX target.
-#   This commands compiles the given sources with the current tool-chain in
-#   order to produce a MEX file. The final name of the produced output may be
-#   specified, as well as additional link libraries, and a documentation entry
-#   for the MEX file. Remaining arguments of the call are passed to the
-#   :command:`add_library` command.
-#
-#   ::
-#
-#      matlab_add_mex(
-#          NAME <name>
-#          SRC src1 [src2 ...]
-#          [OUTPUT_NAME output_name]
-#          [DOCUMENTATION file.txt]
-#          [LINK_TO target1 target2 ...]
-#          [...]
-#      )
-#
-#   ``NAME``
-#     name of the target.
-#   ``SRC``
-#     list of tje source files.
-#   ``LINK_TO``
-#     a list of additional link dependencies.  The target links to ``libmex``
-#     by default. If ``Matlab_MX_LIBRARY`` is defined, it also
-#     links to ``libmx``.
-#   ``OUTPUT_NAME``
-#     if given, overrides the default name. The default name is
-#     the name of the target without any prefix and
-#     with ``Matlab_MEX_EXTENSION`` suffix.
-#   ``DOCUMENTATION``
-#     if given, the file ``file.txt`` will be considered as
-#     being the documentation file for the MEX file. This file is copied into
-#     the same folder without any processing, with the same name as the final
-#     mex file, and with extension `.m`. In that case, typing ``help <name>``
-#     in Matlab prints the documentation contained in this file.
-#
-#   The documentation file is not processed and should be in the following
-#   format:
-#
-#   ::
-#
-#     % This is the documentation
-#     function ret = mex_target_output_name(input1)
-#
-function(matlab_add_mex )
-
-  if(NOT WIN32)
-    # we do not need all this on Windows
-    # pthread options
-    check_cxx_compiler_flag(-pthread                    HAS_MINUS_PTHREAD)
-    # we should use try_compile instead, the link flags are discarded from
-    # this compiler_flag function.
-    #check_cxx_compiler_flag(-Wl,--exclude-libs,ALL HAS_SYMBOL_HIDING_CAPABILITY)
-
-  endif()
-
-  set(oneValueArgs NAME DOCUMENTATION OUTPUT_NAME)
-  set(multiValueArgs LINK_TO SRC)
-
-  set(prefix _matlab_addmex_prefix)
-  cmake_parse_arguments(${prefix} "${options}" "${oneValueArgs}" "${multiValueArgs}" ${ARGN} )
-
-  if(NOT ${prefix}_NAME)
-    message(FATAL_ERROR "[MATLAB] The MEX target name cannot be empty")
-  endif()
-
-  if(NOT ${prefix}_OUTPUT_NAME)
-    set(${prefix}_OUTPUT_NAME ${${prefix}_NAME})
-  endif()
-
-  add_library(${${prefix}_NAME}
-    SHARED
-      ${${prefix}_SRC}
-      ${${prefix}_DOCUMENTATION}
-      ${${prefix}_UNPARSED_ARGUMENTS})
-  target_include_directories(${${prefix}_NAME} PRIVATE ${Matlab_INCLUDE_DIRS})
-
-  if(DEFINED Matlab_MX_LIBRARY)
-    target_link_libraries(${${prefix}_NAME} ${Matlab_MX_LIBRARY})
-  endif()
-
-  target_link_libraries(${${prefix}_NAME} ${Matlab_MEX_LIBRARY} ${${prefix}_LINK_TO})
-  set_target_properties(${${prefix}_NAME}
-      PROPERTIES
-        PREFIX ""
-        OUTPUT_NAME ${${prefix}_OUTPUT_NAME}
-        SUFFIX ".${Matlab_MEX_EXTENSION}")
-
-
-  # documentation
-  if(NOT ${${prefix}_DOCUMENTATION} STREQUAL "")
-    get_target_property(output_name ${${prefix}_NAME} OUTPUT_NAME)
-    add_custom_command(
-      TARGET ${${prefix}_NAME}
-      PRE_BUILD
-      COMMAND ${CMAKE_COMMAND} -E copy_if_different ${${prefix}_DOCUMENTATION} $<TARGET_FILE_DIR:${${prefix}_NAME}>/${output_name}.m
-      COMMENT "Copy ${${prefix}_NAME} documentation file into the output folder"
-    )
-  endif() # documentation
-
-  # entry point in the mex file + taking care of visibility and symbol clashes.
-  if(WIN32)
-    set_target_properties(${${prefix}_NAME}
-      PROPERTIES
-        DEFINE_SYMBOL "DLL_EXPORT_SYM=__declspec(dllexport)")
-  else()
-
-    if(HAS_MINUS_PTHREAD AND NOT APPLE)
-      # Apparently, compiling with -pthread generated the proper link flags
-      # and some defines at compilation
-      target_compile_options(${${prefix}_NAME} PRIVATE "-pthread")
-    endif()
-
-
-    # if we do not do that, the symbols linked from eg. boost remain weak and
-    # then clash with the ones defined in the matlab process. So by default
-    # the symbols are hidden.
-    # This also means that for shared libraries (like MEX), the entry point
-    # should be explicitly declared with default visibility, otherwise Matlab
-    # cannot find the entry point.
-    # Note that this is particularly meaningful if the MEX wrapper itself
-    # contains symbols that are clashing with Matlab (that are compiled in the
-    # MEX file). In order to propagate the visibility options to the libraries
-    # to which the MEX file is linked against, the -Wl,--exclude-libs,ALL
-    # option should also be specified.
-
-    set_target_properties(${${prefix}_NAME}
-      PROPERTIES
-        CXX_VISIBILITY_PRESET "hidden"
-        C_VISIBILITY_PRESET "hidden"
-        VISIBILITY_INLINES_HIDDEN ON
-    )
-
-    #  get_target_property(
-    #    _previous_link_flags
-    #    ${${prefix}_NAME}
-    #    LINK_FLAGS)
-    #  if(NOT _previous_link_flags)
-    #    set(_previous_link_flags)
-    #  endif()
-
-    #  if("${CMAKE_CXX_COMPILER_ID}" STREQUAL "GNU")
-    #    set_target_properties(${${prefix}_NAME}
-    #      PROPERTIES
-    #        LINK_FLAGS "${_previous_link_flags} -Wl,--exclude-libs,ALL"
-    #        # -Wl,--version-script=${_FindMatlab_SELF_DIR}/MatlabLinuxVisibility.map"
-    #    )
-    #  elseif("${CMAKE_CXX_COMPILER_ID}" STREQUAL "Clang")
-    #    # in this case, all other symbols become hidden.
-    #    set_target_properties(${${prefix}_NAME}
-    #      PROPERTIES
-    #        LINK_FLAGS "${_previous_link_flags} -Wl,-exported_symbol,_mexFunction"
-    #        #-Wl,-exported_symbols_list,${_FindMatlab_SELF_DIR}/MatlabOSXVisilibity.map"
-    #    )
-    #  endif()
-
-
-
-    set_target_properties(${${prefix}_NAME}
-      PROPERTIES
-        DEFINE_SYMBOL "DLL_EXPORT_SYM=__attribute__ ((visibility (\"default\")))"
-    )
-
-
-  endif()
-
-endfunction()
-
-
-# (internal)
-# Used to get the version of matlab, using caching. This basically transforms the
-# output of the root list, with possible unknown version, to a version
-#
-function(_Matlab_get_version_from_root matlab_root matlab_known_version matlab_final_version)
-
-  # if the version is not trivial, we query matlab for that
-  # we keep track of the location of matlab that induced this version
-  #if(NOT DEFINED Matlab_PROG_VERSION_STRING_AUTO_DETECT)
-  #  set(Matlab_PROG_VERSION_STRING_AUTO_DETECT "" CACHE INTERNAL "internal matlab location for the discovered version")
-  #endif()
-
-  if(NOT ${matlab_known_version} STREQUAL "NOTFOUND")
-    # the version is known, we just return it
-    set(${matlab_final_version} ${matlab_known_version} PARENT_SCOPE)
-    set(Matlab_VERSION_STRING_INTERNAL ${matlab_known_version} CACHE INTERNAL "Matlab version (automatically determined)" FORCE)
-    return()
-  endif()
-
-  #
-  set(_matlab_current_program ${Matlab_MAIN_PROGRAM})
-
-  # do we already have a matlab program?
-  if(NOT _matlab_current_program)
-
-    set(_find_matlab_options)
-    if(matlab_root AND EXISTS ${matlab_root})
-      set(_find_matlab_options PATHS ${matlab_root} ${matlab_root}/bin NO_DEFAULT_PATH)
-    endif()
-
-    find_program(
-        _matlab_current_program
-        matlab
-        ${_find_matlab_options}
-        DOC "Matlab main program"
-      )
-  endif()
-
-  if(NOT _matlab_current_program OR NOT EXISTS ${_matlab_current_program})
-    # if not found, clear the dependent variables
-    if(MATLAB_FIND_DEBUG)
-      message(WARNING "[MATLAB] Cannot find the main matlab program under ${matlab_root}")
-    endif()
-    set(Matlab_PROG_VERSION_STRING_AUTO_DETECT "" CACHE INTERNAL "internal matlab location for the discovered version" FORCE)
-    set(Matlab_VERSION_STRING_INTERNAL "" CACHE INTERNAL "internal matlab location for the discovered version" FORCE)
-    unset(_matlab_current_program)
-    unset(_matlab_current_program CACHE)
-    return()
-  endif()
-
-  # full real path for path comparison
-  get_filename_component(_matlab_main_real_path_tmp "${_matlab_current_program}" REALPATH)
-  unset(_matlab_current_program)
-  unset(_matlab_current_program CACHE)
-
-  # is it the same as the previous one?
-  if(_matlab_main_real_path_tmp STREQUAL Matlab_PROG_VERSION_STRING_AUTO_DETECT)
-    set(${matlab_final_version} ${Matlab_VERSION_STRING_INTERNAL} PARENT_SCOPE)
-    return()
-  endif()
-
-  # update the location of the program
-  set(Matlab_PROG_VERSION_STRING_AUTO_DETECT ${_matlab_main_real_path_tmp} CACHE INTERNAL "internal matlab location for the discovered version" FORCE)
-
-  set(matlab_list_of_all_versions)
-  matlab_get_version_from_matlab_run("${Matlab_PROG_VERSION_STRING_AUTO_DETECT}" matlab_list_of_all_versions)
-
-  list(GET matlab_list_of_all_versions 0 _matlab_version_tmp)
-
-  # set the version into the cache
-  set(Matlab_VERSION_STRING_INTERNAL ${_matlab_version_tmp} CACHE INTERNAL "Matlab version (automatically determined)" FORCE)
-
-  # warning, just in case several versions found (should not happen)
-  list(LENGTH matlab_list_of_all_versions list_of_all_versions_length)
-  if((${list_of_all_versions_length} GREATER 1) AND MATLAB_FIND_DEBUG)
-    message(WARNING "[MATLAB] Found several versions, taking the first one (versions found ${matlab_list_of_all_versions})")
-  endif()
-
-  # return the updated value
-  set(${matlab_final_version} ${Matlab_VERSION_STRING_INTERNAL} PARENT_SCOPE)
-
-endfunction()
-
-
-
-
-
-
-
-# ###################################
-# Exploring the possible Matlab_ROOTS
-
-# this variable will get all Matlab installations found in the current system.
-set(_matlab_possible_roots)
-
-
-
-if(Matlab_ROOT_DIR)
-  # if the user specifies a possible root, we keep this one
-
-  if(NOT EXISTS ${Matlab_ROOT_DIR})
-    # if Matlab_ROOT_DIR specified but erroneous
-    if(MATLAB_FIND_DEBUG)
-      message(WARNING "[MATLAB] the specified path for Matlab_ROOT_DIR does not exist (${Matlab_ROOT_DIR})")
-    endif()
-  else()
-    # NOTFOUND indicates the code below to search for the version automatically
-    if("${Matlab_VERSION_STRING_INTERNAL}" STREQUAL "")
-      list(APPEND _matlab_possible_roots "NOTFOUND" ${Matlab_ROOT_DIR}) # empty version
-    else()
-      list(APPEND _matlab_possible_roots ${Matlab_VERSION_STRING_INTERNAL} ${Matlab_ROOT_DIR}) # cached version
-    endif()
-  endif()
-
-
-else()
-
-  # if the user does not specify the possible installation root, we look for
-  # one installation using the appropriate heuristics
-
-  if(WIN32)
-
-    # On WIN32, we look for Matlab installation in the registry
-    # if unsuccessful, we look for all known revision and filter the existing
-    # ones.
-
-    # testing if we are able to extract the needed information from the registry
-    set(_matlab_versions_from_registry)
-    matlab_extract_all_installed_versions_from_registry(CMAKE_CL_64 _matlab_versions_from_registry)
-
-    # the returned list is empty, doing the search on all known versions
-    if(NOT _matlab_versions_from_registry)
-
-      if(MATLAB_FIND_DEBUG)
-        message(STATUS "[MATLAB] Search for Matlab from the registry unsuccessful, testing all supported versions")
-      endif()
-
-      extract_matlab_versions_from_registry_brute_force(_matlab_versions_from_registry)
-    endif()
-
-    # filtering the results with the registry keys
-    matlab_get_all_valid_matlab_roots_from_registry("${_matlab_versions_from_registry}" _matlab_possible_roots)
-    unset(_matlab_versions_from_registry)
-
-  elseif(APPLE)
-
-    # on mac, we look for the /Application paths
-    # this corresponds to the behaviour on Windows. On Linux, we do not have
-    # any other guess.
-    matlab_get_supported_releases(_matlab_releases)
-    if(MATLAB_FIND_DEBUG)
-      message(STATUS "[MATLAB] Matlab supported versions ${_matlab_releases}. If more version should be supported "
-                   "the variable MATLAB_ADDITIONAL_VERSIONS can be set according to the documentation")
-    endif()
-
-    foreach(_matlab_current_release IN LISTS _matlab_releases)
-      set(_matlab_full_string "/Applications/MATLAB_${_matlab_current_release}.app")
-      if(EXISTS ${_matlab_full_string})
-        set(_matlab_current_version)
-        matlab_get_version_from_release_name("${_matlab_current_release}" _matlab_current_version)
-        if(MATLAB_FIND_DEBUG)
-          message(STATUS "[MATLAB] Found version ${_matlab_current_release} (${_matlab_current_version}) in ${_matlab_full_string}")
-        endif()
-        list(APPEND _matlab_possible_roots ${_matlab_current_version} ${_matlab_full_string})
-        unset(_matlab_current_version)
-      endif()
-
-      unset(_matlab_full_string)
-    endforeach(_matlab_current_release)
-
-    unset(_matlab_current_release)
-    unset(_matlab_releases)
-
-  endif()
-
-endif()
-
-
-
-list(LENGTH _matlab_possible_roots _numbers_of_matlab_roots)
-if(_numbers_of_matlab_roots EQUAL 0)
-  # if we have not found anything, we fall back on the PATH
-
-
-  # At this point, we have no other choice than trying to find it from PATH.
-  # If set by the user, this wont change
-  find_program(
-    _matlab_main_tmp
-    NAMES matlab)
-
-
-  if(_matlab_main_tmp)
-    # we then populate the list of roots, with empty version
-    if(MATLAB_FIND_DEBUG)
-      message(STATUS "[MATLAB] matlab found from PATH: ${_matlab_main_tmp}")
-    endif()
-
-    # resolve symlinks
-    get_filename_component(_matlab_current_location "${_matlab_main_tmp}" REALPATH)
-
-    # get the directory (the command below has to be run twice)
-    # this will be the matlab root
-    get_filename_component(_matlab_current_location "${_matlab_current_location}" DIRECTORY)
-    get_filename_component(_matlab_current_location "${_matlab_current_location}" DIRECTORY) # Matlab should be in bin
-
-    list(APPEND _matlab_possible_roots "NOTFOUND" ${_matlab_current_location})
-
-    unset(_matlab_current_location)
-
-  endif()
-  unset(_matlab_main_tmp CACHE)
-
-endif()
-
-
-
-
-
-if(MATLAB_FIND_DEBUG)
-  message(STATUS "[MATLAB] Matlab root folders are ${_matlab_possible_roots}")
-endif()
-
-
-
-
-
-# take the first possible Matlab root
-list(LENGTH _matlab_possible_roots _numbers_of_matlab_roots)
-set(Matlab_VERSION_STRING "NOTFOUND")
-if(_numbers_of_matlab_roots GREATER 0)
-  list(GET _matlab_possible_roots 0 Matlab_VERSION_STRING)
-  list(GET _matlab_possible_roots 1 Matlab_ROOT_DIR)
-
-  # adding a warning in case of ambiguity
-  if(_numbers_of_matlab_roots GREATER 2 AND MATLAB_FIND_DEBUG)
-    message(WARNING "[MATLAB] Found several distributions of Matlab. Setting the current version to ${Matlab_VERSION_STRING} (located ${Matlab_ROOT_DIR})."
-                    " If this is not the desired behaviour, provide the -DMatlab_ROOT_DIR=... on the command line")
-  endif()
-endif()
-
-
-# check if the root changed against the previous defined one, if so
-# clear all the cached variables
-if(DEFINED Matlab_ROOT_DIR_LAST_CACHED)
-
-  if(NOT Matlab_ROOT_DIR_LAST_CACHED STREQUAL Matlab_ROOT_DIR)
-    set(_Matlab_cached_vars
-        Matlab_INCLUDE_DIRS
-        Matlab_MEX_LIBRARY
-        Matlab_MEX_COMPILER
-        Matlab_MAIN_PROGRAM
-        Matlab_MX_LIBRARY
-        Matlab_ENG_LIBRARY
-        Matlab_MEX_EXTENSION
-
-        # internal
-        Matlab_MEXEXTENSIONS_PROG
-        Matlab_ROOT_DIR_LAST_CACHED
-        #Matlab_PROG_VERSION_STRING_AUTO_DETECT
-        Matlab_VERSION_STRING_INTERNAL
-        )
-    foreach(_var IN LISTS _Matlab_cached_vars)
-      if(DEFINED ${_var})
-        unset(${_var} CACHE)
-      endif()
-    endforeach()
-  endif()
-endif()
-
-set(Matlab_ROOT_DIR_LAST_CACHED ${Matlab_ROOT_DIR} CACHE INTERNAL "last Matlab root dir location")
-set(Matlab_ROOT_DIR ${Matlab_ROOT_DIR} CACHE PATH "Matlab installation root path" FORCE)
-
-# Fix the version, in case this one is NOTFOUND
-_Matlab_get_version_from_root(
-  "${Matlab_ROOT_DIR}"
-  ${Matlab_VERSION_STRING}
-  Matlab_VERSION_STRING
-)
-
-
-
-
-if(MATLAB_FIND_DEBUG)
-  message(STATUS "[MATLAB] Current version is ${Matlab_VERSION_STRING} located ${Matlab_ROOT_DIR}")
-endif()
-
-
-
-if(Matlab_ROOT_DIR)
-  file(TO_CMAKE_PATH ${Matlab_ROOT_DIR} Matlab_ROOT_DIR)
-endif()
-
-if(CMAKE_SIZEOF_VOID_P EQUAL 4)
-  set(_matlab_64Build FALSE)
-else()
-  set(_matlab_64Build TRUE)
-endif()
-
-if(APPLE)
-  set(_matlab_bin_prefix "mac") # i should be for intel
-  set(_matlab_bin_suffix_32bits "i")
-  set(_matlab_bin_suffix_64bits "i64")
-elseif(UNIX)
-  set(_matlab_bin_prefix "gln")
-  set(_matlab_bin_suffix_32bits "x86")
-  set(_matlab_bin_suffix_64bits "xa64")
-else()
-  set(_matlab_bin_prefix "win")
-  set(_matlab_bin_suffix_32bits "32")
-  set(_matlab_bin_suffix_64bits "64")
-endif()
-
-
-
-set(MATLAB_INCLUDE_DIR_TO_LOOK ${Matlab_ROOT_DIR}/extern/include)
-if(_matlab_64Build)
-  set(_matlab_current_suffix ${_matlab_bin_suffix_64bits})
-else()
-  set(_matlab_current_suffix ${_matlab_bin_suffix_32bits})
-endif()
-
-set(Matlab_BINARIES_DIR
-    ${Matlab_ROOT_DIR}/bin/${_matlab_bin_prefix}${_matlab_current_suffix})
-set(Matlab_EXTERN_LIBRARY_DIR
-    ${Matlab_ROOT_DIR}/extern/lib/${_matlab_bin_prefix}${_matlab_current_suffix})
-
-if(WIN32)
-  set(_matlab_lib_dir_for_search ${Matlab_EXTERN_LIBRARY_DIR}/microsoft)
-  set(_matlab_lib_prefix_for_search "lib")
-else()
-  set(_matlab_lib_dir_for_search ${Matlab_BINARIES_DIR})
-  set(_matlab_lib_prefix_for_search "lib")
-endif()
-
-unset(_matlab_64Build)
-
-
-if(NOT DEFINED Matlab_MEX_EXTENSION)
-  set(_matlab_mex_extension "")
-  matlab_get_mex_suffix("${Matlab_ROOT_DIR}" _matlab_mex_extension)
-
-  # This variable goes to the cache.
-  set(Matlab_MEX_EXTENSION ${_matlab_mex_extension} CACHE STRING "Extensions for the mex targets (automatically given by Matlab)")
-  unset(_matlab_mex_extension)
-endif()
-
-
-if(MATLAB_FIND_DEBUG)
-  message(STATUS "[MATLAB] [DEBUG]_matlab_lib_prefix_for_search = ${_matlab_lib_prefix_for_search} | _matlab_lib_dir_for_search = ${_matlab_lib_dir_for_search}")
-endif()
-
-
-
-# internal
-# This small stub around find_library is to prevent any pollution of CMAKE_FIND_LIBRARY_PREFIXES in the global scope.
-# This is the function to be used below instead of the find_library directives.
-function(_Matlab_find_library _matlab_library_prefix)
-  set(CMAKE_FIND_LIBRARY_PREFIXES ${CMAKE_FIND_LIBRARY_PREFIXES} ${_matlab_library_prefix})
-  find_library(${ARGN})
-endfunction()
-
-
-set(_matlab_required_variables)
-
-
-# the MEX library/header are required
-find_path(
-  Matlab_INCLUDE_DIRS
-  mex.h
-  PATHS ${MATLAB_INCLUDE_DIR_TO_LOOK}
-  NO_DEFAULT_PATH
-  )
-list(APPEND _matlab_required_variables Matlab_INCLUDE_DIRS)
-
-_Matlab_find_library(
-  ${_matlab_lib_prefix_for_search}
-  Matlab_MEX_LIBRARY
-  mex
-  PATHS ${_matlab_lib_dir_for_search}
-  NO_DEFAULT_PATH
-)
-
-
-list(APPEND _matlab_required_variables Matlab_MEX_LIBRARY)
-
-# the MEX extension is required
-list(APPEND _matlab_required_variables Matlab_MEX_EXTENSION)
-
-# the matlab root is required
-list(APPEND _matlab_required_variables Matlab_ROOT_DIR)
-
-
-# component Mex Compiler
-list(FIND Matlab_FIND_COMPONENTS MEX_COMPILER _matlab_find_mex_compiler)
-if(_matlab_find_mex_compiler GREATER -1)
-  find_program(
-    Matlab_MEX_COMPILER
-    "mex"
-    PATHS ${Matlab_BINARIES_DIR}
-    DOC "Matlab MEX compiler"
-    NO_DEFAULT_PATH
-  )
-
-  if(Matlab_MEX_COMPILER)
-    set(Matlab_MEX_COMPILER_FOUND TRUE)
-  endif()
-endif()
-unset(_matlab_find_mex_compiler)
-
-# component Matlab program
-list(FIND Matlab_FIND_COMPONENTS MAIN_PROGRAM _matlab_find_matlab_program)
-if(_matlab_find_matlab_program GREATER -1)
-
-  find_program(
-    Matlab_MAIN_PROGRAM
-    matlab
-    PATHS ${Matlab_ROOT_DIR} ${Matlab_ROOT_DIR}/bin
-    DOC "Matlab main program"
-    NO_DEFAULT_PATH
-  )
-
-  if(Matlab_MAIN_PROGRAM)
-    set(Matlab_MAIN_PROGRAM_FOUND TRUE)
-  endif()
-
-endif()
-unset(_matlab_find_matlab_program)
-
-# Component MX library
-list(FIND Matlab_FIND_COMPONENTS MX_LIBRARY _matlab_find_mx)
-if(_matlab_find_mx GREATER -1)
-  _Matlab_find_library(
-    ${_matlab_lib_prefix_for_search}
-    Matlab_MX_LIBRARY
-    mx
-    PATHS ${_matlab_lib_dir_for_search}
-    NO_DEFAULT_PATH
-  )
-
-  if(Matlab_MX_LIBRARY)
-    set(Matlab_MX_LIBRARY_FOUND TRUE)
-  endif()
-endif()
-unset(_matlab_find_mx)
-
-
-# Component ENG library
-list(FIND Matlab_FIND_COMPONENTS ENG_LIBRARY _matlab_find_eng)
-if(_matlab_find_eng GREATER -1)
-  _Matlab_find_library(
-    ${_matlab_lib_prefix_for_search}
-    Matlab_ENG_LIBRARY
-    eng
-    PATHS ${_matlab_lib_dir_for_search}
-    NO_DEFAULT_PATH
-  )
-  if(Matlab_ENG_LIBRARY)
-    set(Matlab_ENG_LIBRARY_FOUND TRUE)
-  endif()
-endif()
-unset(_matlab_find_eng)
-
-
-
-
-
-unset(_matlab_lib_dir_for_search)
-
-
-set(Matlab_LIBRARIES ${Matlab_MEX_LIBRARY} ${Matlab_MX_LIBRARY} ${Matlab_ENG_LIBRARY})
-
-
-find_package_handle_standard_args(
-  Matlab
-  FOUND_VAR Matlab_FOUND
-  REQUIRED_VARS ${_matlab_required_variables}
-  VERSION_VAR Matlab_VERSION_STRING
-  HANDLE_COMPONENTS)
-
-unset(_matlab_required_variables)
-unset(_matlab_bin_prefix)
-unset(_matlab_bin_suffix_32bits)
-unset(_matlab_bin_suffix_64bits)
-unset(_matlab_current_suffix)
-unset(_matlab_lib_dir_for_search)
-unset(_matlab_lib_prefix_for_search)
-
-if(Matlab_INCLUDE_DIRS AND Matlab_LIBRARIES)
-  mark_as_advanced(
-    #Matlab_LIBRARIES
-    Matlab_MEX_LIBRARY
-    Matlab_MX_LIBRARY
-    Matlab_ENG_LIBRARY
-    Matlab_INCLUDE_DIRS
-    Matlab_FOUND
-    #Matlab_ROOT_DIR
-    #Matlab_VERSION_STRING
-    Matlab_MAIN_PROGRAM
-    #Matlab_MEX_EXTENSION
-    Matlab_MEXEXTENSIONS_PROG
-    Matlab_MEX_EXTENSION
-    #Matlab_BINARIES_DIR
-  )
-endif()
diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 007f2d0e5..62cf9590d 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -1,5 +1,5 @@
-# Copyright (C) 2013-2015 Instituto Italiano di Tecnologia
-# Author: Jorhabib Eljaik, Francesco Romano
+# Copyright (C) 2013-2017 iCub Facility - Istituto Italiano di Tecnologia
+# Author: Jorhabib Eljaik, Francesco Romano, Diego Ferigo
 # CopyPolicy: Released under the terms of the GNU GPL v2.0.
 
 find_package(YARP REQUIRED)
@@ -14,18 +14,17 @@ set(CMAKE_MODULE_PATH ${CMAKE_MODULE_PATH} ${YARP_MODULE_PATH})
 include(YarpInstallationHelpers)
 yarp_configure_external_installation(codyco)
 
-find_package(Matlab	 REQUIRED
-             MX_LIBRARY
-             ENG_LIBRARY
-             MAIN_PROGRAM)
+find_package(Matlab REQUIRED MX_LIBRARY
+                             ENG_LIBRARY
+                             MAIN_PROGRAM)
 
 if(NOT Matlab_FOUND)
     message(FATAL_ERROR "Matlab not found")
 endif()
 
-#### Settings for rpath
+# Settings for rpath
 if(NOT MSVC)
-    #add the option to enable RPATH
+    # Add the option to enable RPATH
     option(WB-TOOLBOX_ENABLE_RPATH "Enable RPATH installation" TRUE)
     mark_as_advanced(WB-TOOLBOX_ENABLE_RPATH)
 endif(NOT MSVC)
@@ -37,22 +36,8 @@ add_install_rpath_support(BIN_DIRS ${CMAKE_INSTALL_PREFIX}/bin
                           USE_LINK_PATH)
 
 find_package(Eigen3 REQUIRED)
-find_package(wholeBodyInterface 0.2.5 REQUIRED)
-find_package(yarpWholeBodyInterface 0.3.2 REQUIRED)
 find_package(iDynTree 0.7.2 REQUIRED)
 
-#On new versions of Clang, MATLAB requires C++11.
-#I enable it on all Clangs
-if(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
-    if(${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")
-        set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -std=c++11")
-        if (${CMAKE_GENERATOR} MATCHES "Xcode")
-            #this should set explictly the option in xcode. Unfortunately it does not work.
-            set(XCODE_ATTRIBUTE_CLANG_CXX_LANGUAGE_STANDARD "C++11")
-        endif(${CMAKE_GENERATOR} MATCHES "Xcode")
-    endif(${CMAKE_CXX_COMPILER_ID} MATCHES "Clang")
-endif(${CMAKE_SYSTEM_NAME} MATCHES "Darwin")
-
 include(Utilities)
 
 configure_block(BLOCK_NAME "Base"
@@ -64,7 +49,7 @@ configure_block(BLOCK_NAME "Base"
             src/base/Log.cpp
             src/base/ToolboxSingleton.cpp
             src/base/factory.cpp
-            src/base/SimulinkBlockInformation.cpp #this is temp
+            src/base/SimulinkBlockInformation.cpp
             src/base/Signal.cpp
             src/base/Configuration.cpp
             src/base/RobotInterface.cpp
@@ -74,7 +59,7 @@ configure_block(BLOCK_NAME "Base"
             include/base/WBBlock.h
             include/base/Log.h
             include/base/ToolboxSingleton.h
-            include/base/SimulinkBlockInformation.h #this is temp
+            include/base/SimulinkBlockInformation.h
             include/base/Signal.h
             include/base/Configuration.h
             include/base/RobotInterface.h
@@ -195,8 +180,8 @@ configure_block(BLOCK_NAME "Set Low-Level PIDs"
     LIST_PREFIX WBT
     SOURCES src/SetLowLevelPID.cpp
     HEADERS include/SetLowLevelPID.h)
-
-configure_block(BLOCK_NAME "Get Estimate"
+#
+configure_block(BLOCK_NAME "Get Measurement"
     GROUP "State"
     LIST_PREFIX WBT
     SOURCES src/GetMeasurement.cpp
@@ -216,10 +201,11 @@ include_directories(include)
 include_directories(include/base)
 
 include_directories(SYSTEM ${Matlab_INCLUDE_DIRS} "${Matlab_ROOT_DIR}/simulink/include")
-include_directories(SYSTEM ${YARP_INCLUDE_DIRS} ${yarpWholeBodyInterface_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
+include_directories(SYSTEM ${YARP_INCLUDE_DIRS} ${EIGEN3_INCLUDE_DIR})
 
-list(APPEND LINKED_LIBRARIES ${YARP_LIBRARIES} ${yarpWholeBodyInterface_LIBRARIES})
+list(APPEND LINKED_LIBRARIES ${YARP_LIBRARIES})
 list(APPEND LINKED_LIBRARIES ${iDynTree_LIBRARIES})
+
 if (WBT_USES_ICUB)
     list(APPEND LINKED_LIBRARIES ctrlLib)
     if (${ICUB_USE_IPOPT})
@@ -227,7 +213,7 @@ if (WBT_USES_ICUB)
     endif()
 endif()
 
-#Adding files used for the generation of the dynamic library
+# Adding files used for the generation of the dynamic library
 matlab_add_mex(
     NAME WBToolbox
     SRC ${ALL_HEADERS} ${ALL_SOURCES}
@@ -236,46 +222,40 @@ matlab_add_mex(
 
 # Link with MxAnyType library
 # TODO: this will become an external project sooner or later
-target_link_libraries(WBToolbox PUBLIC MxAnyType)
+target_link_libraries(WBToolbox MxAnyType)
 
 # Link with ClockServer library
 add_subdirectory(autogenerated/)
-target_link_libraries(WBToolbox PUBLIC ClockServer)
-
-# Remote Inverse Kinematics requires C++11
-if (CMAKE_VERSION VERSION_LESS "3.1")
-    if (CMAKE_CXX_COMPILER_ID STREQUAL "GNU" OR
-        CMAKE_CXX_COMPILER_ID STREQUAL "Clang")
-        target_compile_options(WBToolbox PUBLIC "-std=c++11")
-    endif()
-else()
-    set(CXX_STANDARD_REQUIRED ON)
-    set_property(TARGET WBToolbox PROPERTY CXX_STANDARD 11)
-endif()
+target_link_libraries(WBToolbox ClockServer)
 
 install(TARGETS WBToolbox DESTINATION ${CMAKE_INSTALL_PREFIX}/mex)
 
-## if you export the mdl / slx library, remeber to call this command in matlab before saving it
-## set_param(gcs, 'EnableLBRepository','on');
-
 # The following line is to properly configure the installation script of the toolbox
-configure_file(${CMAKE_CURRENT_SOURCE_DIR}/.startup_wbitoolbox.m.in ${CMAKE_BINARY_DIR}/startup_wbitoolbox.m)
-configure_file(${CMAKE_CURRENT_SOURCE_DIR}/.setupForMatlabDebug.m.in ${CMAKE_BINARY_DIR}/setupForMatlabDebug.m)
+configure_file(${CMAKE_CURRENT_SOURCE_DIR}/matlab/startup_wbitoolbox.m.in
+               ${CMAKE_BINARY_DIR}/startup_wbitoolbox.m)
 
 # Custom script to generate the library to be committed on the repository
 # This target is excluded from the normal build and must be called explicitly by the
 # developer who modifies the library
-add_custom_target(export_libraries ${Matlab_MAIN_PROGRAM} -nosplash  -r export_library WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR})
+add_custom_target(export_libraries ${Matlab_MAIN_PROGRAM} -nosplash -nodesktop -r export_library WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/matlab)
 set_target_properties(export_libraries PROPERTIES EXCLUDE_FROM_DEFAULT_BUILD 1)
 
 # Install configuration files
 install(FILES ${CMAKE_BINARY_DIR}/startup_wbitoolbox.m DESTINATION ${WB-TOOLBOX_SHARE_DIR})
-install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/slblocks.m DESTINATION ${WB-TOOLBOX_SHARE_DIR})
+install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/matlab/slblocks.m   DESTINATION ${WB-TOOLBOX_SHARE_DIR})
+
+# Install the package folder
+install(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}/matlab/+WBToolbox
+        DESTINATION ${WB-TOOLBOX_SHARE_DIR})
+
 #if MAJOR >= 2014 && MINOR >= b
 # Note: We had issues with Matlab 2014b and .mdl models.
 # But this issue seems to have been disappeared in 2015b. We have to check if we need to enable this if again
-if (${Matlab_VERSION_STRING} GREATER "8.3")
-    install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/WBToolboxLibrary.slx DESTINATION ${WB-TOOLBOX_SHARE_DIR})
-else()
-    install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/WBToolboxLibrary.mdl DESTINATION ${WB-TOOLBOX_SHARE_DIR})
-endif()
+# TODO: check if the mdl support is still required
+# if (${Matlab_VERSION_STRING} GREATER "8.3")
+    # install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/WBToolboxLibrary.slx DESTINATION ${WB-TOOLBOX_SHARE_DIR})
+# else()
+    # install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/WBToolboxLibrary.mdl DESTINATION ${WB-TOOLBOX_SHARE_DIR})
+# endif()
+install(FILES ${CMAKE_CURRENT_SOURCE_DIR}/matlab/library/exported/WBToolboxLibrary.slx
+        DESTINATION ${WB-TOOLBOX_SHARE_DIR})
diff --git a/toolbox/WBToolboxLibrary.mdl b/toolbox/WBToolboxLibrary.mdl
deleted file mode 100644
index a0e924d52..000000000
--- a/toolbox/WBToolboxLibrary.mdl
+++ /dev/null
@@ -1,4383 +0,0 @@
-Library {
-  Name			  "WBToolboxLibrary"
-  Version		  7.9
-  LibraryType		  "BlockLibrary"
-  SavedCharacterEncoding  "US-ASCII"
-  ScopeRefreshTime	  0.035000
-  OverrideScopeRefreshTime on
-  DisableAllScopes	  off
-  FPTRunName		  "Run 1"
-  MaxMDLFileLineLength	  120
-  Created		  "Thu Feb 06 02:21:39 2014"
-  Creator		  "jorhabib"
-  UpdateHistory		  "UpdateHistoryNever"
-  ModifiedByFormat	  "%<Auto>"
-  LastModifiedBy	  "makaveli"
-  ModifiedDateFormat	  "%<Auto>"
-  LastModifiedDate	  "Wed Aug 23 12:36:18 2017"
-  RTWModifiedTimeStamp	  425392578
-  ModelVersionFormat	  "1.%<AutoIncrement:383>"
-  ConfigurationManager	  "none"
-  SampleTimeColors	  off
-  SampleTimeAnnotations	  off
-  LibraryLinkDisplay	  "disabled"
-  WideLines		  off
-  ShowLineDimensions	  off
-  ShowPortDataTypes	  off
-  ShowDesignRanges	  off
-  ShowLoopsOnError	  on
-  IgnoreBidirectionalLines off
-  ShowStorageClass	  off
-  ShowTestPointIcons	  on
-  ShowSignalResolutionIcons on
-  ShowViewerIcons	  on
-  SortedOrder		  off
-  ExecutionContextIcon	  off
-  ShowLinearizationAnnotations on
-  BlockNameDataTip	  off
-  BlockParametersDataTip  off
-  BlockDescriptionStringDataTip	off
-  ToolBar		  on
-  StatusBar		  on
-  BrowserShowLibraryLinks off
-  BrowserLookUnderMasks	  off
-  SimulationMode	  "normal"
-  LinearizationMsg	  "none"
-  Profile		  off
-  ParamWorkspaceSource	  "MATLABWorkspace"
-  RecordCoverage	  off
-  CovSaveName		  "covdata"
-  CovMetricSettings	  "dw"
-  CovNameIncrementing	  off
-  CovHtmlReporting	  on
-  CovForceBlockReductionOff on
-  CovSaveCumulativeToWorkspaceVar on
-  CovSaveSingleToWorkspaceVar on
-  CovCumulativeReport	  off
-  CovReportOnPause	  on
-  CovModelRefEnable	  "Off"
-  CovExternalEMLEnable	  off
-  ExtModeBatchMode	  off
-  ExtModeEnableFloating	  on
-  ExtModeTrigType	  "manual"
-  ExtModeTrigMode	  "normal"
-  ExtModeTrigPort	  "1"
-  ExtModeTrigElement	  "any"
-  ExtModeTrigDuration	  1000
-  ExtModeTrigDurationFloating "auto"
-  ExtModeTrigHoldOff	  0
-  ExtModeTrigDelay	  0
-  ExtModeTrigDirection	  "rising"
-  ExtModeTrigLevel	  0
-  ExtModeArchiveMode	  "off"
-  ExtModeAutoIncOneShot	  off
-  ExtModeIncDirWhenArm	  off
-  ExtModeAddSuffixToVar	  off
-  ExtModeWriteAllDataToWs off
-  ExtModeArmWhenConnect	  on
-  ExtModeSkipDownloadWhenConnect off
-  ExtModeLogAll		  on
-  ExtModeAutoUpdateStatusClock on
-  ShowModelReferenceBlockVersion off
-  ShowModelReferenceBlockIO off
-  Array {
-    Type		    "Handle"
-    Dimension		    1
-    Simulink.ConfigSet {
-      $ObjectID		      7
-      Version		      "1.12.0"
-      Array {
-	Type			"Handle"
-	Dimension		9
-	Simulink.SolverCC {
-	  $ObjectID		  8
-	  Version		  "1.12.0"
-	  StartTime		  "0.0"
-	  StopTime		  "10.0"
-	  AbsTol		  "auto"
-	  FixedStep		  "auto"
-	  InitialStep		  "auto"
-	  MaxNumMinSteps	  "-1"
-	  MaxOrder		  5
-	  ZcThreshold		  "auto"
-	  ConsecutiveZCsStepRelTol "10*128*eps"
-	  MaxConsecutiveZCs	  "1000"
-	  ExtrapolationOrder	  4
-	  NumberNewtonIterations  1
-	  MaxStep		  "auto"
-	  MinStep		  "auto"
-	  MaxConsecutiveMinStep	  "1"
-	  RelTol		  "1e-3"
-	  SolverMode		  "Auto"
-	  EnableConcurrentExecution off
-	  ConcurrentTasks	  off
-	  Solver		  "ode45"
-	  SolverName		  "ode45"
-	  SolverJacobianMethodControl "auto"
-	  ShapePreserveControl	  "DisableAll"
-	  ZeroCrossControl	  "UseLocalSettings"
-	  ZeroCrossAlgorithm	  "Nonadaptive"
-	  AlgebraicLoopSolver	  "TrustRegion"
-	  SolverResetMethod	  "Fast"
-	  PositivePriorityOrder	  off
-	  AutoInsertRateTranBlk	  off
-	  SampleTimeConstraint	  "Unconstrained"
-	  InsertRTBMode		  "Whenever possible"
-	}
-	Simulink.DataIOCC {
-	  $ObjectID		  9
-	  Version		  "1.12.0"
-	  Decimation		  "1"
-	  ExternalInput		  "[t, u]"
-	  FinalStateName	  "xFinal"
-	  InitialState		  "xInitial"
-	  LimitDataPoints	  on
-	  MaxDataPoints		  "1000"
-	  LoadExternalInput	  off
-	  LoadInitialState	  off
-	  SaveFinalState	  off
-	  SaveCompleteFinalSimState off
-	  SaveFormat		  "Array"
-	  SignalLoggingSaveFormat "ModelDataLogs"
-	  SaveOutput		  on
-	  SaveState		  off
-	  SignalLogging		  on
-	  DSMLogging		  on
-	  InspectSignalLogs	  off
-	  SaveTime		  on
-	  ReturnWorkspaceOutputs  off
-	  StateSaveName		  "xout"
-	  TimeSaveName		  "tout"
-	  OutputSaveName	  "yout"
-	  SignalLoggingName	  "logsout"
-	  DSMLoggingName	  "dsmout"
-	  OutputOption		  "RefineOutputTimes"
-	  OutputTimes		  "[]"
-	  ReturnWorkspaceOutputsName "out"
-	  Refine		  "1"
-	}
-	Simulink.OptimizationCC {
-	  $ObjectID		  10
-	  Version		  "1.12.0"
-	  Array {
-	    Type		    "Cell"
-	    Dimension		    8
-	    Cell		    "BooleansAsBitfields"
-	    Cell		    "PassReuseOutputArgsAs"
-	    Cell		    "PassReuseOutputArgsThreshold"
-	    Cell		    "ZeroExternalMemoryAtStartup"
-	    Cell		    "ZeroInternalMemoryAtStartup"
-	    Cell		    "OptimizeModelRefInitCode"
-	    Cell		    "NoFixptDivByZeroProtection"
-	    Cell		    "UseSpecifiedMinMax"
-	    PropName		    "DisabledProps"
-	  }
-	  BlockReduction	  on
-	  BooleanDataType	  on
-	  ConditionallyExecuteInputs on
-	  InlineParams		  off
-	  UseIntDivNetSlope	  off
-	  UseFloatMulNetSlope	  off
-	  UseSpecifiedMinMax	  off
-	  InlineInvariantSignals  off
-	  OptimizeBlockIOStorage  on
-	  BufferReuse		  on
-	  EnhancedBackFolding	  off
-	  StrengthReduction	  off
-	  ExpressionFolding	  on
-	  BooleansAsBitfields	  off
-	  BitfieldContainerType	  "uint_T"
-	  EnableMemcpy		  on
-	  MemcpyThreshold	  64
-	  PassReuseOutputArgsAs	  "Structure reference"
-	  ExpressionDepthLimit	  2147483647
-	  LocalBlockOutputs	  on
-	  RollThreshold		  5
-	  StateBitsets		  off
-	  DataBitsets		  off
-	  ZeroExternalMemoryAtStartup on
-	  ZeroInternalMemoryAtStartup on
-	  InitFltsAndDblsToZero	  off
-	  NoFixptDivByZeroProtection off
-	  EfficientFloat2IntCast  off
-	  EfficientMapNaN2IntZero on
-	  OptimizeModelRefInitCode off
-	  LifeSpan		  "inf"
-	  MaxStackSize		  "Inherit from target"
-	  BufferReusableBoundary  on
-	  SimCompilerOptimization "Off"
-	  AccelVerboseBuild	  off
-	}
-	Simulink.DebuggingCC {
-	  $ObjectID		  11
-	  Version		  "1.12.0"
-	  RTPrefix		  "error"
-	  ConsistencyChecking	  "none"
-	  ArrayBoundsChecking	  "none"
-	  SignalInfNanChecking	  "none"
-	  SignalRangeChecking	  "none"
-	  ReadBeforeWriteMsg	  "UseLocalSettings"
-	  WriteAfterWriteMsg	  "UseLocalSettings"
-	  WriteAfterReadMsg	  "UseLocalSettings"
-	  AlgebraicLoopMsg	  "warning"
-	  ArtificialAlgebraicLoopMsg "warning"
-	  SaveWithDisabledLinksMsg "warning"
-	  SaveWithParameterizedLinksMsg	"warning"
-	  CheckSSInitialOutputMsg on
-	  UnderspecifiedInitializationDetection	"Classic"
-	  MergeDetectMultiDrivingBlocksExec "none"
-	  CheckExecutionContextPreStartOutputMsg off
-	  CheckExecutionContextRuntimeOutputMsg	off
-	  SignalResolutionControl "UseLocalSettings"
-	  BlockPriorityViolationMsg "warning"
-	  MinStepSizeMsg	  "warning"
-	  TimeAdjustmentMsg	  "none"
-	  MaxConsecutiveZCsMsg	  "error"
-	  MaskedZcDiagnostic	  "warning"
-	  IgnoredZcDiagnostic	  "warning"
-	  SolverPrmCheckMsg	  "warning"
-	  InheritedTsInSrcMsg	  "warning"
-	  MultiTaskDSMMsg	  "error"
-	  MultiTaskCondExecSysMsg "error"
-	  MultiTaskRateTransMsg	  "error"
-	  SingleTaskRateTransMsg  "none"
-	  TasksWithSamePriorityMsg "warning"
-	  SigSpecEnsureSampleTimeMsg "warning"
-	  CheckMatrixSingularityMsg "none"
-	  IntegerOverflowMsg	  "warning"
-	  Int32ToFloatConvMsg	  "warning"
-	  ParameterDowncastMsg	  "error"
-	  ParameterOverflowMsg	  "error"
-	  ParameterUnderflowMsg	  "none"
-	  ParameterPrecisionLossMsg "warning"
-	  ParameterTunabilityLossMsg "warning"
-	  FixptConstUnderflowMsg  "none"
-	  FixptConstOverflowMsg	  "none"
-	  FixptConstPrecisionLossMsg "none"
-	  UnderSpecifiedDataTypeMsg "none"
-	  UnnecessaryDatatypeConvMsg "none"
-	  VectorMatrixConversionMsg "none"
-	  InvalidFcnCallConnMsg	  "error"
-	  FcnCallInpInsideContextMsg "Enable All"
-	  SignalLabelMismatchMsg  "none"
-	  UnconnectedInputMsg	  "warning"
-	  UnconnectedOutputMsg	  "warning"
-	  UnconnectedLineMsg	  "warning"
-	  SFcnCompatibilityMsg	  "none"
-	  FrameProcessingCompatibilityMsg "error"
-	  UniqueDataStoreMsg	  "none"
-	  BusObjectLabelMismatch  "warning"
-	  RootOutportRequireBusObject "warning"
-	  AssertControl		  "UseLocalSettings"
-	  ModelReferenceIOMsg	  "none"
-	  ModelReferenceMultiInstanceNormalModeStructChecksumCheck "error"
-	  ModelReferenceVersionMismatchMessage "none"
-	  ModelReferenceIOMismatchMessage "none"
-	  UnknownTsInhSupMsg	  "warning"
-	  ModelReferenceDataLoggingMessage "warning"
-	  ModelReferenceSymbolNameMessage "warning"
-	  ModelReferenceExtraNoncontSigs "error"
-	  StateNameClashWarn	  "warning"
-	  SimStateInterfaceChecksumMismatchMsg "warning"
-	  SimStateOlderReleaseMsg "error"
-	  InitInArrayFormatMsg	  "warning"
-	  StrictBusMsg		  "ErrorLevel1"
-	  BusNameAdapt		  "WarnAndRepair"
-	  NonBusSignalsTreatedAsBus "none"
-	  BlockIODiagnostic	  "none"
-	  SFUnusedDataAndEventsDiag "warning"
-	  SFUnexpectedBacktrackingDiag "warning"
-	  SFInvalidInputDataAccessInChartInitDiag "warning"
-	  SFNoUnconditionalDefaultTransitionDiag "warning"
-	  SFTransitionOutsideNaturalParentDiag "warning"
-	  SFUnconditionalTransitionShadowingDiag "warning"
-	  ModelReferenceCSMismatchMessage "none"
-	}
-	Simulink.HardwareCC {
-	  $ObjectID		  12
-	  Version		  "1.12.0"
-	  ProdBitPerChar	  8
-	  ProdBitPerShort	  16
-	  ProdBitPerInt		  32
-	  ProdBitPerLong	  32
-	  ProdBitPerFloat	  32
-	  ProdBitPerDouble	  64
-	  ProdBitPerPointer	  32
-	  ProdLargestAtomicInteger "Char"
-	  ProdLargestAtomicFloat  "None"
-	  ProdIntDivRoundTo	  "Undefined"
-	  ProdEndianess		  "Unspecified"
-	  ProdWordSize		  32
-	  ProdShiftRightIntArith  on
-	  ProdHWDeviceType	  "32-bit Generic"
-	  TargetBitPerChar	  8
-	  TargetBitPerShort	  16
-	  TargetBitPerInt	  32
-	  TargetBitPerLong	  32
-	  TargetBitPerFloat	  32
-	  TargetBitPerDouble	  64
-	  TargetBitPerPointer	  32
-	  TargetLargestAtomicInteger "Char"
-	  TargetLargestAtomicFloat "None"
-	  TargetShiftRightIntArith on
-	  TargetIntDivRoundTo	  "Undefined"
-	  TargetEndianess	  "Unspecified"
-	  TargetWordSize	  32
-	  TargetPreprocMaxBitsSint 32
-	  TargetPreprocMaxBitsUint 32
-	  TargetHWDeviceType	  "Specified"
-	  TargetUnknown		  off
-	  ProdEqTarget		  on
-	}
-	Simulink.ModelReferenceCC {
-	  $ObjectID		  13
-	  Version		  "1.12.0"
-	  UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
-	  CheckModelReferenceTargetMessage "error"
-	  EnableParallelModelReferenceBuilds off
-	  ParallelModelReferenceErrorOnInvalidPool on
-	  ParallelModelReferenceMATLABWorkerInit "None"
-	  ModelReferenceNumInstancesAllowed "Multi"
-	  PropagateVarSize	  "Infer from blocks in model"
-	  ModelReferencePassRootInputsByReference on
-	  ModelReferenceMinAlgLoopOccurrences off
-	  PropagateSignalLabelsOutOfModel off
-	  SupportModelReferenceSimTargetCustomCode off
-	}
-	Simulink.SFSimCC {
-	  $ObjectID		  14
-	  Version		  "1.12.0"
-	  SFSimEcho		  on
-	  SimCtrlC		  on
-	  SimIntegrity		  on
-	  SimUseLocalCustomCode	  off
-	  SimParseCustomCode	  on
-	  SimBuildMode		  "sf_incremental_build"
-	}
-	Simulink.RTWCC {
-	  $BackupClass		  "Simulink.RTWCC"
-	  $ObjectID		  15
-	  Version		  "1.12.0"
-	  Array {
-	    Type		    "Cell"
-	    Dimension		    13
-	    Cell		    "IncludeHyperlinkInReport"
-	    Cell		    "GenerateTraceInfo"
-	    Cell		    "GenerateTraceReport"
-	    Cell		    "GenerateTraceReportSl"
-	    Cell		    "GenerateTraceReportSf"
-	    Cell		    "GenerateTraceReportEml"
-	    Cell		    "GenerateWebview"
-	    Cell		    "GenerateCodeMetricsReport"
-	    Cell		    "GenerateCodeReplacementReport"
-	    Cell		    "PortableWordSizes"
-	    Cell		    "GenerateMissedCodeReplacementReport"
-	    Cell		    "GenerateErtSFunction"
-	    Cell		    "CreateSILPILBlock"
-	    PropName		    "DisabledProps"
-	  }
-	  SystemTargetFile	  "grt.tlc"
-	  TLCOptions		  ""
-	  GenCodeOnly		  off
-	  MakeCommand		  "make_rtw"
-	  GenerateMakefile	  on
-	  TemplateMakefile	  "grt_default_tmf"
-	  PostCodeGenCommand	  ""
-	  GenerateReport	  off
-	  SaveLog		  off
-	  RTWVerbose		  on
-	  RetainRTWFile		  off
-	  ProfileTLC		  off
-	  TLCDebug		  off
-	  TLCCoverage		  off
-	  TLCAssert		  off
-	  RTWUseLocalCustomCode	  off
-	  RTWUseSimCustomCode	  off
-	  IncludeHyperlinkInReport off
-	  LaunchReport		  off
-	  TargetLang		  "C"
-	  IncludeBusHierarchyInRTWFileBlockHierarchyMap	off
-	  GenerateTraceInfo	  off
-	  GenerateTraceReport	  off
-	  GenerateTraceReportSl	  off
-	  GenerateTraceReportSf	  off
-	  GenerateTraceReportEml  off
-	  GenerateWebview	  off
-	  GenerateCodeMetricsReport off
-	  GenerateCodeReplacementReport	off
-	  RTWCompilerOptimization "Off"
-	  RTWCustomCompilerOptimizations ""
-	  CheckMdlBeforeBuild	  "Off"
-	  Array {
-	    Type		    "Handle"
-	    Dimension		    2
-	    Simulink.CodeAppCC {
-	      $ObjectID		      16
-	      Version		      "1.12.0"
-	      Array {
-		Type			"Cell"
-		Dimension		25
-		Cell			"IgnoreCustomStorageClasses"
-		Cell			"IgnoreTestpoints"
-		Cell			"InsertBlockDesc"
-		Cell			"InsertPolySpaceComments"
-		Cell			"SFDataObjDesc"
-		Cell			"MATLABFcnDesc"
-		Cell			"SimulinkDataObjDesc"
-		Cell			"DefineNamingRule"
-		Cell			"SignalNamingRule"
-		Cell			"ParamNamingRule"
-		Cell			"InlinedPrmAccess"
-		Cell			"CustomSymbolStr"
-		Cell			"CustomSymbolStrGlobalVar"
-		Cell			"CustomSymbolStrType"
-		Cell			"CustomSymbolStrField"
-		Cell			"CustomSymbolStrFcn"
-		Cell			"CustomSymbolStrFcnArg"
-		Cell			"CustomSymbolStrBlkIO"
-		Cell			"CustomSymbolStrTmpVar"
-		Cell			"CustomSymbolStrMacro"
-		Cell			"ReqsInCode"
-		Cell			"InternalIdentifier"
-		Cell			"CustomSymbolStrModelFcn"
-		Cell			"CustomSymbolStrUtil"
-		Cell			"CustomUserTokenString"
-		PropName		"DisabledProps"
-	      }
-	      ForceParamTrailComments off
-	      GenerateComments	      on
-	      IgnoreCustomStorageClasses on
-	      IgnoreTestpoints	      off
-	      IncHierarchyInIds	      off
-	      MaxIdLength	      31
-	      PreserveName	      off
-	      PreserveNameWithParent  off
-	      ShowEliminatedStatement off
-	      IncAutoGenComments      off
-	      SimulinkDataObjDesc     off
-	      SFDataObjDesc	      off
-	      MATLABFcnDesc	      off
-	      IncDataTypeInIds	      off
-	      MangleLength	      1
-	      CustomSymbolStrGlobalVar "$R$N$M"
-	      CustomSymbolStrType     "$N$R$M_T"
-	      CustomSymbolStrField    "$N$M"
-	      CustomSymbolStrFcn      "$R$N$M$F"
-	      CustomSymbolStrFcnArg   "rt$I$N$M"
-	      CustomSymbolStrBlkIO    "rtb_$N$M"
-	      CustomSymbolStrTmpVar   "$N$M"
-	      CustomSymbolStrMacro    "$R$N$M"
-	      DefineNamingRule	      "None"
-	      ParamNamingRule	      "None"
-	      SignalNamingRule	      "None"
-	      InsertBlockDesc	      off
-	      InsertPolySpaceComments off
-	      SimulinkBlockComments   on
-	      MATLABSourceComments    off
-	      EnableCustomComments    off
-	      InlinedPrmAccess	      "Literals"
-	      ReqsInCode	      off
-	      UseSimReservedNames     off
-	    }
-	    Simulink.GRTTargetCC {
-	      $BackupClass	      "Simulink.TargetCC"
-	      $ObjectID		      17
-	      Version		      "1.12.0"
-	      Array {
-		Type			"Cell"
-		Dimension		18
-		Cell			"GeneratePreprocessorConditionals"
-		Cell			"IncludeMdlTerminateFcn"
-		Cell			"SupportNonInlinedSFcns"
-		Cell			"SuppressErrorStatus"
-		Cell			"ERTCustomFileBanners"
-		Cell			"GenerateSampleERTMain"
-		Cell			"GenerateTestInterfaces"
-		Cell			"ModelStepFunctionPrototypeControlCompliant"
-		Cell			"CPPClassGenCompliant"
-		Cell			"PortableWordSizes"
-		Cell			"PurelyIntegerCode"
-		Cell			"SupportComplex"
-		Cell			"SupportAbsoluteTime"
-		Cell			"SupportContinuousTime"
-		Cell			"MultiInstanceERTCode"
-		Cell			"RemoveResetFunc"
-		Cell			"ExistingSharedCode"
-		Cell			"RemoveDisableFunc"
-		PropName		"DisabledProps"
-	      }
-	      TargetFcnLib	      "ansi_tfl_table_tmw.mat"
-	      TargetLibSuffix	      ""
-	      TargetPreCompLibLocation ""
-	      CodeReplacementLibrary  "None"
-	      UtilityFuncGeneration   "Auto"
-	      ERTMultiwordTypeDef     "System defined"
-	      ERTMultiwordLength      256
-	      MultiwordLength	      2048
-	      GenerateFullHeader      on
-	      GenerateSampleERTMain   off
-	      GenerateTestInterfaces  off
-	      ModelReferenceCompliant on
-	      ParMdlRefBuildCompliant on
-	      CompOptLevelCompliant   on
-	      ConcurrentExecutionCompliant on
-	      IncludeMdlTerminateFcn  on
-	      GeneratePreprocessorConditionals "Disable all"
-	      CombineOutputUpdateFcns off
-	      CombineSignalStateStructs	off
-	      SuppressErrorStatus     off
-	      ERTFirstTimeCompliant   off
-	      IncludeFileDelimiter    "Auto"
-	      ERTCustomFileBanners    off
-	      SupportAbsoluteTime     on
-	      LogVarNameModifier      "rt_"
-	      MatFileLogging	      on
-	      MultiInstanceERTCode    off
-	      SupportNonFinite	      on
-	      SupportComplex	      on
-	      PurelyIntegerCode	      off
-	      SupportContinuousTime   on
-	      SupportNonInlinedSFcns  on
-	      SupportVariableSizeSignals off
-	      ParenthesesLevel	      "Nominal"
-	      ModelStepFunctionPrototypeControlCompliant off
-	      CPPClassGenCompliant    on
-	      AutosarCompliant	      off
-	      GRTInterface	      on
-	      UseMalloc		      off
-	      ExtMode		      off
-	      ExtModeStaticAlloc      off
-	      ExtModeTesting	      off
-	      ExtModeStaticAllocSize  1000000
-	      ExtModeTransport	      0
-	      ExtModeMexFile	      "ext_comm"
-	      ExtModeIntrfLevel	      "Level1"
-	      RTWCAPISignals	      off
-	      RTWCAPIParams	      off
-	      RTWCAPIStates	      off
-	      RTWCAPIRootIO	      off
-	      GenerateASAP2	      off
-	    }
-	    PropName		    "Components"
-	  }
-	}
-	hdlcoderui.hdlcc {
-	  $ObjectID		  19
-	  Version		  "1.12.0"
-	  Description		  "HDL Coder custom configuration component"
-	  Name			  "HDL Coder"
-	  Array {
-	    Type		    "Cell"
-	    Dimension		    1
-	    Cell		    " "
-	    PropName		    "HDLConfigFile"
-	  }
-	  HDLCActiveTab		  "0"
-	}
-	PropName		"Components"
-      }
-      Name		      "Configuration"
-      CurrentDlgPage	      "Solver"
-      ConfigPrmDlgPosition    [ 963, 135, 1843, 765 ]  
-    }
-    PropName		    "ConfigurationSets"
-  }
-  ExplicitPartitioning	  off
-  BlockDefaults {
-    ForegroundColor	    "black"
-    BackgroundColor	    "white"
-    DropShadow		    off
-    NamePlacement	    "normal"
-    FontName		    "Helvetica"
-    FontSize		    10
-    FontWeight		    "normal"
-    FontAngle		    "normal"
-    ShowName		    on
-    BlockRotation	    0
-    BlockMirror		    off
-  }
-  AnnotationDefaults {
-    HorizontalAlignment	    "center"
-    VerticalAlignment	    "middle"
-    ForegroundColor	    "black"
-    BackgroundColor	    "white"
-    DropShadow		    off
-    FontName		    "Helvetica"
-    FontSize		    10
-    FontWeight		    "normal"
-    FontAngle		    "normal"
-    UseDisplayTextAsClickCallback off
-  }
-  LineDefaults {
-    FontName		    "Helvetica"
-    FontSize		    9
-    FontWeight		    "normal"
-    FontAngle		    "normal"
-  }
-  BlockParameterDefaults {
-    Block {
-      BlockType		      Clock
-      DisplayTime	      off
-      Decimation	      "10"
-    }
-    Block {
-      BlockType		      Constant
-      Value		      "1"
-      VectorParams1D	      on
-      SamplingMode	      "Sample based"
-      OutMin		      "[]"
-      OutMax		      "[]"
-      OutDataTypeStr	      "Inherit: Inherit from 'Constant value'"
-      LockScale		      off
-      SampleTime	      "inf"
-      FramePeriod	      "inf"
-      PreserveConstantTs      off
-    }
-    Block {
-      BlockType		      Demux
-      Outputs		      "4"
-      DisplayOption	      "none"
-      BusSelectionMode	      off
-    }
-    Block {
-      BlockType		      Gain
-      Gain		      "1"
-      Multiplication	      "Element-wise(K.*u)"
-      ParamMin		      "[]"
-      ParamMax		      "[]"
-      ParamDataTypeStr	      "Inherit: Same as input"
-      OutMin		      "[]"
-      OutMax		      "[]"
-      OutDataTypeStr	      "Inherit: Same as input"
-      LockScale		      off
-      RndMeth		      "Floor"
-      SaturateOnIntegerOverflow	on
-      SampleTime	      "-1"
-    }
-    Block {
-      BlockType		      Inport
-      Port		      "1"
-      OutputFunctionCall      off
-      OutMin		      "[]"
-      OutMax		      "[]"
-      OutDataTypeStr	      "Inherit: auto"
-      LockScale		      off
-      BusOutputAsStruct	      off
-      PortDimensions	      "-1"
-      VarSizeSig	      "Inherit"
-      SampleTime	      "-1"
-      SignalType	      "auto"
-      SamplingMode	      "auto"
-      LatchByDelayingOutsideSignal off
-      LatchInputForFeedbackSignals off
-      Interpolate	      on
-    }
-    Block {
-      BlockType		      Outport
-      Port		      "1"
-      OutMin		      "[]"
-      OutMax		      "[]"
-      OutDataTypeStr	      "Inherit: auto"
-      LockScale		      off
-      BusOutputAsStruct	      off
-      PortDimensions	      "-1"
-      VarSizeSig	      "Inherit"
-      SampleTime	      "-1"
-      SignalType	      "auto"
-      SamplingMode	      "auto"
-      SourceOfInitialOutputValue "Dialog"
-      OutputWhenDisabled      "held"
-      InitialOutput	      "[]"
-    }
-    Block {
-      BlockType		      Product
-      Inputs		      "2"
-      Multiplication	      "Element-wise(.*)"
-      CollapseMode	      "All dimensions"
-      CollapseDim	      "1"
-      InputSameDT	      on
-      OutMin		      "[]"
-      OutMax		      "[]"
-      OutDataTypeStr	      "Inherit: Same as first input"
-      LockScale		      off
-      RndMeth		      "Zero"
-      SaturateOnIntegerOverflow	on
-      SampleTime	      "-1"
-    }
-    Block {
-      BlockType		      S-Function
-      FunctionName	      "system"
-      SFunctionModules	      "''"
-      PortCounts	      "[]"
-    }
-    Block {
-      BlockType		      SubSystem
-      ShowPortLabels	      "FromPortIcon"
-      Permissions	      "ReadWrite"
-      PermitHierarchicalResolution "All"
-      TreatAsAtomicUnit	      off
-      SystemSampleTime	      "-1"
-      RTWFcnNameOpts	      "Auto"
-      RTWFileNameOpts	      "Auto"
-      RTWMemSecFuncInitTerm   "Inherit from model"
-      RTWMemSecFuncExecute    "Inherit from model"
-      RTWMemSecDataConstants  "Inherit from model"
-      RTWMemSecDataInternal   "Inherit from model"
-      RTWMemSecDataParameters "Inherit from model"
-      SimViewingDevice	      off
-      DataTypeOverride	      "UseLocalSettings"
-      DataTypeOverrideAppliesTo	"AllNumericTypes"
-      MinMaxOverflowLogging   "UseLocalSettings"
-      SFBlockType	      "NONE"
-      GeneratePreprocessorConditionals off
-      PropagateVariantConditions off
-      TreatAsGroupedWhenPropagatingVariantConditions on
-    }
-    Block {
-      BlockType		      Sum
-      IconShape		      "rectangular"
-      Inputs		      "++"
-      CollapseMode	      "All dimensions"
-      CollapseDim	      "1"
-      InputSameDT	      on
-      AccumDataTypeStr	      "Inherit: Inherit via internal rule"
-      OutMin		      "[]"
-      OutMax		      "[]"
-      OutDataTypeStr	      "Inherit: Same as first input"
-      LockScale		      off
-      RndMeth		      "Floor"
-      SaturateOnIntegerOverflow	on
-      SampleTime	      "-1"
-    }
-    Block {
-      BlockType		      Terminator
-    }
-  }
-  System {
-    Name		    "WBToolboxLibrary"
-    Location		    [747, 53, 2027, 774]
-    Open		    off
-    ModelBrowserVisibility  off
-    ModelBrowserWidth	    200
-    ScreenColor		    "black"
-    PaperOrientation	    "landscape"
-    PaperPositionMode	    "auto"
-    PaperType		    "usletter"
-    PaperUnits		    "inches"
-    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-    TiledPageScale	    1
-    ShowPageBoundaries	    off
-    ZoomFactor		    "273"
-    ReportName		    "simulink-default.rpt"
-    SIDHighWatermark	    "1773"
-    Block {
-      BlockType		      SubSystem
-      Name		      "Utilities"
-      SID		      "192"
-      Ports		      []
-      Position		      [364, 17, 462, 114]
-      ZOrder		      -1
-      ForegroundColor	      "white"
-      DropShadow	      on
-      RequestExecContextInheritance off
-      Variant		      off
-      MaskDisplay	      "image(imread('utilities.png'))"
-      MaskIconFrame	      on
-      MaskIconOpaque	      on
-      MaskIconRotate	      "none"
-      MaskPortRotate	      "default"
-      MaskIconUnits	      "autoscale"
-      System {
-	Name			"Utilities"
-	Location		[551, 44, 1831, 765]
-	Open			off
-	ModelBrowserVisibility	off
-	ModelBrowserWidth	200
-	ScreenColor		"white"
-	PaperOrientation	"landscape"
-	PaperPositionMode	"auto"
-	PaperType		"usletter"
-	PaperUnits		"inches"
-	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-	TiledPageScale		1
-	ShowPageBoundaries	off
-	ZoomFactor		"166"
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "DampPinv"
-	  SID			  "104"
-	  Ports			  [2, 1]
-	  Position		  [435, 153, 505, 197]
-	  ZOrder		  -1
-	  BackgroundColor	  "[0.848000, 0.128048, 0.320035]"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskPromptString	  "Tolerance"
-	  MaskStyleString	  "edit"
-	  MaskVariables		  "tol=@1;"
-	  MaskTunableValueString  "on"
-	  MaskEnableString	  "on"
-	  MaskVisibilityString	  "on"
-	  MaskToolTipString	  "on"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "1e-4"
-	  System {
-	    Name		    "DampPinv"
-	    Location		    [0, 29, 1280, 744]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "100"
-	    Block {
-	      BlockType		      Inport
-	      Name		      "mat"
-	      SID		      "105"
-	      Position		      [50, 53, 80, 67]
-	      ZOrder		      -1
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      Inport
-	      Name		      "sigma"
-	      SID		      "106"
-	      Position		      [50, 93, 80, 107]
-	      ZOrder		      -2
-	      Port		      "2"
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Damped Pseudo Inverse"
-	      SID		      "107"
-	      Ports		      [2, 1]
-	      Position		      [105, 39, 200, 121]
-	      ZOrder		      -4
-	      LibraryVersion	      "1.32"
-	      ErrorFcn		      "Stateflow.Translate.translate"
-	      PermitHierarchicalResolution "ParametersOnly"
-	      TreatAsAtomicUnit	      on
-	      RequestExecContextInheritance off
-	      SFBlockType	      "MATLAB Function"
-	      Variant		      off
-	      MaskType		      "Stateflow"
-	      MaskDescription	      "Embedded MATLAB block"
-	      MaskSelfModifiable      on
-	      MaskDisplay	      "bgColor = Simulink.Root.ColorString2Rgb(get_param(gcbh, 'BackgroundColor')); image(imread('p"
-	      "rivate/eml_membrane_16.png','png','BackgroundColor',bgColor(1:3)),'center'); disp([10 10 'fcn']);"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      off
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "normalized"
-	      System {
-		Name			"Damped Pseudo Inverse"
-		Location		[12, 45, 1279, 3773]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"100"
-		SIDHighWatermark	"1773"
-		Block {
-		  BlockType		  Inport
-		  Name			  "mat"
-		  SID			  "107::1"
-		  Position		  [20, 101, 40, 119]
-		  ZOrder		  -1
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "sigma"
-		  SID			  "107::25"
-		  Position		  [20, 136, 40, 154]
-		  ZOrder		  11
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Demux
-		  Name			  " Demux "
-		  SID			  "107::1618"
-		  Ports			  [1, 1]
-		  Position		  [270, 230, 320, 270]
-		  ZOrder		  98
-		  Outputs		  "1"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  " SFunction "
-		  SID			  "107::1617"
-		  Tag			  "Stateflow S-Function WBToolboxLibrary 6"
-		  Ports			  [2, 2]
-		  Position		  [180, 100, 230, 160]
-		  ZOrder		  97
-		  FunctionName		  "sf_sfun"
-		  PortCounts		  "[2 2]"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		  Port {
-		    PortNumber		    2
-		    Name		    "DPinv"
-		    RTWStorageClass	    "Auto"
-		    DataLoggingNameMode	    "SignalName"
-		  }
-		}
-		Block {
-		  BlockType		  Terminator
-		  Name			  " Terminator "
-		  SID			  "107::1619"
-		  Position		  [460, 241, 480, 259]
-		  ZOrder		  99
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "DPinv"
-		  SID			  "107::5"
-		  Position		  [460, 101, 480, 119]
-		  ZOrder		  -6
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "mat"
-		  SrcPort		  1
-		  Points		  [120, 0]
-		  DstBlock		  " SFunction "
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "sigma"
-		  SrcPort		  1
-		  DstBlock		  " SFunction "
-		  DstPort		  2
-		}
-		Line {
-		  Name			  "DPinv"
-		  Labels		  [0, 0]
-		  SrcBlock		  " SFunction "
-		  SrcPort		  2
-		  DstBlock		  "DPinv"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  " Demux "
-		  SrcPort		  1
-		  DstBlock		  " Terminator "
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  " SFunction "
-		  SrcPort		  1
-		  DstBlock		  " Demux "
-		  DstPort		  1
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "DPinv"
-	      SID		      "108"
-	      Position		      [225, 73, 255, 87]
-	      ZOrder		      -5
-	      IconDisplay	      "Port number"
-	    }
-	    Line {
-	      SrcBlock		      "sigma"
-	      SrcPort		      1
-	      DstBlock		      "Damped Pseudo Inverse"
-	      DstPort		      2
-	    }
-	    Line {
-	      SrcBlock		      "Damped Pseudo Inverse"
-	      SrcPort		      1
-	      DstBlock		      "DPinv"
-	      DstPort		      1
-	    }
-	    Line {
-	      SrcBlock		      "mat"
-	      SrcPort		      1
-	      DstBlock		      "Damped Pseudo Inverse"
-	      DstPort		      1
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-	Block {
-	  BlockType		  S-Function
-	  Name			  "DoFs converter"
-	  SID			  "1771"
-	  Ports			  [1, 5]
-	  Position		  [240, 241, 385, 309]
-	  ZOrder		  81
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend\n"
-	  FunctionName		  "WBToolbox"
-	  Parameters		  "'YARPWBIConverter',robotName,localName,wbiFile,wbiList,yarp2WBIOption"
-	  SFunctionDeploymentMode off
-	  EnableBusSupport	  off
-	  MaskType		  "DoFs converter"
-	  MaskDescription	  "This block converts from a DoFs serialization to a YARP serialization or viceversa depending on "
-	  "its configuration.\nThe DoFs configuration is automatically currently taken from the WBI list option.\nThe robot na"
-	  "me is taken from the environment variable YARP_ROBOT_NAME.\n\nParameters:\n\n- Conversion direction: specify if you"
-	  " want to convert from YARP to the current DoFs serialization or viceversa.\n\nWBI parameters:\n\n- Robot Port Name:"
-	  " Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name s"
-	  "pecified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the por"
-	  "ts opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of"
-	  " the Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	  MaskPromptString	  "Conversion Direction|Robot Port Name|Model Name|WBI filename|WBI list name"
-	  MaskStyleString	  "popup(From YARP to WBI|From WBI to YARP),edit,edit,edit,edit"
-	  MaskVariables		  "yarp2WBIOption=@1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
-	  MaskTunableValueString  "on,on,on,on,on"
-	  MaskCallbackString	  "||||"
-	  MaskEnableString	  "on,on,on,on,on"
-	  MaskVisibilityString	  "on,on,on,on,on"
-	  MaskToolTipString	  "on,on,on,on,on"
-	  MaskDisplay		  "robotName = getenv('YARP_ROBOT_NAME');\n\ncurrentSelection = get_param(gcb,'yarp2WBIoption');\n\nif"
-	  " strcmp(currentSelection,'From YARP to WBI')\n    direction = 'YARP -> DoFs';\nelse\n    direction = 'DoFs -> YARP'"
-	  ";\nend\n\nfprintf('%s\\n\\n%s', robotName, direction);"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "From YARP to WBI|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	  MaskTabNameString	  "Block Parameters,WBI Parameters,WBI Parameters,WBI Parameters,WBI Parameters"
-	}
-	Block {
-	  BlockType		  S-Function
-	  Name			  "Minimum Jerk Trajectory Generator"
-	  SID			  "1747"
-	  Ports			  [1, 3]
-	  Position		  [450, 73, 605, 127]
-	  ZOrder		  78
-	  FunctionName		  "WBToolbox"
-	  Parameters		  "'MinimumJerkTrajectoryGenerator',sampleTime, settlingTime, firstDerivatives, secondDerivatives, expl"
-	  "icitInitialValue, externalSettlingTime,resetOnSettlingTime"
-	  SFunctionDeploymentMode off
-	  EnableBusSupport	  off
-	  MaskType		  "Minimum Jerk Trajectory Generator"
-	  MaskDescription	  "This block wraps the minJerkTrajGen class from iCub::ctrl::minJerkTrajGen.\n\nThe Minimum Jerk T"
-	  "rajectory Generator is approximated using a \n3rd order LTI dynamical system \n(for more details see [1]). \nPositi"
-	  "on, velocity and acceleration trajectories are computed.\n The main advantage with respect to the standard polynomi"
-	  "al \nform is that if the reference value yd changes \nthere is no need to recompute the filter coefficients.\n\n[1]"
-	  " Pattacini, U.; Nori, F.; Natale, L.; Metta, G.; Sandini, G., \"An experimental evaluation of a novel minimum-jerk "
-	  "cartesian controller for humanoid robots,\" in Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International C"
-	  "onference on , vol., no., pp.1668-1674, 18-22 Oct. 2010\ndoi: 10.1109/IROS.2010.5650851\nURL: http://ieeexplore.iee"
-	  "e.org/stamp/stamp.jsp?tp=&arnumber=5650851&isnumber=5648787"
-	  MaskPromptString	  "External Settling Time|Settling Time|Sample Time|Reset on Settling Time Changes|Output First De"
-	  "rivative|Output Second Derivative|Explicit Initial Value"
-	  MaskStyleString	  "checkbox,edit,edit,checkbox,checkbox,checkbox,checkbox"
-	  MaskVariables		  "externalSettlingTime=@1;settlingTime=@2;sampleTime=@3;resetOnSettlingTime=@4;firstDerivatives=@5;"
-	  "secondDerivatives=@6;explicitInitialValue=@7;"
-	  MaskTunableValueString  "on,on,on,on,on,on,on"
-	  MaskCallbackString	  "externalSettlingTime = get_param(gcb, 'externalSettlingTime');\nvisibility = get_param(gcb, '"
-	  "MaskVisibilities');\nif(strcmp(externalSettlingTime, 'on'))\n    visibility{2} = 'off';\n    visibility{4} = 'on';\n"
-	  "else\n    visibility{2} = 'on';\n    visibility{4} = 'off';\nend\nset_param(gcb, 'MaskVisibilities',visibility);\nc"
-	  "lear externalSettlingTime||||||"
-	  MaskEnableString	  "on,on,on,on,on,on,on"
-	  MaskVisibilityString	  "on,on,on,on,on,on,off"
-	  MaskToolTipString	  "on,on,on,on,on,on,on"
-	  MaskDisplay		  "firstDer = get_param(gcb, 'firstDerivatives');\nsecondDer = get_param(gcb, 'secondDerivatives');\ni"
-	  "nitialValues = get_param(gcb, 'explicitInitialValue');\nexternalSettlingTimeParam = get_param(gcb, 'externalSettlin"
-	  "gTime');\n\n%Inputs\nportIndex = 2;\nport_label('input', 1, 'Reference')\nif(strcmp(initialValues, 'on'))\n    port"
-	  "_label('input', portIndex, 'Initial Value')\n    portIndex = portIndex + 1;\nend\n\nif(strcmp(externalSettlingTimeP"
-	  "aram, 'on'))\n    port_label('input', portIndex, 'Settling Time')\n    portIndex = portIndex + 1;\nend\n\n%Outputs\n"
-	  "port_label('output', 1, 'Signal')\nsecondDerPortIndex = 2;\nif(strcmp(firstDer, 'on'))\n    port_label('output', 2,"
-	  " 'First Derivative')\n    secondDerPortIndex = secondDerPortIndex + 1;\nend\nif(strcmp(secondDer, 'on'))\n    port_"
-	  "label('output', secondDerPortIndex, 'Second Derivative')\nend\n\n\n"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "off|3|0.01|off|on|on|off"
-	  MaskTabNameString	  "Trajectory Parameters,Trajectory Parameters,Trajectory Parameters,Trajectory Parameters,Input/"
-	  "Output,Input/Output,Input/Output"
-	}
-	Block {
-	  BlockType		  S-Function
-	  Name			  "Real Time Synchronizer"
-	  SID			  "1657"
-	  Ports			  []
-	  Position		  [155, 14, 280, 51]
-	  ZOrder		  23
-	  ForegroundColor	  "white"
-	  BackgroundColor	  "gray"
-	  ShowName		  off
-	  FunctionName		  "WBToolbox"
-	  Parameters		  "'RealTimeSynchronizer',period"
-	  SFunctionDeploymentMode off
-	  EnableBusSupport	  off
-	  MaskType		  "Real Time Synchronizer"
-	  MaskDescription	  "This block slows down the simulation trying to match the period specified \nas parameter (in sec"
-	  "onds).\nThe bigger the period the more probable \nis that Simulink can remain synched with it.\n"
-	  MaskPromptString	  "Controller Period (in seconds)"
-	  MaskStyleString	  "edit"
-	  MaskVariables		  "period=@1;"
-	  MaskTunableValueString  "on"
-	  MaskEnableString	  "on"
-	  MaskVisibilityString	  "on"
-	  MaskToolTipString	  "on"
-	  MaskDisplay		  "disp('Real Time Synchronizer')"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "0.01"
-	}
-	Block {
-	  BlockType		  S-Function
-	  Name			  "Simulator Synchronizer"
-	  SID			  "1658"
-	  Ports			  []
-	  Position		  [335, 14, 465, 51]
-	  ZOrder		  24
-	  ForegroundColor	  "[0.490196, 0.000000, 0.000000]"
-	  ShowName		  off
-	  FunctionName		  "WBToolbox"
-	  Parameters		  "'SimulatorSynchronizer',period, serverPortName, clientPortName"
-	  SFunctionDeploymentMode off
-	  EnableBusSupport	  off
-	  MaskType		  "Simulator Synchronizer"
-	  MaskDescription	  "This block synchronizes with the external simulation on a simulator \n(only Gazebo is supported "
-	  "at the moment).\n\n"
-	  MaskPromptString	  "Controller Period (in seconds)|Server Port Name|Client Port Name"
-	  MaskStyleString	  "edit,edit,edit"
-	  MaskVariables		  "period=@1;serverPortName=@2;clientPortName=@3;"
-	  MaskTunableValueString  "on,on,on"
-	  MaskCallbackString	  "||"
-	  MaskEnableString	  "on,on,on"
-	  MaskVisibilityString	  "on,on,on"
-	  MaskToolTipString	  "on,on,on"
-	  MaskDisplay		  "disp('Simulator Synchronizer')"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "0.01|'/clock/rpc'|'/WBT_synchronizer/rpc:o'"
-	}
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "TruncPinv"
-	  SID			  "109"
-	  Ports			  [2, 1]
-	  Position		  [335, 153, 405, 197]
-	  ZOrder		  -3
-	  BackgroundColor	  "[0.534601, 0.470279, 1.000000]"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskPromptString	  "Tolerance"
-	  MaskStyleString	  "edit"
-	  MaskVariables		  "tol=@1;"
-	  MaskTunableValueString  "on"
-	  MaskEnableString	  "on"
-	  MaskVisibilityString	  "on"
-	  MaskToolTipString	  "on"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "1e-4"
-	  System {
-	    Name		    "TruncPinv"
-	    Location		    [0, 29, 1280, 744]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "100"
-	    Block {
-	      BlockType		      Inport
-	      Name		      "S"
-	      SID		      "110"
-	      Position		      [50, 53, 80, 67]
-	      ZOrder		      -1
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      Inport
-	      Name		      "tol"
-	      SID		      "111"
-	      Position		      [50, 93, 80, 107]
-	      ZOrder		      -2
-	      Port		      "2"
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Truncated PseudoInverse"
-	      SID		      "112"
-	      Ports		      [2, 1]
-	      Position		      [105, 39, 200, 121]
-	      ZOrder		      -4
-	      LibraryVersion	      "1.32"
-	      ErrorFcn		      "Stateflow.Translate.translate"
-	      PermitHierarchicalResolution "ParametersOnly"
-	      TreatAsAtomicUnit	      on
-	      RequestExecContextInheritance off
-	      SFBlockType	      "MATLAB Function"
-	      Variant		      off
-	      MaskType		      "Stateflow"
-	      MaskDescription	      "Embedded MATLAB block"
-	      MaskSelfModifiable      on
-	      MaskDisplay	      "bgColor = Simulink.Root.ColorString2Rgb(get_param(gcbh, 'BackgroundColor')); image(imread('p"
-	      "rivate/eml_membrane_16.png','png','BackgroundColor',bgColor(1:3)),'center'); disp([10 10 'fcn']);"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      off
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "normalized"
-	      System {
-		Name			"Truncated PseudoInverse"
-		Location		[12, 45, 1279, 3773]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"100"
-		SIDHighWatermark	"1773"
-		Block {
-		  BlockType		  Inport
-		  Name			  "mat"
-		  SID			  "112::1"
-		  Position		  [20, 101, 40, 119]
-		  ZOrder		  -1
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "tol"
-		  SID			  "112::25"
-		  Position		  [20, 136, 40, 154]
-		  ZOrder		  11
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Demux
-		  Name			  " Demux "
-		  SID			  "112::1609"
-		  Ports			  [1, 1]
-		  Position		  [270, 230, 320, 270]
-		  ZOrder		  98
-		  Outputs		  "1"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  " SFunction "
-		  SID			  "112::1608"
-		  Tag			  "Stateflow S-Function WBToolboxLibrary 7"
-		  Ports			  [2, 2]
-		  Position		  [180, 100, 230, 160]
-		  ZOrder		  97
-		  FunctionName		  "sf_sfun"
-		  PortCounts		  "[2 2]"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		  Port {
-		    PortNumber		    2
-		    Name		    "TPinv"
-		    RTWStorageClass	    "Auto"
-		    DataLoggingNameMode	    "SignalName"
-		  }
-		}
-		Block {
-		  BlockType		  Terminator
-		  Name			  " Terminator "
-		  SID			  "112::1610"
-		  Position		  [460, 241, 480, 259]
-		  ZOrder		  99
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "TPinv"
-		  SID			  "112::5"
-		  Position		  [460, 101, 480, 119]
-		  ZOrder		  -6
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "mat"
-		  SrcPort		  1
-		  Points		  [120, 0]
-		  DstBlock		  " SFunction "
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "tol"
-		  SrcPort		  1
-		  DstBlock		  " SFunction "
-		  DstPort		  2
-		}
-		Line {
-		  Name			  "TPinv"
-		  Labels		  [0, 0]
-		  SrcBlock		  " SFunction "
-		  SrcPort		  2
-		  DstBlock		  "TPinv"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  " Demux "
-		  SrcPort		  1
-		  DstBlock		  " Terminator "
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  " SFunction "
-		  SrcPort		  1
-		  DstBlock		  " Demux "
-		  DstPort		  1
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "Tpinv"
-	      SID		      "113"
-	      Position		      [225, 73, 255, 87]
-	      ZOrder		      -5
-	      IconDisplay	      "Port number"
-	    }
-	    Line {
-	      SrcBlock		      "S"
-	      SrcPort		      1
-	      DstBlock		      "Truncated PseudoInverse"
-	      DstPort		      1
-	    }
-	    Line {
-	      SrcBlock		      "Truncated PseudoInverse"
-	      SrcPort		      1
-	      DstBlock		      "Tpinv"
-	      DstPort		      1
-	    }
-	    Line {
-	      SrcBlock		      "tol"
-	      SrcPort		      1
-	      DstBlock		      "Truncated PseudoInverse"
-	      DstPort		      2
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-	Block {
-	  BlockType		  S-Function
-	  Name			  "Yarp Clock"
-	  SID			  "1773"
-	  Ports			  [0, 1]
-	  Position		  [335, 76, 405, 124]
-	  ZOrder		  85
-	  ForegroundColor	  "[0.490196, 0.000000, 0.000000]"
-	  FunctionName		  "WBToolbox"
-	  Parameters		  "'YarpClock'"
-	  SFunctionDeploymentMode off
-	  EnableBusSupport	  off
-	  MaskType		  "YARP Clock"
-	  MaskDescription	  "This block outputs the current YARP Time\nIn a nutshell, this block outputs the equivalent of th"
-	  "e C++ function call\nyarp::os::Time::now()"
-	  MaskSelfModifiable	  on
-	  MaskDisplay		  "disp('YARP Time')\n"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	}
-	Block {
-	  BlockType		  S-Function
-	  Name			  "Yarp Read"
-	  SID			  "1632"
-	  Ports			  [0, 2]
-	  Position		  [105, 74, 165, 121]
-	  ZOrder		  22
-	  ForegroundColor	  "[0.490196, 0.000000, 0.000000]"
-	  FunctionName		  "WBToolbox"
-	  Parameters		  "'YarpRead',portName,signalSize,blocking,timestamp,autoconnect,errorOnConnection"
-	  SFunctionDeploymentMode off
-	  EnableBusSupport	  off
-	  MaskType		  "YARP Read"
-	  MaskDescription	  "This block behaves as the command 'yarp read'. \nBy default it has the option 'Autoconnect' acti"
-	  "ve, which means that the user \ncan only specify the name of the port ('Source Port Name') from which readings are "
-	  "desired,\nalong with the size of the expected data (e.g. 3 when reading the torso state).\nWhen the user unchecks '"
-	  "Autoconnect' 'Opened Port Name' field shows up \ncorresponding to the name of the port the block will create \nbut "
-	  "won't connect to anything. \nAt this point the output will be always zero, until the user connects it\nto some othe"
-	  "r port from command line by issuing 'yarp connect [from] [dest]'.\nIn this case an additional output, called 'signa"
-	  "l' will be added which will output\n1 if the port has received at least one data, or 0 otherwise.\n"
-	  MaskPromptString	  "Source Port Name|Port Size|Blocking Read|Read Timestamp|Autoconnect|Error on missing connection"
-	  MaskStyleString	  "edit,edit,checkbox,checkbox,checkbox,checkbox"
-	  MaskVariables		  "portName=@1;signalSize=@2;blocking=@3;timestamp=@4;autoconnect=@5;errorOnConnection=@6;"
-	  MaskTunableValueString  "on,on,on,on,on,on"
-	  MaskCallbackString	  "||||autoconnect_val = get_param(gcb, 'Autoconnect');\nprompt_string = get_param(gcb, 'MaskPro"
-	  "mpts');\nif(strcmp(autoconnect_val, 'on'))\n    prompt_string{1} = 'Source Port Name';\n    set_param(gcb, 'MaskVis"
-	  "ibilities',{'on';'on';'on';'on';'on';'on'});\nelse\n    prompt_string{1} = 'Opened Port Name';\n    set_param(gcb, "
-	  "'MaskVisibilities',{'on';'on';'on';'on';'on';'off'});\nend\nset_param(gcb, 'MaskPrompts', prompt_string);\nclear au"
-	  "toconnect_val prompt_string|"
-	  MaskEnableString	  "on,on,on,on,on,on"
-	  MaskVisibilityString	  "on,on,on,on,on,on"
-	  MaskToolTipString	  "on,on,on,on,on,on"
-	  MaskSelfModifiable	  on
-	  MaskDisplay		  "port_label('output', 1, 'signal');\nportNumber = 1;\nif (timestamp)\n    portNumber = portNumber + "
-	  "1;\n    port_label('output', portNumber, 'timestamp');\nend\n\nif (~autoconnect)\n    portNumber = portNumber + 1;\n"
-	  "    port_label('output', portNumber, 'status');\nend\n\n"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "'/portname'|1|off|on|on|on"
-	}
-	Block {
-	  BlockType		  S-Function
-	  Name			  "Yarp Write"
-	  SID			  "1659"
-	  Ports			  [1]
-	  Position		  [230, 76, 290, 124]
-	  ZOrder		  27
-	  ForegroundColor	  "[0.490196, 0.000000, 0.000000]"
-	  FunctionName		  "WBToolbox"
-	  Parameters		  "'YarpWrite',portName,autoconnect,errorOnConnection"
-	  SFunctionDeploymentMode off
-	  EnableBusSupport	  off
-	  MaskType		  "YARP Write"
-	  MaskDescription	  "This block behaves as the command 'yarp write'. \n\nBy default this block opens a port names as "
-	  "the \"Opened Port Name\" parameter\nand stream the input signal to that port.\nIf the option \"Autoconnect\" is spe"
-	  "cified, the first parameter become the\nname of the target port to which the data will be stramed, \ne.g. like \"ya"
-	  "rp write ... /destinationPort\"\n"
-	  MaskPromptString	  "Opened Port Name|Autoconnect|Error on missing connection"
-	  MaskStyleString	  "edit,checkbox,checkbox"
-	  MaskVariables		  "portName=@1;autoconnect=@2;errorOnConnection=@3;"
-	  MaskTunableValueString  "on,on,on"
-	  MaskCallbackString	  "|autoconnect_val = get_param(gcb, 'Autoconnect');\nprompt_string = get_param(gcb, 'MaskPrompt"
-	  "s');\nif(strcmp(autoconnect_val, 'on'))\n    prompt_string{1} = 'Destination Port Name';\n    set_param(gcb, 'MaskV"
-	  "isibilities',{'on';'on';'on'});\nelse\n    prompt_string{1} = 'Opened Port Name';\n    set_param(gcb, 'MaskVisibili"
-	  "ties',{'on';'on';'off'});\nend\nset_param(gcb, 'MaskPrompts', prompt_string);\nclear autoconnect_val prompt_string|"
-	  MaskEnableString	  "on,on,on"
-	  MaskVisibilityString	  "on,on,off"
-	  MaskToolTipString	  "on,on,on"
-	  MaskSelfModifiable	  on
-	  MaskDisplay		  "disp('Yarp Write')"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "'/portname'|off|on"
-	}
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "errors"
-	  SID			  "714"
-	  Ports			  [2, 2]
-	  Position		  [200, 153, 260, 197]
-	  ZOrder		  -9
-	  BackgroundColor	  "[0.300000, 0.580000, 1.000000]"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskType		  "Errors"
-	  MaskDescription	  "Computes two kinds of errors. The first is just the difference between x\nand y while the second"
-	  " is the ratio (x-y)/y."
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  System {
-	    Name		    "errors"
-	    Location		    [0, 29, 1280, 744]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "100"
-	    Block {
-	      BlockType		      Inport
-	      Name		      "x"
-	      SID		      "715"
-	      Position		      [30, 28, 60, 42]
-	      ZOrder		      -1
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      Inport
-	      Name		      "y"
-	      SID		      "716"
-	      Position		      [25, 103, 55, 117]
-	      ZOrder		      -2
-	      Port		      "2"
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      Sum
-	      Name		      "Add"
-	      SID		      "717"
-	      Ports		      [2, 1]
-	      Position		      [95, 27, 125, 58]
-	      ZOrder		      -3
-	      Inputs		      "+-"
-	      InputSameDT	      off
-	      OutDataTypeStr	      "Inherit: Inherit via internal rule"
-	      SaturateOnIntegerOverflow	off
-	    }
-	    Block {
-	      BlockType		      Product
-	      Name		      "Divide"
-	      SID		      "718"
-	      Ports		      [2, 1]
-	      Position		      [165, 37, 195, 68]
-	      ZOrder		      -4
-	      Inputs		      "*/"
-	      InputSameDT	      off
-	      OutDataTypeStr	      "Inherit: Inherit via internal rule"
-	      RndMeth		      "Floor"
-	      SaturateOnIntegerOverflow	off
-	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "x-y"
-	      SID		      "719"
-	      Position		      [225, 13, 255, 27]
-	      ZOrder		      -5
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "(x-y)./y"
-	      SID		      "720"
-	      Position		      [220, 48, 250, 62]
-	      ZOrder		      -6
-	      Port		      "2"
-	      IconDisplay	      "Port number"
-	    }
-	    Line {
-	      SrcBlock		      "Add"
-	      SrcPort		      1
-	      Points		      [10, 0]
-	      Branch {
-		DstBlock		"Divide"
-		DstPort			1
-	      }
-	      Branch {
-		Points			[0, -25]
-		DstBlock		"x-y"
-		DstPort			1
-	      }
-	    }
-	    Line {
-	      SrcBlock		      "x"
-	      SrcPort		      1
-	      DstBlock		      "Add"
-	      DstPort		      1
-	    }
-	    Line {
-	      SrcBlock		      "y"
-	      SrcPort		      1
-	      Points		      [15, 0]
-	      Branch {
-		Points			[0, -60]
-		DstBlock		"Add"
-		DstPort			2
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-	      Branch {
-		Points			[60, 0; 0, -50]
-		DstBlock		"Divide"
-		DstPort			2
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-	    }
-	    Line {
-	      SrcBlock		      "Divide"
-	      SrcPort		      1
-	      DstBlock		      "(x-y)./y"
-	      DstPort		      1
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "holder\n"
-	  SID			  "1296"
-	  Ports			  [1, 1]
-	  Position		  [105, 152, 165, 198]
-	  ZOrder		  14
-	  BackgroundColor	  "[0.537255, 0.721569, 1.000000]"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskType		  "Holder"
-	  MaskDescription	  "This block holds the first input value during the simulation."
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  System {
-	    Name		    "holder\n"
-	    Location		    [12, 45, 1340, 980]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
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-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "100"
-	    Block {
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-	      ZOrder		      13
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      Clock
-	      Name		      "Clock"
-	      SID		      "1298"
-	      Position		      [45, 65, 65, 85]
-	      ZOrder		      11
-	    }
-	    Block {
-	      BlockType		      Reference
-	      Name		      "Compare\nTo Constant"
-	      SID		      "1299"
-	      Ports		      [1, 1]
-	      Position		      [90, 60, 120, 90]
-	      ZOrder		      10
-	      LibraryVersion	      "1.388"
-	      SourceBlock	      "simulink/Logic and Bit\nOperations/Compare\nTo Constant"
-	      SourceType	      "Compare To Constant"
-	      relop		      "=="
-	      const		      "0"
-	      OutDataTypeStr	      "boolean"
-	      ZeroCross		      on
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "MATLAB Function"
-	      SID		      "1300"
-	      Ports		      [2, 1]
-	      Position		      [235, 37, 305, 88]
-	      ZOrder		      15
-	      LibraryVersion	      "1.32"
-	      ErrorFcn		      "Stateflow.Translate.translate"
-	      PermitHierarchicalResolution "ParametersOnly"
-	      TreatAsAtomicUnit	      on
-	      RequestExecContextInheritance off
-	      SFBlockType	      "MATLAB Function"
-	      Variant		      off
-	      MaskType		      "Stateflow"
-	      MaskDescription	      "Embedded MATLAB block"
-	      MaskSelfModifiable      on
-	      MaskDisplay	      "bgColor = Simulink.Root.ColorString2Rgb(get_param(gcbh, 'BackgroundColor')); image(imread('p"
-	      "rivate/eml_membrane_16.png','png','BackgroundColor',bgColor(1:3)),'center'); disp([10 10 'fcn']);"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      off
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "normalized"
-	      System {
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-		Location		[12, 45, 1135, 3068]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"100"
-		SIDHighWatermark	"1773"
-		Block {
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-		  Name			  "s"
-		  SID			  "1300::24"
-		  Position		  [20, 101, 40, 119]
-		  ZOrder		  10
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "unused"
-		  SID			  "1300::26"
-		  Position		  [20, 136, 40, 154]
-		  ZOrder		  12
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Demux
-		  Name			  " Demux "
-		  SID			  "1300::1609"
-		  Ports			  [1, 1]
-		  Position		  [270, 230, 320, 270]
-		  ZOrder		  86
-		  Outputs		  "1"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  " SFunction "
-		  SID			  "1300::1608"
-		  Tag			  "Stateflow S-Function WBToolboxLibrary 1"
-		  Ports			  [2, 2]
-		  Position		  [180, 100, 230, 160]
-		  ZOrder		  85
-		  FunctionName		  "sf_sfun"
-		  PortCounts		  "[2 2]"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		  Port {
-		    PortNumber		    2
-		    Name		    "s0"
-		    RTWStorageClass	    "Auto"
-		    DataLoggingNameMode	    "SignalName"
-		  }
-		}
-		Block {
-		  BlockType		  Terminator
-		  Name			  " Terminator "
-		  SID			  "1300::1610"
-		  Position		  [460, 241, 480, 259]
-		  ZOrder		  87
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "s0"
-		  SID			  "1300::25"
-		  Position		  [460, 101, 480, 119]
-		  ZOrder		  11
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "s"
-		  SrcPort		  1
-		  Points		  [120, 0]
-		  DstBlock		  " SFunction "
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "unused"
-		  SrcPort		  1
-		  DstBlock		  " SFunction "
-		  DstPort		  2
-		}
-		Line {
-		  Name			  "s0"
-		  Labels		  [0, 0]
-		  SrcBlock		  " SFunction "
-		  SrcPort		  2
-		  DstBlock		  "s0"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  " Demux "
-		  SrcPort		  1
-		  DstBlock		  " Terminator "
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  " SFunction "
-		  SrcPort		  1
-		  DstBlock		  " Demux "
-		  DstPort		  1
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "s(0)"
-	      SID		      "1301"
-	      Position		      [330, 58, 360, 72]
-	      ZOrder		      14
-	      IconDisplay	      "Port number"
-	    }
-	    Line {
-	      SrcBlock		      "Clock"
-	      SrcPort		      1
-	      DstBlock		      "Compare\nTo Constant"
-	      DstPort		      1
-	    }
-	    Line {
-	      SrcBlock		      "MATLAB Function"
-	      SrcPort		      1
-	      DstBlock		      "s(0)"
-	      DstPort		      1
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-	    Line {
-	      SrcBlock		      "s"
-	      SrcPort		      1
-	      DstBlock		      "MATLAB Function"
-	      DstPort		      1
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-	    Line {
-	      SrcBlock		      "Compare\nTo Constant"
-	      SrcPort		      1
-	      DstBlock		      "MATLAB Function"
-	      DstPort		      2
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-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-      }
-      RTWSystemCode	      "Auto"
-      MinAlgLoopOccurrences   off
-      PropExecContextOutsideSubsystem off
-      FunctionWithSeparateData off
-      Opaque		      off
-      MaskHideContents	      off
-    }
-    Block {
-      BlockType		      SubSystem
-      Name		      "wholeBodyActuators"
-      SID		      "224"
-      Ports		      []
-      Position		      [250, 16, 348, 113]
-      ZOrder		      -17
-      ForegroundColor	      "white"
-      DropShadow	      on
-      RequestExecContextInheritance off
-      Variant		      off
-      MaskDisplay	      "image(imread('wholeBodyActuators.png'),'center')"
-      MaskIconFrame	      on
-      MaskIconOpaque	      on
-      MaskIconRotate	      "none"
-      MaskPortRotate	      "default"
-      MaskIconUnits	      "autoscale"
-      System {
-	Name			"wholeBodyActuators"
-	Location		[425, 373, 1725, 1134]
-	Open			off
-	ModelBrowserVisibility	off
-	ModelBrowserWidth	200
-	ScreenColor		"white"
-	PaperOrientation	"landscape"
-	PaperPositionMode	"auto"
-	PaperType		"usletter"
-	PaperUnits		"inches"
-	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-	TiledPageScale		1
-	ShowPageBoundaries	off
-	ZoomFactor		"667"
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "Set LowLevel PIDs"
-	  SID			  "1752"
-	  Ports			  []
-	  Position		  [745, 230, 820, 280]
-	  ZOrder		  41
-	  BackgroundColor	  "[0.827500, 0.576500, 0.603900]"
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskType		  "Set Low Level PIDs"
-	  MaskDescription	  "This block sets the low level PID values for the robot actuators.\n\nIf only one gain file is sp"
-	  "ecified, those gains are loaded at startup.\nOtherwise an additional port to this block is added which accept an in"
-	  "teger\nrepresenting the index in the list of gains to be loaded (also at runtime)\n\nAssuming DoFs is the number of"
-	  " degrees of freedom of the robot,\nParameters:\n- PID Parameter: String specifying either a file containing the PID"
-	  "s for the\n                 low level control, or a list of files (in yarp Bottle format).\n\n- Robot Port Name: Na"
-	  "me of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name spec"
-	  "ified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports "
-	  "opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of th"
-	  "e Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	  MaskPromptString	  "PID parameter|PID Type|Robot Port Name|Model Name|WBI filename|WBI list name"
-	  MaskStyleString	  "edit,popup(Position|Torque),edit,edit,edit,edit"
-	  MaskVariables		  "pidParameters=@1;pidType=&2;robotName=@3;localName=@4;wbiFile=@5;wbiList=@6;"
-	  MaskTunableValueString  "off,on,off,off,off,off"
-	  MaskCallbackString	  "|% Get the mask parameter values. This is a cell\n%   array of strings.\nmaskStr = get_param("
-	  "gcb,'pidType');\nif strcmp(maskStr, 'Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0"
-	  "]');\nelseif strcmp(maskStr, 'Position Direct')\n    set_param(gcb,'BackgroundColor', '[0.3922, 0.7882, 0.3451, 1.0"
-	  "]');\nelseif strcmp(maskStr, 'Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\ne"
-	  "lseif strcmp(maskStr, 'Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nend\nclear"
-	  "  maskStr||||"
-	  MaskEnableString	  "on,on,on,on,on,on"
-	  MaskVisibilityString	  "on,on,on,on,on,on"
-	  MaskToolTipString	  "on,on,on,on,on,on"
-	  MaskDisplay		  "pidType = get_param(gcb,'pidType');\ndescription = sprintf('Set Low Level\\n%s PIDs', pidType);\ndi"
-	  "sp(description);\n"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "''|Torque|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	  MaskTabNameString	  "Block parameters,Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
-	  System {
-	    Name		    "Set LowLevel PIDs"
-	    Location		    [0, 29, 1280, 744]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "1000"
-	    Block {
-	      BlockType		      S-Function
-	      Name		      "S-Function"
-	      SID		      "1753"
-	      Ports		      []
-	      Position		      [125, 39, 185, 71]
-	      ZOrder		      19
-	      FunctionName	      "WBToolbox"
-	      Parameters	      "'SetLowLevelPID',robotName,localName,wbiFile,wbiList,pidParameters,pidType"
-	      SFunctionDeploymentMode off
-	      EnableBusSupport	      off
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "Set References"
-	  SID			  "1767"
-	  Ports			  [1]
-	  Position		  [645, 230, 720, 280]
-	  ZOrder		  43
-	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskType		  "Set References"
-	  MaskDescription	  "This block sets the references for the robot actuators.\nThe type of control mode is specified a"
-	  "s a parameter in the block.\n\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Reference"
-	  "s: Vector of size DoFs, representing the references to be sent \n                to the robot controlled joints.\n\n"
-	  "Parameters:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name of the p"
-	  "orts opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in th"
-	  "e \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by t"
-	  "he underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Bod"
-	  "y Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	  MaskPromptString	  "Control Mode|Control Type|Controlled Joint List|Robot Port Name|Model Name|WBI filename|WBI lis"
-	  "t name"
-	  MaskStyleString	  "popup(Position|Position Direct|Velocity|Torque|Open Loop),popup(Full|Sublist),edit,edit,edit,edi"
-	  "t,edit"
-	  MaskVariables		  "controlType=&1;fullOrSubControl=@2;controlledJoints=@3;robotName=@4;localName=@5;wbiFile=@6;wbiLi"
-	  "st=@7;"
-	  MaskTunableValueString  "on,on,on,off,off,off,off"
-	  MaskCallbackString	  "% Get the mask parameter values. This is a cell\n%   array of strings.\nmaskStr = get_param(g"
-	  "cb,'controlType');\nif strcmp(maskStr, 'Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, "
-	  "1.0]');\nelseif strcmp(maskStr, 'Position Direct')\n    set_param(gcb,'BackgroundColor', '[0.3922, 0.7882, 0.3451, "
-	  "1.0]');\nelseif strcmp(maskStr, 'Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');"
-	  "\nelseif strcmp(maskStr, 'Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nelseif "
-	  "strcmp(maskStr, 'Open Loop')\n    set_param(gcb,'BackgroundColor', '[0.98, 0.98, 0.98, 1.0]');\nend\nclear  maskStr"
-	  "|subOrFull = get_param(gcb, 'fullOrSubControl');\nif(strcmp(subOrFull, 'Sublist'))\n    set_param(gcb, 'MaskVisibil"
-	  "ities',{'on';'on';'on';'on';'on';'on';'on'});\nelse\n    set_param(gcb, 'MaskVisibilities',{'on';'on';'off';'on';'o"
-	  "n';'on';'on'});\nend\nclear subOrFull |||||"
-	  MaskEnableString	  "on,on,on,on,on,on,on"
-	  MaskVisibilityString	  "on,on,off,on,on,on,on"
-	  MaskToolTipString	  "on,on,on,on,on,on,on"
-	  MaskDisplay		  "disp(get_param(gcb,'controlType'))\n%port_label('input',1,'References')"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "Position|Full|''|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	  MaskTabNameString	  "Block parameters,Block parameters,Block parameters,WBI parameters,WBI parameters,WBI parameter"
-	  "s,WBI parameters"
-	  System {
-	    Name		    "Set References"
-	    Location		    [535, 41, 1280, 744]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "521"
-	    Block {
-	      BlockType		      Inport
-	      Name		      "References"
-	      SID		      "1768"
-	      Position		      [55, 48, 85, 62]
-	      ZOrder		      24
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      S-Function
-	      Name		      "S-Function"
-	      SID		      "1769"
-	      Ports		      [1]
-	      Position		      [125, 39, 185, 71]
-	      ZOrder		      19
-	      FunctionName	      "WBToolbox"
-	      Parameters	      "'SetReferences',robotName,localName,wbiFile,wbiList,controlType,fullOrSubControl,controlledJo"
-	      "ints"
-	      SFunctionDeploymentMode off
-	      EnableBusSupport	      off
-	    }
-	    Line {
-	      SrcBlock		      "References"
-	      SrcPort		      1
-	      DstBlock		      "S-Function"
-	      DstPort		      1
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-      }
-      RTWSystemCode	      "Auto"
-      MinAlgLoopOccurrences   off
-      PropExecContextOutsideSubsystem off
-      FunctionWithSeparateData off
-      Opaque		      off
-      MaskHideContents	      off
-    }
-    Block {
-      BlockType		      SubSystem
-      Name		      "wholeBodyModel"
-      SID		      "209"
-      Ports		      []
-      Position		      [133, 16, 231, 113]
-      ZOrder		      -3
-      ForegroundColor	      "white"
-      DropShadow	      on
-      RequestExecContextInheritance off
-      Variant		      off
-      MaskDisplay	      "image(imread('wholeBodyModel.png'),'center')"
-      MaskIconFrame	      on
-      MaskIconOpaque	      on
-      MaskIconRotate	      "none"
-      MaskPortRotate	      "default"
-      MaskIconUnits	      "autoscale"
-      System {
-	Name			"wholeBodyModel"
-	Location		[425, 373, 1725, 1134]
-	Open			off
-	ModelBrowserVisibility	off
-	ModelBrowserWidth	200
-	ScreenColor		"white"
-	PaperOrientation	"landscape"
-	PaperPositionMode	"auto"
-	PaperType		"usletter"
-	PaperUnits		"inches"
-	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-	TiledPageScale		1
-	ShowPageBoundaries	off
-	ZoomFactor		"309"
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "Dynamics"
-	  SID			  "369"
-	  Ports			  []
-	  Position		  [364, 21, 471, 128]
-	  ZOrder		  -1
-	  DropShadow		  on
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskDisplay		  "image(imread('Dynamics.png'))"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  System {
-	    Name		    "Dynamics"
-	    Location		    [425, 373, 1725, 1134]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "219"
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Centroidal Momentum"
-	      SID		      "1694"
-	      Ports		      [4, 1]
-	      Position		      [495, 101, 680, 164]
-	      ZOrder		      72
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "Centroidal Momentum"
-	      MaskDescription	      "This block computed the 6 element centroidal momentum, as defined in:\n\"Centroidal dyna"
-	      "mics of a humanoid robot\" - DE Orin, A Goswami, SH Lee - \nAutonomous Robots 35 (2-3), 161-176\n\nAssuming DoF"
-	      "s is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenou"
-	      "s transformation between\n             the base frame and the world frame.\n- Joint configuration: Vector of si"
-	      "ze DoFs, representing the configuration \n                       of the joints.\n- Base velocity: Vector of siz"
-	      "e 6 representing the linear and angular velocity\n                 of the base frame.\n- Joints velocity: Vecto"
-	      "r of size DoFs, representing the velocity \n                   of the joints.\n\nOutput:\n- Centroidal Momentum"
-	      ": 6-element vector containg the centroidal momentum \n                (3 value for linear momentum and 3 for an"
-	      "gular momentum)\n\nParameters:\n- Robot Port Name: Name of the ports opened by the robot. (e.g. icub).\n       "
-	      "            Set an empty string ('') to use the name specified in the \n                   Whole Body Interface"
-	      " configuration file.\n- Model Name: Prefix name of the ports opened by the underlying Whole Body Interface.\n- "
-	      "WBI filename: name of the file containing the configuration of the Whole Body Interface\n- WBI List Name: name "
-	      "of the list of joints used to configure the Whole Body Interface\n"
-	      MaskPromptString	      "Robot Port Name|Model Name|WBI filename|WBI list name"
-	      MaskStyleString	      "edit,edit,edit,edit"
-	      MaskVariables	      "robotName=@1;localName=@2;wbiFile=@3;wbiList=@4;"
-	      MaskTunableValueString  "off,off,off,off"
-	      MaskCallbackString      "|||"
-	      MaskEnableString	      "on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	      System {
-		Name			"Centroidal Momentum"
-		Location		[0, 23, 1280, 744]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"248"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base Pose"
-		  SID			  "1695"
-		  Position		  [20, 18, 50, 32]
-		  ZOrder		  22
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joint configuration"
-		  SID			  "1696"
-		  Position		  [20, 53, 50, 67]
-		  ZOrder		  24
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base velocity"
-		  SID			  "1697"
-		  Position		  [20, 88, 50, 102]
-		  ZOrder		  26
-		  Port			  "3"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joints velocity"
-		  SID			  "1698"
-		  Position		  [20, 123, 50, 137]
-		  ZOrder		  27
-		  Port			  "4"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1699"
-		  Ports			  [4, 1]
-		  Position		  [180, 11, 255, 144]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'CentroidalMomentum',robotName,localName,wbiFile,wbiList"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Centroidal Momentum"
-		  SID			  "1700"
-		  Position		  [315, 73, 345, 87]
-		  ZOrder		  25
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  DstBlock		  "Centroidal Momentum"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Base Pose"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Joint configuration"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  2
-		}
-		Line {
-		  SrcBlock		  "Base velocity"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  3
-		}
-		Line {
-		  SrcBlock		  "Joints velocity"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  4
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Get Bias Forces"
-	      SID		      "1724"
-	      Ports		      [4, 1]
-	      Position		      [400, 202, 540, 303]
-	      ZOrder		      73
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "Get Generalized Bias Forces"
-	      MaskDescription	      "This block retrieves the generalied bias forces of the robot.\n\nParameter:\n- Explicit "
-	      "Gravity. If True, an additional port (explicit Gravity) is added.\n                    Otherwise the vector [0;"
-	      " 0; -9.81] is used.\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 "
-	      "matrix representing the homogenous transformation between\n            the base frame and the world frame.\n- J"
-	      "oint configuration: Vector of size DoFs, representing the configuration \n                    of the joints.\n-"
-	      " Base velocity: Vector of size 6 representing the linear and angular velocity\n                 of the base fra"
-	      "me.\n- Joints velocity: Vector of size DoFs, representing the velocity of the joints.\n\nOutput:\n- Bias Forces"
-	      ": a Dofs + 6 vector representing the generalized bias forces\n            of the robot\n\nParameters:\n- Robot "
-	      "Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to "
-	      "use the name specified in the                    \n                    Whole Body Interface configuration file."
-	      "\n- Model Name: Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name o"
-	      "f the file containing the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joint"
-	      "s used to configure the Whole Body Interface\n"
-	      MaskPromptString	      "Robot Port Name|Model Name|WBI filename|WBI list name|Explicit Gravity"
-	      MaskStyleString	      "edit,edit,edit,edit,checkbox"
-	      MaskVariables	      "robotName=@1;localName=@2;wbiFile=@3;wbiList=@4;explicitGravity=@5;"
-	      MaskTunableValueString  "off,off,off,off,on"
-	      MaskCallbackString      "||||"
-	      MaskEnableString	      "on,on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on,on"
-	      MaskInitialization      "gravityInput = find_system(gcb, ...\n'LookUnderMasks', 'on', ...\n'FollowLinks', 'on',"
-	      " ...\n'Name', 'Gravity');\n\nif explicitGravity\n    if isempty(gravityInput)\n        Simulink.Block.eval([gcb"
-	      ",'/S-Function']);\n        add_block('built-in/Inport',[gcb,'/Gravity']);\n        add_line(gcb','Gravity/1','S"
-	      "-Function/7', 'autorouting','on');\n    end\nelse\n    if ~isempty(gravityInput)\n        delete_line(gcb','Gra"
-	      "vity/1','S-Function/7');\n        delete_block(gravityInput);\n        Simulink.Block.eval([gcb,'/S-Function'])"
-	      ";\n    end\nend\n"
-	      MaskSelfModifiable      on
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList|off"
-	      System {
-		Name			"Get Bias Forces"
-		Location		[354, 32, 1634, 747]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"255"
-		SIDHighWatermark	"1748"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base Pose"
-		  SID			  "1724:1725"
-		  Position		  [35, 38, 65, 52]
-		  ZOrder		  22
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joint configuration"
-		  SID			  "1724:1726"
-		  Position		  [35, 68, 65, 82]
-		  ZOrder		  24
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base velocity"
-		  SID			  "1724:1727"
-		  Position		  [35, 98, 65, 112]
-		  ZOrder		  26
-		  Port			  "3"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joints velocity"
-		  SID			  "1724:1728"
-		  Position		  [35, 128, 65, 142]
-		  ZOrder		  27
-		  Port			  "4"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Constant
-		  Name			  "Constant"
-		  SID			  "1724:1742"
-		  Position		  [20, 157, 75, 173]
-		  ZOrder		  30
-		  ShowName		  off
-		  Value			  "zeros(6,1)"
-		}
-		Block {
-		  BlockType		  Gain
-		  Name			  "Gain"
-		  SID			  "1724:1743"
-		  Position		  [135, 180, 165, 210]
-		  ZOrder		  31
-		  ShowName		  off
-		  Gain			  "0"
-		  ParamDataTypeStr	  "Inherit: Inherit via internal rule"
-		  OutDataTypeStr	  "Inherit: Inherit via internal rule"
-		  SaturateOnIntegerOverflow off
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1724:1731"
-		  Ports			  [6, 1]
-		  Position		  [205, 24, 265, 216]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Bias Forces"
-		  SID			  "1724:1732"
-		  Position		  [325, 113, 355, 127]
-		  ZOrder		  25
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  DstBlock		  "Bias Forces"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Base Pose"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Joint configuration"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  2
-		}
-		Line {
-		  SrcBlock		  "Base velocity"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  3
-		}
-		Line {
-		  SrcBlock		  "Joints velocity"
-		  SrcPort		  1
-		  Points		  [44, 0]
-		  Branch {
-		    Points		    [0, 60]
-		    DstBlock		    "Gain"
-		    DstPort		    1
-		  }
-		  Branch {
-		    DstBlock		    "S-Function"
-		    DstPort		    4
-		  }
-		}
-		Line {
-		  SrcBlock		  "Constant"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  5
-		}
-		Line {
-		  SrcBlock		  "Gain"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  6
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Get Gravity Forces"
-	      SID		      "1733"
-	      Ports		      [2, 1]
-	      Position		      [605, 200, 745, 300]
-	      ZOrder		      74
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "Gravity bias"
-	      MaskDescription	      "This block compute the generalized bias forces due to the gravity\n\nParameter:\n- Expli"
-	      "cit Gravity. If True, an additional port (explicit Gravity) is added.\n                    Otherwise the vector"
-	      " [0; 0; -9.81] is used.\n\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose"
-	      ": 4x4 matrix representing the homogenous transformation between\n             the base frame and the world fram"
-	      "e.\n- Joint configuration: Vector of size DoFs, representing the configuration \n                       of the "
-	      "joints.\n\nOutput:\n- Gravity: a Dofs + 6 vector representing the torques due to the gravity.\n\nParameters:\n-"
-	      " Robot Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ("
-	      "'') to use the name specified in the \n                   Whole Body Interface configuration file.\n- Model Nam"
-	      "e: Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file co"
-	      "ntaining the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to con"
-	      "figure the Whole Body Interface\n"
-	      MaskPromptString	      "Robot Port Name|Model Name|WBI filename|WBI list name|Explicit Gravity"
-	      MaskStyleString	      "edit,edit,edit,edit,checkbox"
-	      MaskVariables	      "robotName=@1;localName=@2;wbiFile=@3;wbiList=@4;explicitGravity=@5;"
-	      MaskTunableValueString  "off,off,off,off,on"
-	      MaskCallbackString      "||||"
-	      MaskEnableString	      "on,on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on,on"
-	      MaskInitialization      "gravityInput = find_system(gcb, ...\n'LookUnderMasks', 'on', ...\n'FollowLinks', 'on',"
-	      " ...\n'Name', 'Gravity');\n\nif explicitGravity\n    if isempty(gravityInput)\n        Simulink.Block.eval([gcb"
-	      ",'/S-Function']);\n        add_block('built-in/Inport',[gcb,'/Gravity']);\n        add_line(gcb','Gravity/1','S"
-	      "-Function/7', 'autorouting','on');\n    end\nelse\n    if ~isempty(gravityInput)\n        delete_line(gcb','Gra"
-	      "vity/1','S-Function/7');\n        delete_block(gravityInput);\n        Simulink.Block.eval([gcb,'/S-Function'])"
-	      ";\n    end\nend\n"
-	      MaskSelfModifiable      on
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList|off"
-	      System {
-		Name			"Get Gravity Forces"
-		Location		[354, 32, 1634, 747]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"255"
-		SIDHighWatermark	"1748"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base Pose"
-		  SID			  "1733:1734"
-		  Position		  [10, 38, 40, 52]
-		  ZOrder		  22
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joint configuration"
-		  SID			  "1733:1735"
-		  Position		  [10, 68, 40, 82]
-		  ZOrder		  24
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Constant
-		  Name			  "Constant"
-		  SID			  "1733:1744"
-		  Position		  [0, 97, 55, 113]
-		  ZOrder		  32
-		  ShowName		  off
-		  Value			  "zeros(6,1)"
-		}
-		Block {
-		  BlockType		  Gain
-		  Name			  "Gain"
-		  SID			  "1733:1745"
-		  Position		  [100, 120, 130, 150]
-		  ZOrder		  33
-		  ShowName		  off
-		  Gain			  "0"
-		  ParamDataTypeStr	  "Inherit: Inherit via internal rule"
-		  OutDataTypeStr	  "Inherit: Inherit via internal rule"
-		  SaturateOnIntegerOverflow off
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1733:1740"
-		  Ports			  [6, 1]
-		  Position		  [180, 24, 240, 216]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Gravity Torques"
-		  SID			  "1733:1741"
-		  Position		  [300, 113, 330, 127]
-		  ZOrder		  25
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  DstBlock		  "Gravity Torques"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Base Pose"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Joint configuration"
-		  SrcPort		  1
-		  Points		  [41, 0]
-		  Branch {
-		    Points		    [0, 60]
-		    DstBlock		    "Gain"
-		    DstPort		    1
-		  }
-		  Branch {
-		    DstBlock		    "S-Function"
-		    DstPort		    2
-		  }
-		}
-		Line {
-		  SrcBlock		  "Constant"
-		  SrcPort		  1
-		  Points		  [4, 0]
-		  Branch {
-		    Points		    [0, 60]
-		    DstBlock		    "S-Function"
-		    DstPort		    5
-		  }
-		  Branch {
-		    DstBlock		    "S-Function"
-		    DstPort		    3
-		  }
-		}
-		Line {
-		  SrcBlock		  "Gain"
-		  SrcPort		  1
-		  Points		  [13, 0]
-		  Branch {
-		    Points		    [0, 60]
-		    DstBlock		    "S-Function"
-		    DstPort		    6
-		  }
-		  Branch {
-		    DstBlock		    "S-Function"
-		    DstPort		    4
-		  }
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      S-Function
-	      Name		      "Inverse Dynamics"
-	      SID		      "1748"
-	      Ports		      [6, 1]
-	      Position		      [190, 199, 355, 331]
-	      ZOrder		      75
-	      FunctionName	      "WBToolbox"
-	      Parameters	      "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
-	      SFunctionDeploymentMode off
-	      EnableBusSupport	      off
-	      MaskType		      "Inverse Dynamics"
-	      MaskDescription	      "This block compute the inverse dynamics of the robot.\n\nParameter:\n- Explicit Gravity."
-	      " If True, an additional port (explicit Gravity) is added.\n                    Otherwise the vector [0; 0; -9.8"
-	      "1] is used.\n\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix"
-	      " representing the homogenous transformation between\n             the base frame and the world frame.\n- Joint "
-	      "configuration: Vector of size DoFs, representing the configuration \n                       of the joints.\n- B"
-	      "ase velocity: Vector of size 6 representing the linear and angular velocity\n                 of the base frame"
-	      ".\n- Joints velocity: Vector of size DoFs, representing the velocity \n                   of the joints.\n- Bas"
-	      "e acceleration: Vector of size 6 representing the linear and angular acceleration\n                 of the base"
-	      " frame.\n- Joints acceleration: Vector of size DoFs, representing the acceleration \n                   of the "
-	      "joints.\n- Gravity: Vector of size 3, denoting the acceleration vector w.r.t. the world frame.\n\n\nOutput:\n- "
-	      "Torques: a Dofs + 6 vector representing the corresponding torques required\n           to achive the desired ac"
-	      "celerations given the robot state\n\nParameters:\n- Robot Port Name: Name of the ports opened by the robot. (e."
-	      "g. icub).\n                   Set an empty string ('') to use the name specified in the \n                   Wh"
-	      "ole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underlying Whole B"
-	      "ody Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interface\n- WB"
-	      "I List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	      MaskPromptString	      "Robot Port Name|Model Name|WBI filename|WBI list name|Explicit Gravity"
-	      MaskStyleString	      "edit,edit,edit,edit,checkbox"
-	      MaskVariables	      "robotName=@1;localName=@2;wbiFile=@3;wbiList=@4;explicitGravity=@5;"
-	      MaskTunableValueString  "on,on,on,on,on"
-	      MaskCallbackString      "||||"
-	      MaskEnableString	      "on,on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on,on"
-	      MaskDisplay	      "port_label('output', 1, 'Torques')\n\nport_label('input', 1, 'Base pose')\nport_label('input"
-	      "', 2, 'Joints configuration')\nport_label('input', 3, 'Base velocity')\nport_label('input', 4, 'Joints velocity"
-	      "')\nport_label('input', 5, 'Base acceleration')\nport_label('input', 6, 'Joints acceleration')\n\n\ngravity = g"
-	      "et_param(gcb, 'explicitGravity');\nif(strcmp(gravity, 'on'))\n    port_label('input', 7, 'Gravity')\nend\n"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList|off"
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Mass Matrix"
-	      SID		      "1633"
-	      Ports		      [2, 1]
-	      Position		      [250, 104, 390, 171]
-	      ZOrder		      32
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "Mass Matrix"
-	      MaskDescription	      "This block retrieves the robot mass matrix.\n\nAssuming DoFs is the number of degrees of"
-	      " freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between\n   "
-	      "          the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the con"
-	      "figuration \n                       of the joints.\n\nOutput:\n- Mass Matrix: a (Dofs + 6) x (Dofs + 6) matrix "
-	      "representing the mass matrix \n               of the robot\n\nParameters:\n- Robot Port Name: Name of the ports"
-	      " opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in th"
-	      "e \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened "
-	      "by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the W"
-	      "hole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	      MaskPromptString	      "Robot Port Name|Model Name|WBI filename|WBI list name"
-	      MaskStyleString	      "edit,edit,edit,edit"
-	      MaskVariables	      "robotName=@1;localName=@2;wbiFile=@3;wbiList=@4;"
-	      MaskTunableValueString  "off,off,off,off"
-	      MaskCallbackString      "|||"
-	      MaskEnableString	      "on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	      System {
-		Name			"Mass Matrix"
-		Location		[589, 68, 1869, 783]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"248"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base Pose"
-		  SID			  "1634"
-		  Position		  [20, 23, 50, 37]
-		  ZOrder		  22
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joint configuration"
-		  SID			  "1635"
-		  Position		  [20, 63, 50, 77]
-		  ZOrder		  24
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1636"
-		  Ports			  [2, 1]
-		  Position		  [125, 37, 185, 68]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'MassMatrix',robotName,localName,wbiFile,wbiList"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Mass Matrix"
-		  SID			  "1637"
-		  Position		  [245, 48, 275, 62]
-		  ZOrder		  25
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  DstBlock		  "Mass Matrix"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Base Pose"
-		  SrcPort		  1
-		  Points		  [36, 0; 0, 15]
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Joint configuration"
-		  SrcPort		  1
-		  Points		  [33, 0; 0, -10]
-		  DstBlock		  "S-Function"
-		  DstPort		  2
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "Jacobians"
-	  SID			  "202"
-	  Ports			  []
-	  Position		  [217, 20, 324, 127]
-	  ZOrder		  -3
-	  DropShadow		  on
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskDisplay		  "image(imread('jacobian.png'))"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  System {
-	    Name		    "Jacobians"
-	    Location		    [425, 373, 1725, 1134]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "322"
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "DotJ Nu"
-	      SID		      "1683"
-	      Ports		      [4, 1]
-	      Position		      [590, 170, 755, 265]
-	      ZOrder		      67
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "DotJ Nu"
-	      MaskDescription	      "This block computes the product between the time derivative of the\n         Jacobian of"
-	      " the specified frame and the state (base and joints)\n        velocity vector.\n\nAssuming DoFs is the number o"
-	      "f degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation "
-	      "between\n             the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, repr"
-	      "esenting the configuration \n                       of the joints.\n- Base velocity: Vector of size 6 represent"
-	      "ing the linear and angular velocity\n                 of the base frame.\n- Joints velocity: Vector of size DoF"
-	      "s, representing the velocity \n                   of the joints.\n\nOutput:\n- dotJ nu: a 6-d vector representi"
-	      "ng the product between the time derivative of the\n         Jacobian of the specified frame and the state veloc"
-	      "ity vector\n\nParameters:\n- Frame name: the name of the frame. It should be specified in the URDF model.\n\n- "
-	      "Robot Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('"
-	      "') to use the name specified in the \n                   Whole Body Interface configuration file.\n- Model Name"
-	      ": Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file con"
-	      "taining the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to conf"
-	      "igure the Whole Body Interface\n"
-	      MaskPromptString	      "Frame name|Robot Port Name|Model Name|WBI filename|WBI list name"
-	      MaskStyleString	      "edit,edit,edit,edit,edit"
-	      MaskVariables	      "frameName=@1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
-	      MaskTunableValueString  "on,off,off,off,off"
-	      MaskCallbackString      "||||"
-	      MaskEnableString	      "on,on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on,on"
-	      MaskDisplay	      "escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('dot J_{',"
-	      "escapedFrameName,'} \\nu'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\np"
-	      "ort_label('input', 2, 'Joint configuration')\nport_label('input', 3, 'Base velocity')\nport_label('input', 4, '"
-	      "Joint velocity')\n\nclear escapedFrameName;"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "'frame'|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	      MaskTabNameString	      "Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
-	      System {
-		Name			"DotJ Nu"
-		Location		[0, 29, 1280, 744]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"391"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base Pose"
-		  SID			  "1684"
-		  Position		  [20, 13, 50, 27]
-		  ZOrder		  22
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joint configuration"
-		  SID			  "1685"
-		  Position		  [20, 43, 50, 57]
-		  ZOrder		  24
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base velocity"
-		  SID			  "1686"
-		  Position		  [20, 73, 50, 87]
-		  ZOrder		  26
-		  Port			  "3"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joints velocity"
-		  SID			  "1687"
-		  Position		  [20, 103, 50, 117]
-		  ZOrder		  27
-		  Port			  "4"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1688"
-		  Ports			  [4, 1]
-		  Position		  [125, 4, 190, 126]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'DotJNu',robotName,localName,wbiFile,wbiList,frameName"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "dotJ dotnu"
-		  SID			  "1689"
-		  Position		  [245, 43, 275, 57]
-		  ZOrder		  25
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "Joint configuration"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  2
-		}
-		Line {
-		  SrcBlock		  "Base Pose"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  Points		  [20, 0; 0, -15]
-		  DstBlock		  "dotJ dotnu"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Base velocity"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  3
-		}
-		Line {
-		  SrcBlock		  "Joints velocity"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  4
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Jacobian"
-	      SID		      "1663"
-	      Ports		      [2, 1]
-	      Position		      [380, 190, 540, 245]
-	      ZOrder		      39
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "Jacobian"
-	      MaskDescription	      "This block retrieves the Jacobian of the specified frame.\n\nAssuming DoFs is the number"
-	      " of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformatio"
-	      "n between\n             the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, re"
-	      "presenting the configuration \n                       of the joints.\n\nOutput:\n- Jacobian: a 6x6+dofs matrix "
-	      "representing the Jacobian of\n             the specified frame written in the world frame.\n\nParameters:\n- Fr"
-	      "ame name: the name of the frame. It should be specified in the URDF model.\n\n- Robot Port Name: Name of the po"
-	      "rts opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in"
-	      " the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports open"
-	      "ed by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of th"
-	      "e Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	      MaskPromptString	      "Frame name|Robot Port Name|Model Name|WBI filename|WBI list name"
-	      MaskStyleString	      "edit,edit,edit,edit,edit"
-	      MaskVariables	      "frameName=@1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
-	      MaskTunableValueString  "on,off,off,off,off"
-	      MaskCallbackString      "||||"
-	      MaskEnableString	      "on,on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on,on"
-	      MaskDisplay	      "escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('{}^{world"
-	      "} J_{',escapedFrameName,'}'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\n"
-	      "port_label('input', 2, 'Joint configuration')\n\nclear escapedFrameName;"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "'frame'|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	      MaskTabNameString	      "Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
-	      System {
-		Name			"Jacobian"
-		Location		[208, 105, 1008, 627]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"237"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base Pose"
-		  SID			  "1664"
-		  Position		  [20, 23, 50, 37]
-		  ZOrder		  22
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joint configuration"
-		  SID			  "1665"
-		  Position		  [20, 63, 50, 77]
-		  ZOrder		  24
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1666"
-		  Ports			  [2, 1]
-		  Position		  [125, 37, 185, 68]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'Jacobian',robotName,localName,wbiFile,wbiList,frameName"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Forward Kinematics"
-		  SID			  "1667"
-		  Position		  [245, 48, 275, 62]
-		  ZOrder		  25
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  DstBlock		  "Forward Kinematics"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Base Pose"
-		  SrcPort		  1
-		  Points		  [36, 0; 0, 15]
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Joint configuration"
-		  SrcPort		  1
-		  Points		  [33, 0; 0, -10]
-		  DstBlock		  "S-Function"
-		  DstPort		  2
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "Kinematics"
-	  SID			  "176"
-	  Ports			  []
-	  Position		  [70, 20, 177, 127]
-	  ZOrder		  -17
-	  DropShadow		  on
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskDisplay		  "image(imread('forwardKinematics.png'))"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  System {
-	    Name		    "Kinematics"
-	    Location		    [425, 373, 1725, 1134]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "326"
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Forward Kinematics"
-	      SID		      "1647"
-	      Ports		      [2, 1]
-	      Position		      [350, 103, 500, 167]
-	      ZOrder		      34
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "Forward Kinematics"
-	      MaskDescription	      "This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is "
-	      "the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous tra"
-	      "nsformation between\n             the the base frame and the world frame.\n- Joint configuration: Vector of siz"
-	      "e DoFs, representing the configuration \n                       of the joints.\n\nOutput:\n- Forward Kinematics"
-	      ": a 4x4 matrix representing the homogenous transformation between\n             the specified frame and the wor"
-	      "ld frame.\n\nParameters:\n- Frame name: the name of the frame. It should be specified in the URDF model.\n\n- R"
-	      "obot Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string (''"
-	      ") to use the name specified in the \n                   Whole Body Interface configuration file.\n- Model Name:"
-	      " Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file cont"
-	      "aining the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to confi"
-	      "gure the Whole Body Interface\n"
-	      MaskPromptString	      "Frame name|Robot Port Name|Model Name|WBI filename|WBI list name"
-	      MaskStyleString	      "edit,edit,edit,edit,edit"
-	      MaskVariables	      "frameName=@1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
-	      MaskTunableValueString  "on,off,off,off,off"
-	      MaskCallbackString      "||||"
-	      MaskEnableString	      "on,on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on,on"
-	      MaskDisplay	      "escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('{}^{world"
-	      "} H_{',escapedFrameName,'}'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\n"
-	      "port_label('input', 2, 'Joint configuration')\n\nclear escapedFrameName;"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "'frame'|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	      MaskTabNameString	      "Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
-	      System {
-		Name			"Forward Kinematics"
-		Location		[0, 29, 1280, 744]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"391"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Base Pose"
-		  SID			  "1648"
-		  Position		  [20, 23, 50, 37]
-		  ZOrder		  22
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Joint configuration"
-		  SID			  "1649"
-		  Position		  [20, 63, 50, 77]
-		  ZOrder		  24
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1650"
-		  Ports			  [2, 1]
-		  Position		  [125, 37, 185, 68]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'ForwardKinematics',robotName,localName,wbiFile,wbiList,frameName"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Forward Kinematics"
-		  SID			  "1651"
-		  Position		  [245, 48, 275, 62]
-		  ZOrder		  25
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  DstBlock		  "Forward Kinematics"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Base Pose"
-		  SrcPort		  1
-		  Points		  [36, 0; 0, 15]
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Joint configuration"
-		  SrcPort		  1
-		  Points		  [33, 0; 0, -10]
-		  DstBlock		  "S-Function"
-		  DstPort		  2
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Inverse Kinematics"
-	      SID		      "1754"
-	      Ports		      [3, 2]
-	      Position		      [350, 198, 525, 262]
-	      ZOrder		      35
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "Forward Kinematics"
-	      MaskDescription	      "This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is "
-	      "the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous tra"
-	      "nsformation between\n             the the base frame and the world frame.\n- Joint configuration: Vector of siz"
-	      "e DoFs, representing the configuration \n                       of the joints.\n\nOutput:\n- Forward Kinematics"
-	      ": a 4x4 matrix representing the homogenous transformation between\n             the specified frame and the wor"
-	      "ld frame.\n\nParameters:\n- Frame name: the name of the frame. It should be specified in the URDF model.\n\n- R"
-	      "obot Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string (''"
-	      ") to use the name specified in the \n                   Whole Body Interface configuration file.\n- Model Name:"
-	      " Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file cont"
-	      "aining the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to confi"
-	      "gure the Whole Body Interface\n"
-	      MaskPromptString	      "Base Frame|End Effector frame|Optimization Option|Robot Port Name|Model Name|WBI filena"
-	      "me|WBI list name"
-	      MaskStyleString	      "edit,edit,popup(Full Constraint (Position and Orientation)|Position only constraint),edi"
-	      "t,edit,edit,edit"
-	      MaskVariables	      "baseFrame=@1;endEffFrame=@2;optOption=@3;robotName=@4;localName=@5;wbiFile=@6;wbiList=@7;"
-	      MaskTunableValueString  "on,on,on,off,off,off,off"
-	      MaskCallbackString      "||||||"
-	      MaskEnableString	      "on,on,on,on,on,on,on"
-	      MaskVisibilityString    "on,on,on,on,on,on,on"
-	      MaskToolTipString	      "on,on,on,on,on,on,on"
-	      MaskDisplay	      "escapedBaseFrameName = strrep(baseFrame, '_', '\\_');\nescapedEndEffFrameName = strrep(endEf"
-	      "fFrame, '_', '\\_');\n\n%port_label('output', 1, strcat('{}^{world} H_{',escapedFrameName,'}'), 'texmode','on')"
-	      "\n\n%port_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\n%port_label('input', 2, 'Joint configuratio"
-	      "n')\n\n%clear escapedFrameName;\n\n\n% if strcmp(robotPart, 'left')\n%     prefix = 'l';\n% else\n%     prefix "
-	      "= 'r';\n% end\n% \nport_label('input', 1, strcat('{}^{',escapedBaseFrameName,'} H_{',escapedEndEffFrameName,'}^"
-	      "d'), 'texmode','on');\n\nport_label('input', 2, '{}^{world} H_{base}', 'texmode','on')\nport_label('input', 3, "
-	      "'q_j', 'texmode','on');\n% \n% \nport_label('output', 1, '{}^{world} H_{base}^d', 'texmode','on')\nport_label('"
-	      "output', 2, 'q_j^d', 'texmode','on');\n\n"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "'root_link'|'l_sole'|Full Constraint (Position and Orientation)|WBT_robotName|WBT_modelN"
-	      "ame|WBT_wbiFilename|WBT_wbiList"
-	      MaskTabNameString	      "Block parameters,Block parameters,Block parameters,WBI parameters,WBI parameters,WBI p"
-	      "arameters,WBI parameters"
-	      System {
-		Name			"Inverse Kinematics"
-		Location		[0, 23, 1280, 744]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"312"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Desired frame pose"
-		  SID			  "1759"
-		  Position		  [10, 13, 40, 27]
-		  ZOrder		  26
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Current Base Pose"
-		  SID			  "1755"
-		  Position		  [10, 43, 40, 57]
-		  ZOrder		  22
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Current Joint configuration"
-		  SID			  "1756"
-		  Position		  [10, 73, 40, 87]
-		  ZOrder		  24
-		  Port			  "3"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1757"
-		  Ports			  [3, 2]
-		  Position		  [145, 4, 225, 96]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'InverseKinematics',robotName,localName,wbiFile,wbiList,baseFrame, endEffFrame,optOption"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Desired Base Pose"
-		  SID			  "1758"
-		  Position		  [280, 23, 310, 37]
-		  ZOrder		  25
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Desired Joint Configuration"
-		  SID			  "1760"
-		  Position		  [280, 68, 310, 82]
-		  ZOrder		  27
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  DstBlock		  "Desired Base Pose"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Current Base Pose"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  2
-		}
-		Line {
-		  SrcBlock		  "Current Joint configuration"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  3
-		}
-		Line {
-		  SrcBlock		  "Desired frame pose"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  2
-		  DstBlock		  "Desired Joint Configuration"
-		  DstPort		  1
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "Remote Inverse Kinematics"
-	      SID		      "1761"
-	      Ports		      [2, 1]
-	      Position		      [560, 105, 720, 165]
-	      ZOrder		      66
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      MaskType		      "Forward Kinematics"
-	      MaskDescription	      "This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is "
-	      "the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous tra"
-	      "nsformation between\n             the the base frame and the world frame.\n- Joint configuration: Vector of siz"
-	      "e DoFs, representing the configuration \n                       of the joints.\n\nOutput:\n- Forward Kinematics"
-	      ": a 4x4 matrix representing the homogenous transformation between\n             the specified frame and the wor"
-	      "ld frame.\n\nParameters:\n- Frame name: the name of the frame. It should be specified in the URDF model.\n\n- R"
-	      "obot Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string (''"
-	      ") to use the name specified in the \n                   Whole Body Interface configuration file.\n- Model Name:"
-	      " Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file cont"
-	      "aining the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to confi"
-	      "gure the Whole Body Interface\n"
-	      MaskPromptString	      "Solver Name|#Dofs|Optimization Option"
-	      MaskStyleString	      "edit,edit,popup(Full Constraint (Position and Orientation)|Position only constraint)"
-	      MaskVariables	      "solverName=@1;dofs=@2;optOption=@3;"
-	      MaskTunableValueString  "on,off,on"
-	      MaskCallbackString      "||"
-	      MaskEnableString	      "on,on,on"
-	      MaskVisibilityString    "on,on,on"
-	      MaskToolTipString	      "on,on,on"
-	      MaskDisplay	      "disp(solverName)\n\n\n\n% escapedBaseFrameName = strrep(baseFrame, '_', '\\_');\n% escapedEn"
-	      "dEffFrameName = strrep(endEffFrame, '_', '\\_');\n% \n% %port_label('output', 1, strcat('{}^{world} H_{',escape"
-	      "dFrameName,'}'), 'texmode','on')\n% \n% %port_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\n% %port"
-	      "_label('input', 2, 'Joint configuration')\n% \n% %clear escapedFrameName;\n% \n% \n% % if strcmp(robotPart, 'le"
-	      "ft')\n% %     prefix = 'l';\n% % else\n% %     prefix = 'r';\n% % end\n% % \n\nport_label('input', 1, 'H^d', 't"
-	      "exmode','on');\n% port_label('input', 1, strcat('{}^{',escapedBaseFrameName,'} H_{',escapedEndEffFrameName,'}^d"
-	      "'), 'texmode','on');\n% \n% port_label('input', 2, '{}^{world} H_{base}', 'texmode','on')\nport_label('input', "
-	      "2, 'q_j(0)', 'texmode','on');\n% % \n% % \n% port_label('output', 1, '{}^{world} H_{base}^d', 'texmode','on')\n"
-	      "port_label('output', 1, 'q_j^d', 'texmode','on');\n\n"
-	      MaskIconFrame	      on
-	      MaskIconOpaque	      on
-	      MaskIconRotate	      "none"
-	      MaskPortRotate	      "default"
-	      MaskIconUnits	      "autoscale"
-	      MaskValueString	      "'/cartesianSolver'|12|Full Constraint (Position and Orientation)"
-	      MaskTabNameString	      "Block parameters,Block parameters,Block parameters"
-	      System {
-		Name			"Remote Inverse Kinematics"
-		Location		[853, 51, 2214, 1013]
-		Open			off
-		ModelBrowserVisibility	off
-		ModelBrowserWidth	200
-		ScreenColor		"white"
-		PaperOrientation	"landscape"
-		PaperPositionMode	"auto"
-		PaperType		"usletter"
-		PaperUnits		"inches"
-		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-		TiledPageScale		1
-		ShowPageBoundaries	off
-		ZoomFactor		"375"
-		Block {
-		  BlockType		  Inport
-		  Name			  "Desired frame pose"
-		  SID			  "1762"
-		  Position		  [10, 23, 40, 37]
-		  ZOrder		  26
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  Inport
-		  Name			  "Current Joint configuration"
-		  SID			  "1763"
-		  Position		  [10, 68, 40, 82]
-		  ZOrder		  24
-		  Port			  "2"
-		  IconDisplay		  "Port number"
-		}
-		Block {
-		  BlockType		  S-Function
-		  Name			  "S-Function"
-		  SID			  "1764"
-		  Ports			  [2, 1]
-		  Position		  [145, 6, 225, 99]
-		  ZOrder		  19
-		  FunctionName		  "WBToolbox"
-		  Parameters		  "'RemoteInverseKinematics',solverName, dofs, optOption"
-		  SFunctionDeploymentMode off
-		  EnableBusSupport	  off
-		}
-		Block {
-		  BlockType		  Outport
-		  Name			  "Desired Joint Configuration"
-		  SID			  "1765"
-		  Position		  [285, 48, 315, 62]
-		  ZOrder		  27
-		  IconDisplay		  "Port number"
-		}
-		Line {
-		  SrcBlock		  "S-Function"
-		  SrcPort		  1
-		  DstBlock		  "Desired Joint Configuration"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Desired frame pose"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  1
-		}
-		Line {
-		  SrcBlock		  "Current Joint configuration"
-		  SrcPort		  1
-		  DstBlock		  "S-Function"
-		  DstPort		  2
-		}
-	      }
-	      RTWSystemCode	      "Auto"
-	      MinAlgLoopOccurrences   off
-	      PropExecContextOutsideSubsystem off
-	      FunctionWithSeparateData off
-	      Opaque		      off
-	      MaskHideContents	      off
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-      }
-      RTWSystemCode	      "Auto"
-      MinAlgLoopOccurrences   off
-      PropExecContextOutsideSubsystem off
-      FunctionWithSeparateData off
-      Opaque		      off
-      MaskHideContents	      off
-    }
-    Block {
-      BlockType		      SubSystem
-      Name		      "wholeBodyStates"
-      SID		      "206"
-      Ports		      []
-      Position		      [16, 17, 114, 114]
-      ZOrder		      -4
-      ForegroundColor	      "white"
-      DropShadow	      on
-      RequestExecContextInheritance off
-      Variant		      off
-      MaskDisplay	      "image(imread('wholeBodyStates.png'),'center');"
-      MaskIconFrame	      on
-      MaskIconOpaque	      on
-      MaskIconRotate	      "none"
-      MaskPortRotate	      "default"
-      MaskIconUnits	      "autoscale"
-      System {
-	Name			"wholeBodyStates"
-	Location		[425, 373, 1725, 1134]
-	Open			off
-	ModelBrowserVisibility	off
-	ModelBrowserWidth	200
-	ScreenColor		"white"
-	PaperOrientation	"landscape"
-	PaperPositionMode	"auto"
-	PaperType		"usletter"
-	PaperUnits		"inches"
-	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
-	TiledPageScale		1
-	ShowPageBoundaries	off
-	ZoomFactor		"576"
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "Get Estimate"
-	  SID			  "1671"
-	  Ports			  [0, 1]
-	  Position		  [360, 212, 440, 248]
-	  ZOrder		  53
-	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskType		  "Get Estimate"
-	  MaskDescription	  "This block get the estimate of the specified type\n\nAssuming DoFs is the number of degrees of f"
-	  "reedom of the robot,\nOutput:\n- References: Vector of size DoFs, representing the estimate requested.\n\nParameter"
-	  "s:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name of the ports open"
-	  "ed by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n     "
-	  "              Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underl"
-	  "ying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interfa"
-	  "ce\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	  MaskPromptString	  "Estimate Type|Robot Port Name|Model Name|WBI filename|WBI list name"
-	  MaskStyleString	  "popup(Joints Position|Joints Velocity|Joints Acceleration|Joints Torque),edit,edit,edit,edit"
-	  MaskVariables		  "estimateType=&1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
-	  MaskTunableValueString  "on,off,off,off,off"
-	  MaskCallbackString	  "% Get the mask parameter values. This is a cell\n%   array of strings.\n\nmaskStr = get_param"
-	  "(gcb,'estimateType');\nif strcmp(maskStr, 'Joints Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510"
-	  ", 0.6706, 1.0]');\nelseif strcmp(maskStr, 'Joints Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745"
-	  ", 1.0000, 1.0]');\nelseif strcmp(maskStr, 'Joints Acceleration')\n    set_param(gcb,'BackgroundColor', '[0.9255, 0."
-	  "8706, 0.1333, 1.0]');\nelseif strcmp(maskStr, 'Joints Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.57"
-	  "65, 0.6039, 1.0]');\nend\nclear  maskStr||||"
-	  MaskEnableString	  "on,on,on,on,on"
-	  MaskVisibilityString	  "on,on,on,on,on"
-	  MaskToolTipString	  "on,on,on,on,on"
-	  MaskDisplay		  "%disp(get_param(gcb,'estimateType'))\nport_label('output',1,get_param(gcb,'estimateType'))"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "Joints Position|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	  MaskTabNameString	  "Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
-	  System {
-	    Name		    "Get Estimate"
-	    Location		    [653, 318, 2086, 1271]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "1000"
-	    Block {
-	      BlockType		      S-Function
-	      Name		      "S-Function"
-	      SID		      "1672"
-	      Ports		      [0, 1]
-	      Position		      [125, 39, 185, 71]
-	      ZOrder		      19
-	      FunctionName	      "WBToolbox"
-	      Parameters	      "'GetEstimate',robotName,localName,wbiFile,wbiList,estimateType"
-	      SFunctionDeploymentMode off
-	      EnableBusSupport	      off
-	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "Estimate"
-	      SID		      "1673"
-	      Position		      [210, 48, 240, 62]
-	      ZOrder		      25
-	      IconDisplay	      "Port number"
-	    }
-	    Line {
-	      SrcBlock		      "S-Function"
-	      SrcPort		      1
-	      DstBlock		      "Estimate"
-	      DstPort		      1
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "Get Limits"
-	  SID			  "1690"
-	  Ports			  [0, 2]
-	  Position		  [475, 211, 570, 249]
-	  ZOrder		  68
-	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  MaskType		  "Get Estimate"
-	  MaskDescription	  "This block get the estimate of the specified type\n\nAssuming DoFs is the number of degrees of f"
-	  "reedom of the robot,\nOutput:\n- References: Vector of size DoFs, representing the estimate requested.\n\nParameter"
-	  "s:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name of the ports open"
-	  "ed by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n     "
-	  "              Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underl"
-	  "ying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interfa"
-	  "ce\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	  MaskPromptString	  "Limits Type|Robot Port Name|Model Name|WBI filename|WBI list name"
-	  MaskStyleString	  "popup(Position),edit,edit,edit,edit"
-	  MaskVariables		  "limitsType=&1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
-	  MaskTunableValueString  "on,off,off,off,off"
-	  MaskCallbackString	  "% Get the mask parameter values. This is a cell\n%   array of strings.\n\nmaskStr = get_param"
-	  "(gcb,'limitsType');\nif strcmp(maskStr, 'Joints Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, "
-	  "0.6706, 1.0]');\nelseif strcmp(maskStr, 'Joints Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, "
-	  "1.0000, 1.0]');\nelseif strcmp(maskStr, 'Joints Acceleration')\n    set_param(gcb,'BackgroundColor', '[0.9255, 0.87"
-	  "06, 0.1333, 1.0]');\nelseif strcmp(maskStr, 'Joints Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765"
-	  ", 0.6039, 1.0]');\nend\nclear  maskStr||||"
-	  MaskEnableString	  "on,on,on,on,on"
-	  MaskVisibilityString	  "on,on,on,on,on"
-	  MaskToolTipString	  "on,on,on,on,on"
-	  MaskDisplay		  "disp(get_param(gcb,'limitsType'))\nport_label('output',1,'Min')\nport_label('output',2,'Max')"
-	  MaskIconFrame		  on
-	  MaskIconOpaque	  on
-	  MaskIconRotate	  "none"
-	  MaskPortRotate	  "default"
-	  MaskIconUnits		  "autoscale"
-	  MaskValueString	  "Position|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
-	  MaskTabNameString	  "Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
-	  System {
-	    Name		    "Get Limits"
-	    Location		    [0, 23, 1280, 744]
-	    Open		    off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "411"
-	    Block {
-	      BlockType		      S-Function
-	      Name		      "S-Function"
-	      SID		      "1691"
-	      Ports		      [0, 2]
-	      Position		      [115, 33, 175, 102]
-	      ZOrder		      19
-	      FunctionName	      "WBToolbox"
-	      Parameters	      "'GetLimits',robotName,localName,wbiFile,wbiList,limitsType"
-	      SFunctionDeploymentMode off
-	      EnableBusSupport	      off
-	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "Min"
-	      SID		      "1692"
-	      Position		      [220, 43, 250, 57]
-	      ZOrder		      25
-	      IconDisplay	      "Port number"
-	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "Max"
-	      SID		      "1693"
-	      Position		      [220, 78, 250, 92]
-	      ZOrder		      26
-	      Port		      "2"
-	      IconDisplay	      "Port number"
-	    }
-	    Line {
-	      SrcBlock		      "S-Function"
-	      SrcPort		      1
-	      DstBlock		      "Min"
-	      DstPort		      1
-	    }
-	    Line {
-	      SrcBlock		      "S-Function"
-	      SrcPort		      2
-	      DstBlock		      "Max"
-	      DstPort		      1
-	    }
-	  }
-	  RTWSystemCode		  "Auto"
-	  MinAlgLoopOccurrences	  off
-	  PropExecContextOutsideSubsystem off
-	  FunctionWithSeparateData off
-	  Opaque		  off
-	  MaskHideContents	  off
-	}
-      }
-      RTWSystemCode	      "Auto"
-      MinAlgLoopOccurrences   off
-      PropExecContextOutsideSubsystem off
-      FunctionWithSeparateData off
-      Opaque		      off
-      MaskHideContents	      off
-    }
-    Annotation {
-      SID		      "1213"
-      Name		      "WHOLE BODY TOOLBOX"
-      Position		      [241, 157]
-      ForegroundColor	      "white"
-      BackgroundColor	      "black"
-      FontName		      "Sans Serif"
-      FontSize		      12
-    }
-    Annotation {
-      SID		      "1214"
-      Name		      "Copyright  2013-2016 iCub Facility Department, Istituto Italiano di Tecnologia\nThis software was s"
-      "upported by the FP7 EU Project CoDyCO (No. 600716 ICT 2011.2.1 Cognitive Systems and Robotics (b))\nhttp://www.c"
-      "odyco.eu"
-      Position		      [240, 192]
-      ForegroundColor	      "white"
-      BackgroundColor	      "black"
-      FontSize		      5
-    }
-  }
-}
-#Finite State Machines
-#
-#   Stateflow 80000010
-#
-#
-Stateflow {
-  machine {
-    id			    1
-    name		    "WBToolboxLibrary"
-    created		    "06-Feb-2014 11:51:26"
-    isLibrary		    1
-    sfVersion		    76014001.0004
-    firstTarget		    26
-  }
-  chart {
-    id			    2
-    machine		    1
-    name		    "Utilities/holder\n/MATLAB Function"
-    windowPosition	    [1152 -205 -179 985]
-    viewLimits		    [0 156.75 0 153.75]
-    screen		    [1 1 3046 1050 1.25]
-    treeNode		    [0 3 0 0]
-    viewObj		    2
-    toolbarMode		    LIBRARY_TOOLBAR
-    ssIdHighWaterMark	    9
-    decomposition	    CLUSTER_CHART
-    type		    EML_CHART
-    chartFileNumber	    1
-    disableImplicitCasting  1
-    eml {
-      name		      "fcn"
-    }
-    firstData		    4
-    firstTransition	    8
-    firstJunction	    7
-  }
-  state {
-    id			    3
-    labelString		    "eML_blk_kernel()"
-    position		    [18 64.5 118 66]
-    fontSize		    12
-    chart		    2
-    treeNode		    [2 0 0 0]
-    superState		    SUBCHART
-    subviewer		    2
-    ssIdNumber		    1
-    type		    FUNC_STATE
-    decomposition	    CLUSTER_STATE
-    eml {
-      isEML		      1
-      script		      "function s0 = fcn(s, ~)\npersistent state\n%#codegen\n\nif isempty(state)\n    state = s;\nend\n\n"
-      "s0 = state;"
-      editorLayout	      "100 M4x1[10 5 700 500]"
-    }
-  }
-  data {
-    id			    4
-    ssIdNumber		    7
-    name		    "s"
-    scope		    INPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-	isSigned		1
-	wordLength		"16"
-      }
-      complexity	      SF_COMPLEX_INHERITED
-      frame		      SF_FRAME_INHERITED
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [2 0 5]
-  }
-  data {
-    id			    5
-    ssIdNumber		    8
-    name		    "s0"
-    scope		    OUTPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-	isSigned		1
-	wordLength		"16"
-      }
-      complexity	      SF_COMPLEX_INHERITED
-      frame		      SF_FRAME_NO
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [2 4 6]
-  }
-  data {
-    id			    6
-    ssIdNumber		    9
-    name		    "unused"
-    scope		    INPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-	isSigned		1
-	wordLength		"16"
-      }
-      complexity	      SF_COMPLEX_INHERITED
-      frame		      SF_FRAME_INHERITED
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [2 5 0]
-  }
-  junction {
-    id			    7
-    position		    [23.5747 49.5747 7]
-    chart		    2
-    subviewer		    2
-    ssIdNumber		    3
-    type		    CONNECTIVE_JUNCTION
-    linkNode		    [2 0 0]
-  }
-  transition {
-    id			    8
-    labelString		    "{eML_blk_kernel();}"
-    labelPosition	    [76.125 85.875 102.544 14.964]
-    fontSize		    12
-    src {
-      intersection	      [0 0 1 0 23.5747 14.625 0 0]
-    }
-    dst {
-      id		      7
-      intersection	      [1 0 -1 0 23.5747 42.5747 0 0]
-    }
-    midPoint		    [23.5747 24.9468]
-    chart		    2
-    dataLimits		    [21.175 25.975 14.625 42.575]
-    subviewer		    2
-    drawStyle		    SMART
-    slide {
-      sticky		      BOTH_STICK
-    }
-    executionOrder	    1
-    ssIdNumber		    2
-    linkNode		    [2 0 0]
-  }
-  instance {
-    id			    9
-    machine		    1
-    name		    "Utilities/holder\n/MATLAB Function"
-    chart		    2
-  }
-  chart {
-    id			    10
-    machine		    1
-    name		    "Utilities/DampPinv/Damped Pseudo Inverse"
-    windowPosition	    [699 -205 167 985]
-    viewLimits		    [0 156.75 0 153.75]
-    screen		    [1 1 3046 1050 1.25]
-    treeNode		    [0 11 0 0]
-    viewObj		    10
-    toolbarMode		    LIBRARY_TOOLBAR
-    ssIdHighWaterMark	    8
-    decomposition	    CLUSTER_CHART
-    type		    EML_CHART
-    chartFileNumber	    6
-    disableImplicitCasting  1
-    eml {
-      name		      "fcn"
-    }
-    firstData		    12
-    firstTransition	    16
-    firstJunction	    15
-  }
-  state {
-    id			    11
-    labelString		    "eML_blk_kernel()"
-    position		    [18 64.5 118 66]
-    fontSize		    12
-    chart		    10
-    treeNode		    [10 0 0 0]
-    superState		    SUBCHART
-    subviewer		    10
-    ssIdNumber		    1
-    type		    FUNC_STATE
-    decomposition	    CLUSTER_STATE
-    eml {
-      isEML		      1
-      script		      "function DPinv  = fcn(mat,sigma)\n% Economody size svd of mat\n[U,S,V] = svd(mat,'econ');\n% Damp"
-      "ed version of S with sigma\nS(S>sigma)=S(S>sigma)./((S(S>sigma)).^2+sigma^2);\n% Damped pseudoinverse\nDPinv = V"
-      "*pinv(S)*U';"
-      editorLayout	      "100 M4x1[10 5 700 500]"
-    }
-  }
-  data {
-    id			    12
-    ssIdNumber		    4
-    name		    "mat"
-    scope		    INPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-      }
-      complexity	      SF_COMPLEX_INHERITED
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [10 0 13]
-  }
-  data {
-    id			    13
-    ssIdNumber		    5
-    name		    "DPinv"
-    scope		    OUTPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-      }
-      complexity	      SF_COMPLEX_INHERITED
-      frame		      SF_FRAME_NO
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [10 12 14]
-  }
-  data {
-    id			    14
-    ssIdNumber		    8
-    name		    "sigma"
-    scope		    INPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-	isSigned		1
-	wordLength		"16"
-      }
-      complexity	      SF_COMPLEX_INHERITED
-      frame		      SF_FRAME_INHERITED
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [10 13 0]
-  }
-  junction {
-    id			    15
-    position		    [23.5747 49.5747 7]
-    chart		    10
-    subviewer		    10
-    ssIdNumber		    3
-    type		    CONNECTIVE_JUNCTION
-    linkNode		    [10 0 0]
-  }
-  transition {
-    id			    16
-    labelString		    "{eML_blk_kernel();}"
-    labelPosition	    [80.125 91.875 102.544 14.964]
-    fontSize		    12
-    src {
-      intersection	      [0 0 1 0 23.5747 14.625 0 0]
-    }
-    dst {
-      id		      15
-      intersection	      [1 0 -1 0 23.5747 42.5747 0 0]
-    }
-    midPoint		    [23.5747 24.9468]
-    chart		    10
-    dataLimits		    [21.175 25.975 14.625 42.575]
-    subviewer		    10
-    drawStyle		    SMART
-    slide {
-      sticky		      BOTH_STICK
-    }
-    executionOrder	    1
-    ssIdNumber		    2
-    linkNode		    [10 0 0]
-  }
-  instance {
-    id			    17
-    machine		    1
-    name		    "Utilities/DampPinv/Damped Pseudo Inverse"
-    chart		    10
-  }
-  chart {
-    id			    18
-    machine		    1
-    name		    "Utilities/TruncPinv/Truncated PseudoInverse"
-    windowPosition	    [649 -205 167 985]
-    viewLimits		    [0 156.75 0 153.75]
-    screen		    [1 1 3046 1050 1.25]
-    treeNode		    [0 19 0 0]
-    viewObj		    18
-    toolbarMode		    LIBRARY_TOOLBAR
-    ssIdHighWaterMark	    8
-    decomposition	    CLUSTER_CHART
-    type		    EML_CHART
-    chartFileNumber	    7
-    disableImplicitCasting  1
-    eml {
-      name		      "fcn"
-    }
-    firstData		    20
-    firstTransition	    24
-    firstJunction	    23
-  }
-  state {
-    id			    19
-    labelString		    "eML_blk_kernel()"
-    position		    [18 64.5 118 66]
-    fontSize		    12
-    chart		    18
-    treeNode		    [18 0 0 0]
-    superState		    SUBCHART
-    subviewer		    18
-    ssIdNumber		    1
-    type		    FUNC_STATE
-    decomposition	    CLUSTER_STATE
-    eml {
-      isEML		      1
-      script		      "function TPinv  = fcn(mat,tol)\n%#codegen\n[U,S,V] = svd(mat,'econ');\n% Setting to zero value\n%"
-      " Setting to 1/S(i,i) singular values greater than tol\n S(S>tol)=1./S(S>tol);\n TPinv = V*pinv(S)*U';"
-      editorLayout	      "100 M4x1[10 5 700 500]"
-    }
-  }
-  data {
-    id			    20
-    ssIdNumber		    4
-    name		    "mat"
-    scope		    INPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-      }
-      complexity	      SF_COMPLEX_INHERITED
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [18 0 21]
-  }
-  data {
-    id			    21
-    ssIdNumber		    5
-    name		    "TPinv"
-    scope		    OUTPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-      }
-      complexity	      SF_COMPLEX_INHERITED
-      frame		      SF_FRAME_NO
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [18 20 22]
-  }
-  data {
-    id			    22
-    ssIdNumber		    8
-    name		    "tol"
-    scope		    INPUT_DATA
-    machine		    1
-    props {
-      array {
-	size			"-1"
-      }
-      type {
-	method			SF_INHERITED_TYPE
-	primitive		SF_DOUBLE_TYPE
-	isSigned		1
-	wordLength		"16"
-      }
-      complexity	      SF_COMPLEX_INHERITED
-      frame		      SF_FRAME_INHERITED
-    }
-    dataType		    "Inherit: Same as Simulink"
-    linkNode		    [18 21 0]
-  }
-  junction {
-    id			    23
-    position		    [23.5747 49.5747 7]
-    chart		    18
-    subviewer		    18
-    ssIdNumber		    3
-    type		    CONNECTIVE_JUNCTION
-    linkNode		    [18 0 0]
-  }
-  transition {
-    id			    24
-    labelString		    "{eML_blk_kernel();}"
-    labelPosition	    [80.125 91.875 102.544 14.964]
-    fontSize		    12
-    src {
-      intersection	      [0 0 1 0 23.5747 14.625 0 0]
-    }
-    dst {
-      id		      23
-      intersection	      [1 0 -1 0 23.5747 42.5747 0 0]
-    }
-    midPoint		    [23.5747 24.9468]
-    chart		    18
-    dataLimits		    [21.175 25.975 14.625 42.575]
-    subviewer		    18
-    drawStyle		    SMART
-    slide {
-      sticky		      BOTH_STICK
-    }
-    executionOrder	    1
-    ssIdNumber		    2
-    linkNode		    [18 0 0]
-  }
-  instance {
-    id			    25
-    machine		    1
-    name		    "Utilities/TruncPinv/Truncated PseudoInverse"
-    chart		    18
-  }
-  target {
-    id			    26
-    machine		    1
-    name		    "sfun"
-    description		    "Default Simulink S-Function Target."
-    linkNode		    [1 0 0]
-  }
-}
diff --git a/toolbox/WBToolboxLibrary.slx b/toolbox/WBToolboxLibrary.slx
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diff --git a/toolbox/+WBToolbox/BlockInitialization.m b/toolbox/matlab/+WBToolbox/BlockInitialization.m
similarity index 100%
rename from toolbox/+WBToolbox/BlockInitialization.m
rename to toolbox/matlab/+WBToolbox/BlockInitialization.m
diff --git a/toolbox/+WBToolbox/Mask2WBToolboxConfig.m b/toolbox/matlab/+WBToolbox/Mask2WBToolboxConfig.m
similarity index 100%
rename from toolbox/+WBToolbox/Mask2WBToolboxConfig.m
rename to toolbox/matlab/+WBToolbox/Mask2WBToolboxConfig.m
diff --git a/toolbox/+WBToolbox/PID.m b/toolbox/matlab/+WBToolbox/PID.m
similarity index 100%
rename from toolbox/+WBToolbox/PID.m
rename to toolbox/matlab/+WBToolbox/PID.m
diff --git a/toolbox/+WBToolbox/WBTPIDConfig.m b/toolbox/matlab/+WBToolbox/WBTPIDConfig.m
similarity index 100%
rename from toolbox/+WBToolbox/WBTPIDConfig.m
rename to toolbox/matlab/+WBToolbox/WBTPIDConfig.m
diff --git a/toolbox/+WBToolbox/WBToolboxConfig.m b/toolbox/matlab/+WBToolbox/WBToolboxConfig.m
similarity index 100%
rename from toolbox/+WBToolbox/WBToolboxConfig.m
rename to toolbox/matlab/+WBToolbox/WBToolboxConfig.m
diff --git a/toolbox/+WBToolbox/WBToolboxConfig2Mask.m b/toolbox/matlab/+WBToolbox/WBToolboxConfig2Mask.m
similarity index 100%
rename from toolbox/+WBToolbox/WBToolboxConfig2Mask.m
rename to toolbox/matlab/+WBToolbox/WBToolboxConfig2Mask.m
diff --git a/toolbox/export_library.m b/toolbox/matlab/export_library.m
similarity index 56%
rename from toolbox/export_library.m
rename to toolbox/matlab/export_library.m
index 9044fda4d..c452b7fd1 100644
--- a/toolbox/export_library.m
+++ b/toolbox/matlab/export_library.m
@@ -1,4 +1,4 @@
-addpath(genpath('../images'));
+addpath(genpath('../../images'));
 
 fprintf('\nWhole Body toolbox exporting library to multiple versions\n');
 
@@ -7,27 +7,35 @@
     quit;
 end
 
+addpath(genpath('library'));
 libraryName = 'WBToolboxLibrary_repository';
 
 try
+  % Load the library
   open_system(libraryName,'loadonly');
   fprintf('\nLibrary loaded\n');
+
+  % Enable library capabilities
   if (strcmp(get_param(libraryName, 'EnableLBRepository'), 'off'))
     set_param(libraryName, 'Lock', 'off');
     set_param(libraryName, 'EnableLBRepository', 'on');
     set_param(libraryName, 'Lock', 'on');
-  end;
+  end
+
+  % Export the library
   fprintf('\nExporting for 2014b\n');
-  % This does not completely work: images are not saved.
-  % Instad if saved form the GUI it works..
   save_system(libraryName, 'WBToolboxLibrary', 'ExportToVersion', 'R2014B_SLX');
-  fprintf('\nExporting for 2012a\n');
-  save_system(libraryName, 'WBToolboxLibrary', 'ExportToVersion', 'R2012A_MDL');
+  movefile('WBToolboxLibrary.slx', 'library/exported/WBToolboxLibrary.slx');
+  % TODO: Check if mdl support is still required
+  % fprintf('\nExporting for 2012a\n');
+  % save_system(libraryName, 'WBToolboxLibrary', 'ExportToVersion', 'R2012A_MDL');
+  % movefile('WBToolboxLibrary.mdl', 'library/exported/WBToolboxLibrary.mdl');
+
+  % Unload the library
   close_system(libraryName);
-catch ex;
+catch
+  error('Failed to export WBToolbox library')
 end
-    
+
 fprintf('\nDone\n');
 exit(0)
-
-
diff --git a/toolbox/WBToolboxLibrary_repository.mdl b/toolbox/matlab/library/WBToolboxLibrary_repository.mdl
similarity index 74%
rename from toolbox/WBToolboxLibrary_repository.mdl
rename to toolbox/matlab/library/WBToolboxLibrary_repository.mdl
index 357430b63..8e4a391ca 100644
--- a/toolbox/WBToolboxLibrary_repository.mdl
+++ b/toolbox/matlab/library/WBToolboxLibrary_repository.mdl
@@ -1,19 +1,21 @@
 Library {
   Name			  "WBToolboxLibrary_repository"
-  Version		  8.8
+  Version		  8.9
   SavedCharacterEncoding  "US-ASCII"
   LogicAnalyzerGraphicalSettings ""
   LogicAnalyzerPlugin	  "on"
   LogicAnalyzerSignalOrdering ""
   DiagnosticSuppressor	  "on"
-  SuppressorTable	  "22 serialization::archive 11 0 3 0 0 0 0 0"
+  SuppressorTable	  "22 serialization::archive 11 0 6 0 0 0 11 0"
+  SLCCPlugin		  "on"
   LibraryType		  "BlockLibrary"
+  LockLinksToLibrary	  on
   ScopeRefreshTime	  0.035000
   OverrideScopeRefreshTime on
   DisableAllScopes	  off
   FPTRunName		  "Run 1"
   MaxMDLFileLineLength	  120
-  LastSavedArchitecture	  "maci64"
+  LastSavedArchitecture	  "glnxa64"
   Object {
     $PropName		    "BdWindowsInfo"
     $ObjectID		    1
@@ -23,7 +25,7 @@ Library {
       $ObjectID		      2
       $ClassName	      "Simulink.WindowInfo"
       IsActive		      [1]
-      Location		      [747.0, 53.0, 1280.0, 721.0]
+      Location		      [2245.0, 90.0, 1595.0, 866.0]
       Object {
 	$PropName		"ModelBrowserInfo"
 	$ObjectID		3
@@ -40,20 +42,32 @@ Library {
 	$ClassName		"Simulink.ExplorerBarInfo"
 	Visible			[1]
       }
-      Object {
-	$PropName		"EditorsInfo"
-	$ObjectID		5
-	$ClassName		"Simulink.EditorInfo"
-	IsActive		[1]
-	ViewObjType		"SimulinkTopLevel"
-	LoadSaveID		"0"
-	Extents			[1246.0, 559.0]
-	ZoomFactor		[2.7309417040358746]
-	Offset			[10.873563218390814, 6.1543513957307141]
+      Array {
+	Type			"Simulink.EditorInfo"
+	Dimension		2
+	Object {
+	  $ObjectID		  5
+	  IsActive		  [0]
+	  ViewObjType		  "SimulinkSubsys"
+	  LoadSaveID		  "369"
+	  Extents		  [1557.0, 693.0]
+	  ZoomFactor		  [2.6923076923076925]
+	  Offset		  [178.33132569815649, 95.800000000000011]
+	}
+	Object {
+	  $ObjectID		  6
+	  IsActive		  [1]
+	  ViewObjType		  "SimulinkTopLevel"
+	  LoadSaveID		  "0"
+	  Extents		  [1557.0, 693.0]
+	  ZoomFactor		  [3.428251121076233]
+	  Offset		  [11.916285153695213, 10.428057553956833]
+	}
+	PropName		"EditorsInfo"
       }
       Object {
 	$PropName		"DockComponentsInfo"
-	$ObjectID		6
+	$ObjectID		7
 	$ClassName		"Simulink.DockComponentInfo"
 	Type			"GLUE2:PropertyInspector"
 	ID			"Property Inspector"
@@ -65,26 +79,27 @@ Library {
 	Width			[640]
 	Height			[480]
       }
-      WindowState	      "AAAA/wAAAAD9AAAAAgAAAAAAAAC9AAAB+PwCAAAAA/sAAAAWAEQAbwBjAGsAVwBpAGQAZwBlAHQAMwEAAAAxAAAB+AAAA"
+      WindowState	      "AAAA/wAAAAD9AAAAAgAAAAAAAAC9AAACivwCAAAAA/sAAAAWAEQAbwBjAGsAVwBpAGQAZwBlAHQAMwEAAAAxAAAB+AAAA"
       "AAAAAAA+wAAABYARABvAGMAawBXAGkAZABnAGUAdAA0AAAAAAD/////AAAAAAAAAAD7AAAAUgBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0Ac"
-      "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAAAP////8AAABvAP///wAAAAEAAAAAAAAAAPwCA"
+      "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAANQAAAooAAABbAP///wAAAAEAAAAAAAAAAPwCA"
       "AAAAfsAAABUAEcATABVAEUAMgA6AFAAcgBvAHAAZQByAHQAeQBJAG4AcwBwAGUAYwB0AG8AcgAvAFAAcgBvAHAAZQByAHQAeQAgAEkAbgBzAHAAZ"
-      "QBjAHQAbwByAAAAAAD/////AAAAKgD///8AAAUAAAACZgAAAAEAAAACAAAAAQAAAAL8AAAAAQAAAAIAAAAP/////wAAAAAA/////wAAAAAAAAAA/"
+      "QBjAHQAbwByAAAAAAD/////AAAAKwD///8AAAY7AAAC9gAAAAEAAAACAAAAAQAAAAL8AAAAAQAAAAIAAAAP/////wAAAAAA/////wAAAAAAAAAA/"
       "////wEAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/"
-      "////wEAAACE/////wAAAAAAAAAA/////wEAAAD2/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/"
-      "////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wEAAAFL/////wAAAAAAAAAA/"
+      "////wEAAAB6/////wAAAAAAAAAA/////wEAAADe/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/"
+      "////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wEAAAEt/////wAAAAAAAAAA/"
       "////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA"
     }
   }
+  HideAutomaticNames	  off
   Created		  "Thu Feb 06 02:21:39 2014"
   Creator		  "jorhabib"
   UpdateHistory		  "UpdateHistoryNever"
   ModifiedByFormat	  "%<Auto>"
-  LastModifiedBy	  "makaveli"
+  LastModifiedBy	  "dferigo"
   ModifiedDateFormat	  "%<Auto>"
-  LastModifiedDate	  "Wed Aug 23 12:33:30 2017"
-  RTWModifiedTimeStamp	  425392371
-  ModelVersionFormat	  "1.%<AutoIncrement:382>"
+  LastModifiedDate	  "Wed Nov 29 15:45:34 2017"
+  RTWModifiedTimeStamp	  433871066
+  ModelVersionFormat	  "1.%<AutoIncrement:471>"
   ConfigurationManager	  "none"
   SampleTimeColors	  off
   SampleTimeAnnotations	  off
@@ -92,6 +107,7 @@ Library {
   WideLines		  off
   ShowLineDimensions	  off
   ShowPortDataTypes	  off
+  PortDataTypeDisplayFormat "AliasTypeOnly"
   ShowEditTimeErrors	  on
   ShowEditTimeWarnings	  on
   ShowEditTimeAdvisorChecks off
@@ -118,6 +134,7 @@ Library {
   FunctionConnectors	  off
   BrowserLookUnderMasks	  off
   SimulationMode	  "normal"
+  VisualizeLoggedSignalsWhenLoggingToFile off
   PauseTimes		  "5"
   NumberOfSteps		  1
   SnapshotBufferSize	  10
@@ -149,20 +166,21 @@ Library {
   ExtModeAutoUpdateStatusClock on
   ShowModelReferenceBlockVersion off
   ShowModelReferenceBlockIO off
+  OrderedModelArguments	  on
   Array {
     Type		    "Handle"
     Dimension		    1
     Simulink.ConfigSet {
-      $ObjectID		      7
-      Version		      "1.16.5"
+      $ObjectID		      8
+      Version		      "1.17.0"
       DisabledProps	      []
       Description	      ""
       Array {
 	Type			"Handle"
 	Dimension		10
 	Simulink.SolverCC {
-	  $ObjectID		  8
-	  Version		  "1.16.5"
+	  $ObjectID		  9
+	  Version		  "1.17.0"
 	  DisabledProps		  []
 	  Description		  ""
 	  StartTime		  "0.0"
@@ -201,8 +219,8 @@ Library {
 	  SampleTimeProperty	  []
 	}
 	Simulink.DataIOCC {
-	  $ObjectID		  9
-	  Version		  "1.16.5"
+	  $ObjectID		  10
+	  Version		  "1.17.0"
 	  DisabledProps		  []
 	  Description		  ""
 	  Decimation		  "1"
@@ -237,12 +255,13 @@ Library {
 	  ReturnWorkspaceOutputsName "out"
 	  Refine		  "1"
 	  LoggingToFile		  off
+	  DatasetSignalFormat	  "timeseries"
 	  LoggingFileName	  "out.mat"
 	  LoggingIntervals	  "[-inf, inf]"
 	}
 	Simulink.OptimizationCC {
-	  $ObjectID		  10
-	  Version		  "1.16.5"
+	  $ObjectID		  11
+	  Version		  "1.17.0"
 	  Array {
 	    Type		    "Cell"
 	    Dimension		    8
@@ -297,10 +316,13 @@ Library {
 	  BufferReusableBoundary  on
 	  SimCompilerOptimization "off"
 	  AccelVerboseBuild	  off
+	  OptimizeBlockOrder	  "off"
+	  OptimizeDataStoreBuffers on
+	  BusAssignmentInplaceUpdate on
 	}
 	Simulink.DebuggingCC {
-	  $ObjectID		  11
-	  Version		  "1.16.5"
+	  $ObjectID		  12
+	  Version		  "1.17.0"
 	  Array {
 	    Type		    "Cell"
 	    Dimension		    1
@@ -387,6 +409,7 @@ Library {
 	  SymbolicDimMinMaxWarning "warning"
 	  LossOfSymbolicDimsSimulationWarning "warning"
 	  LossOfSymbolicDimsCodeGenerationWarning "error"
+	  SymbolicDimsDataTypeCodeGenerationDiagnostic "error"
 	  BlockIODiagnostic	  "none"
 	  SFUnusedDataAndEventsDiag "warning"
 	  SFUnexpectedBacktrackingDiag "warning"
@@ -405,10 +428,11 @@ Library {
 	  AllowedUnitSystems	  "all"
 	  UnitsInconsistencyMsg	  "warning"
 	  AllowAutomaticUnitConversions	on
+	  UnitDatabase		  ""
 	}
 	Simulink.HardwareCC {
-	  $ObjectID		  12
-	  Version		  "1.16.5"
+	  $ObjectID		  13
+	  Version		  "1.17.0"
 	  DisabledProps		  []
 	  Description		  ""
 	  ProdBitPerChar	  8
@@ -455,8 +479,8 @@ Library {
 	  UseSimulinkCoderFeatures on
 	}
 	Simulink.ModelReferenceCC {
-	  $ObjectID		  13
-	  Version		  "1.16.5"
+	  $ObjectID		  14
+	  Version		  "1.17.0"
 	  DisabledProps		  []
 	  Description		  ""
 	  UpdateModelReferenceTargets "IfOutOfDateOrStructuralChange"
@@ -474,8 +498,8 @@ Library {
 	  SupportModelReferenceSimTargetCustomCode off
 	}
 	Simulink.SFSimCC {
-	  $ObjectID		  14
-	  Version		  "1.16.5"
+	  $ObjectID		  15
+	  Version		  "1.17.0"
 	  DisabledProps		  []
 	  Description		  ""
 	  SimCustomSourceCode	  ""
@@ -499,11 +523,13 @@ Library {
 	  ModelFunctionsGlobalVisibility "on"
 	  CompileTimeRecursionLimit 50
 	  EnableRuntimeRecursion  on
+	  MATLABDynamicMemAlloc	  on
+	  MATLABDynamicMemAllocThreshold 65536
 	}
 	Simulink.RTWCC {
 	  $BackupClass		  "Simulink.RTWCC"
-	  $ObjectID		  15
-	  Version		  "1.16.5"
+	  $ObjectID		  16
+	  Version		  "1.17.0"
 	  Array {
 	    Type		    "Cell"
 	    Dimension		    13
@@ -585,11 +611,11 @@ Library {
 	    Type		    "Handle"
 	    Dimension		    2
 	    Simulink.CodeAppCC {
-	      $ObjectID		      16
-	      Version		      "1.16.5"
+	      $ObjectID		      17
+	      Version		      "1.17.0"
 	      Array {
 		Type			"Cell"
-		Dimension		25
+		Dimension		27
 		Cell			"IgnoreCustomStorageClasses"
 		Cell			"IgnoreTestpoints"
 		Cell			"InsertBlockDesc"
@@ -615,6 +641,8 @@ Library {
 		Cell			"CustomSymbolStrModelFcn"
 		Cell			"CustomSymbolStrUtil"
 		Cell			"CustomUserTokenString"
+		Cell			"CustomSymbolStrEmxType"
+		Cell			"CustomSymbolStrEmxFcn"
 		PropName		"DisabledProps"
 	      }
 	      Description	      ""
@@ -646,6 +674,8 @@ Library {
 	      CustomSymbolStrTmpVar   "$N$M"
 	      CustomSymbolStrMacro    "$R$N$M"
 	      CustomSymbolStrUtil     "$N$C"
+	      CustomSymbolStrEmxType  "emxArray_$M$N"
+	      CustomSymbolStrEmxFcn   "emx$M$N"
 	      CustomUserTokenString   ""
 	      CustomCommentsFcn	      ""
 	      DefineNamingRule	      "None"
@@ -668,8 +698,8 @@ Library {
 	    }
 	    Simulink.GRTTargetCC {
 	      $BackupClass	      "Simulink.TargetCC"
-	      $ObjectID		      17
-	      Version		      "1.16.5"
+	      $ObjectID		      18
+	      Version		      "1.17.0"
 	      Array {
 		Type			"Cell"
 		Dimension		18
@@ -701,8 +731,7 @@ Library {
 	      TargetLangStandard      "C89/C90 (ANSI)"
 	      CodeReplacementLibrary  "None"
 	      UtilityFuncGeneration   "Auto"
-	      ERTMultiwordTypeDef     "System defined"
-	      ERTMultiwordLength      256
+	      MultiwordTypeDef	      "System defined"
 	      MultiwordLength	      2048
 	      GenerateFullHeader      on
 	      InferredTypesCompatibility off
@@ -746,6 +775,8 @@ Library {
 	      UseToolchainInfoCompliant	on
 	      GenerateSharedConstants on
 	      CoderGroups	      []
+	      AccessMethods	      []
+	      LookupTableObjectStructAxisOrder "1,2,3,4,..."
 	      UseMalloc		      off
 	      ExtMode		      off
 	      ExtModeStaticAlloc      off
@@ -766,8 +797,8 @@ Library {
 	  }
 	}
 	SlCovCC.ConfigComp {
-	  $ObjectID		  18
-	  Version		  "1.16.5"
+	  $ObjectID		  19
+	  Version		  "1.17.0"
 	  DisabledProps		  []
 	  Description		  "Simulink Coverage Configuration Component"
 	  Name			  "Simulink Coverage"
@@ -803,10 +834,11 @@ Library {
 	  CovUseTimeInterval	  off
 	  CovStartTime		  0
 	  CovStopTime		  0
+	  CovMcdcMode		  "Masking"
 	}
 	hdlcoderui.hdlcc {
-	  $ObjectID		  19
-	  Version		  "1.16.5"
+	  $ObjectID		  20
+	  Version		  "1.17.0"
 	  DisabledProps		  []
 	  Description		  "HDL Coder custom configuration component"
 	  Name			  "HDL Coder"
@@ -823,7 +855,7 @@ Library {
       Name		      "Configuration"
       ExtraOptions	      ""
       CurrentDlgPage	      "Solver"
-      ConfigPrmDlgPosition     [ 963, 135, 1843, 765 ] 
+      ConfigPrmDlgPosition    [ 963, 135, 1843, 765 ]
     }
     PropName		    "ConfigurationSets"
   }
@@ -838,6 +870,7 @@ Library {
     FontWeight		    "normal"
     FontAngle		    "normal"
     ShowName		    on
+    HideAutomaticName	    on
     BlockRotation	    0
     BlockMirror		    off
   }
@@ -863,7 +896,7 @@ Library {
     SelfModifiable	    "off"
     IconFrame		    "on"
     IconOpaque		    "opaque"
-    RunInitForIconRedraw    "off"
+    RunInitForIconRedraw    "analyze"
     IconRotate		    "none"
     PortRotate		    "default"
     IconUnits		    "autoscale"
@@ -955,6 +988,7 @@ Library {
       SourceOfInitialOutputValue "Dialog"
       OutputWhenDisabled      "held"
       InitialOutput	      "[]"
+      MustResolveToSignalObject	off
     }
     Block {
       BlockType		      Product
@@ -1031,8 +1065,9 @@ Library {
   }
   System {
     Name		    "WBToolboxLibrary_repository"
-    Location		    [747, 53, 2027, 774]
+    Location		    [2245, 90, 3840, 956]
     Open		    on
+    PortBlocksUseCompactNotation off
     ModelBrowserVisibility  off
     ModelBrowserWidth	    200
     ScreenColor		    "black"
@@ -1043,9 +1078,9 @@ Library {
     TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
     TiledPageScale	    1
     ShowPageBoundaries	    off
-    ZoomFactor		    "273"
+    ZoomFactor		    "343"
     ReportName		    "simulink-default.rpt"
-    SIDHighWatermark	    "1773"
+    SIDHighWatermark	    "1789"
     Block {
       BlockType		      SubSystem
       Name		      "Utilities"
@@ -1059,14 +1094,15 @@ Library {
       Variant		      off
       Object {
 	$PropName		"MaskObject"
-	$ObjectID		20
+	$ObjectID		21
 	$ClassName		"Simulink.Mask"
 	Display			"image(imread('utilities.png'))"
       }
       System {
 	Name			"Utilities"
-	Location		[551, 44, 1831, 765]
+	Location		[2245, 90, 3840, 956]
 	Open			off
+	PortBlocksUseCompactNotation off
 	ModelBrowserVisibility	off
 	ModelBrowserWidth	200
 	ScreenColor		"white"
@@ -1077,7 +1113,7 @@ Library {
 	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 	TiledPageScale		1
 	ShowPageBoundaries	off
-	ZoomFactor		"166"
+	ZoomFactor		"213"
 	Block {
 	  BlockType		  SubSystem
 	  Name			  "DampPinv"
@@ -1090,11 +1126,11 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    21
+	    $ObjectID		    22
 	    $ClassName		    "Simulink.Mask"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      22
+	      $ObjectID		      23
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "edit"
 	      Name		      "tol"
@@ -1106,6 +1142,7 @@ Library {
 	    Name		    "DampPinv"
 	    Location		    [0, 29, 1280, 744]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -1152,6 +1189,7 @@ Library {
 		Name			"Damped Pseudo Inverse"
 		Location		[12, 45, 1279, 3773]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -1163,7 +1201,7 @@ Library {
 		TiledPageScale		1
 		ShowPageBoundaries	off
 		ZoomFactor		"100"
-		SIDHighWatermark	"1619"
+		SIDHighWatermark	"1622"
 		Block {
 		  BlockType		  Inport
 		  Name			  "mat"
@@ -1184,20 +1222,20 @@ Library {
 		Block {
 		  BlockType		  Demux
 		  Name			  " Demux "
-		  SID			  "107::1618"
+		  SID			  "107::1621"
 		  Ports			  [1, 1]
 		  Position		  [270, 230, 320, 270]
-		  ZOrder		  98
+		  ZOrder		  101
 		  Outputs		  "1"
 		}
 		Block {
 		  BlockType		  S-Function
 		  Name			  " SFunction "
-		  SID			  "107::1617"
+		  SID			  "107::1620"
 		  Tag			  "Stateflow S-Function WBToolboxLibrary_repository 6"
 		  Ports			  [2, 2]
 		  Position		  [180, 100, 230, 160]
-		  ZOrder		  97
+		  ZOrder		  100
 		  FunctionName		  "sf_sfun"
 		  PortCounts		  "[2 2]"
 		  SFunctionDeploymentMode off
@@ -1206,16 +1244,14 @@ Library {
 		  Port {
 		    PortNumber		    2
 		    Name		    "DPinv"
-		    RTWStorageClass	    "Auto"
-		    DataLoggingNameMode	    "SignalName"
 		  }
 		}
 		Block {
 		  BlockType		  Terminator
 		  Name			  " Terminator "
-		  SID			  "107::1619"
+		  SID			  "107::1622"
 		  Position		  [460, 241, 480, 259]
-		  ZOrder		  99
+		  ZOrder		  102
 		}
 		Block {
 		  BlockType		  Outport
@@ -1226,7 +1262,7 @@ Library {
 		  IconDisplay		  "Port number"
 		}
 		Line {
-		  ZOrder		  61
+		  ZOrder		  66
 		  SrcBlock		  "mat"
 		  SrcPort		  1
 		  Points		  [120, 0]
@@ -1234,7 +1270,7 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  62
+		  ZOrder		  67
 		  SrcBlock		  "sigma"
 		  SrcPort		  1
 		  DstBlock		  " SFunction "
@@ -1242,7 +1278,7 @@ Library {
 		}
 		Line {
 		  Name			  "DPinv"
-		  ZOrder		  63
+		  ZOrder		  68
 		  Labels		  [0, 0]
 		  SrcBlock		  " SFunction "
 		  SrcPort		  2
@@ -1250,14 +1286,14 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  64
+		  ZOrder		  69
 		  SrcBlock		  " Demux "
 		  SrcPort		  1
 		  DstBlock		  " Terminator "
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  65
+		  ZOrder		  70
 		  SrcBlock		  " SFunction "
 		  SrcPort		  1
 		  DstBlock		  " Demux "
@@ -1300,90 +1336,56 @@ Library {
 	  BlockType		  S-Function
 	  Name			  "DoFs converter"
 	  SID			  "1771"
-	  Ports			  [1, 5]
+	  Ports			  [1, 3]
 	  Position		  [240, 241, 385, 309]
 	  ZOrder		  81
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend\n"
 	  FunctionName		  "WBToolbox"
-	  Parameters		  "'YARPWBIConverter',robotName,localName,wbiFile,wbiList,yarp2WBIOption"
+	  Parameters		  "'ModelPartitioner',WBTConfigParameters,configBlockAbsName,yarp2WBI"
 	  SFunctionDeploymentMode off
 	  EnableBusSupport	  off
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    23
+	    $ObjectID		    24
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "DoFs converter"
 	    Description		    "This block converts from a DoFs serialization to a YARP serialization or viceversa depending on"
-	    " its configuration.\nThe DoFs configuration is automatically currently taken from the WBI list option.\nThe robot"
-	    " name is taken from the environment variable YARP_ROBOT_NAME.\n\nParameters:\n\n- Conversion direction: specify i"
-	    "f you want to convert from YARP to the current DoFs serialization or viceversa.\n\nWBI parameters:\n\n- Robot Por"
-	    "t Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use t"
-	    "he name specified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name"
-	    " of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the con"
-	    "figuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole B"
-	    "ody Interface\n"
+	    " its configuration.\nThe robot name is taken from the environment variable YARP_ROBOT_NAME.\n\nParameters:\n\n- C"
+	    "onversion direction: specify if you want to convert from YARP to the current DoFs serialization or viceversa.\n"
+	    Initialization	    "% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig"
+	    "] = WBToolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n "
+	    "   clear WBTConfig;\ncatch\nend\n\n% ModelPartitioner Initialization\n% ===============================\n\nswitch"
+	    " get_param(gcb, 'yarp2WBIOption')\n    case 'From YARP to WBI'\n        yarp2WBI = true;\n    case 'From WBI to Y"
+	    "ARP'\n        yarp2WBI = false;\n    otherwise\nend"
 	    Display		    "robotName = getenv('YARP_ROBOT_NAME');\n\ncurrentSelection = get_param(gcb,'yarp2WBIoption');\n\nif"
 	    " strcmp(currentSelection,'From YARP to WBI')\n    direction = 'YARP -> DoFs';\nelse\n    direction = 'DoFs -> YAR"
 	    "P';\nend\n\nfprintf('%s\\n\\n%s', robotName, direction);"
-	    Array {
-	      Type		      "Simulink.MaskParameter"
-	      Dimension		      5
-	      Object {
-		$ObjectID		24
-		Type			"popup"
-		Array {
-		  Type			  "Cell"
-		  Dimension		  2
-		  Cell			  "From YARP to WBI"
-		  Cell			  "From WBI to YARP"
-		  PropName		  "TypeOptions"
-		}
-		Name			"yarp2WBIOption"
-		Prompt			"Conversion Direction"
-		Value			"From YARP to WBI"
-	      }
-	      Object {
-		$ObjectID		25
-		Type			"edit"
-		Name			"robotName"
-		Prompt			"Robot Port Name"
-		Value			"WBT_robotName"
-	      }
-	      Object {
-		$ObjectID		26
-		Type			"edit"
-		Name			"localName"
-		Prompt			"Model Name"
-		Value			"WBT_modelName"
-	      }
-	      Object {
-		$ObjectID		27
-		Type			"edit"
-		Name			"wbiFile"
-		Prompt			"WBI filename"
-		Value			"WBT_wbiFilename"
-	      }
-	      Object {
-		$ObjectID		28
-		Type			"edit"
-		Name			"wbiList"
-		Prompt			"WBI list name"
-		Value			"WBT_wbiList"
+	    RunInitForIconRedraw    "off"
+	    Object {
+	      $PropName		      "Parameters"
+	      $ObjectID		      25
+	      $ClassName	      "Simulink.MaskParameter"
+	      Type		      "popup"
+	      Array {
+		Type			"Cell"
+		Dimension		2
+		Cell			"From YARP to WBI"
+		Cell			"From WBI to YARP"
+		PropName		"TypeOptions"
 	      }
-	      PropName		      "Parameters"
+	      Name		      "yarp2WBIOption"
+	      Prompt		      "Conversion Direction"
+	      Value		      "From YARP to WBI"
 	    }
 	    Array {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      2
 	      Object {
-		$ObjectID		29
+		$ObjectID		26
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  30
+		  $ObjectID		  27
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -1391,55 +1393,33 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		31
+		$ObjectID		28
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
-		Object {
-		  $PropName		  "DialogControls"
-		  $ObjectID		  32
-		  $ClassName		  "Simulink.dialog.TabContainer"
-		  Array {
-		    Type		    "Simulink.dialog.Tab"
-		    Dimension		    2
-		    Object {
-		    $ObjectID		    33
-		    Prompt		    "Block Parameters"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    34
+		Array {
+		  Type			  "Simulink.dialog.Control"
+		  Dimension		  2
+		  Object {
+		    $ObjectID		    29
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "yarp2WBIOption"
-		    }
-		    Name		    "Container4"
-		    }
-		    Object {
-		    $ObjectID		    35
-		    Prompt		    "WBI Parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    4
-		    Object {
-		    $ObjectID		    36
-		    Name		    "robotName"
-		    }
-		    Object {
-		    $ObjectID		    37
-		    Name		    "localName"
-		    }
-		    Object {
-		    $ObjectID		    38
-		    Name		    "wbiFile"
-		    }
+		  }
+		  Object {
+		    $ObjectID		    30
+		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
-		    $ObjectID		    39
-		    Name		    "wbiList"
-		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "Container7"
+		    $PropName		    "DialogControls"
+		    $ObjectID		    31
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
 		    }
-		    PropName		    "DialogControls"
+		    Name		    "ToggleButtonContainer"
 		  }
-		  Name			  "Container3"
+		  PropName		  "DialogControls"
 		}
 		Name			"ParameterGroupVar"
 	      }
@@ -1462,7 +1442,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    40
+	    $ObjectID		    32
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Minimum Jerk Trajectory Generator"
 	    Description		    "This block wraps the minJerkTrajGen class from iCub::ctrl::minJerkTrajGen.\n\nThe Minimum Jerk "
@@ -1485,7 +1465,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      7
 	      Object {
-		$ObjectID		41
+		$ObjectID		33
 		Type			"checkbox"
 		Name			"externalSettlingTime"
 		Prompt			"External Settling Time"
@@ -1496,42 +1476,42 @@ Library {
 		"SettlingTime"
 	      }
 	      Object {
-		$ObjectID		42
+		$ObjectID		34
 		Type			"edit"
 		Name			"settlingTime"
 		Prompt			"Settling Time"
 		Value			"3"
 	      }
 	      Object {
-		$ObjectID		43
+		$ObjectID		35
 		Type			"edit"
 		Name			"sampleTime"
 		Prompt			"Sample Time"
 		Value			"0.01"
 	      }
 	      Object {
-		$ObjectID		44
+		$ObjectID		36
 		Type			"checkbox"
 		Name			"resetOnSettlingTime"
 		Prompt			"Reset on Settling Time Changes"
 		Value			"off"
 	      }
 	      Object {
-		$ObjectID		45
+		$ObjectID		37
 		Type			"checkbox"
 		Name			"firstDerivatives"
 		Prompt			"Output First Derivative"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		46
+		$ObjectID		38
 		Type			"checkbox"
 		Name			"secondDerivatives"
 		Prompt			"Output Second Derivative"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		47
+		$ObjectID		39
 		Type			"checkbox"
 		Name			"explicitInitialValue"
 		Prompt			"Explicit Initial Value"
@@ -1544,11 +1524,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      2
 	      Object {
-		$ObjectID		48
+		$ObjectID		40
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  49
+		  $ObjectID		  41
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -1556,38 +1536,38 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		50
+		$ObjectID		42
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  51
+		  $ObjectID		  43
 		  $ClassName		  "Simulink.dialog.TabContainer"
 		  Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    52
+		    $ObjectID		    44
 		    Prompt		    "Trajectory Parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    53
+		    $ObjectID		    45
 		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
 		    Name		    "externalSettlingTime"
 		    }
 		    Object {
-		    $ObjectID		    54
+		    $ObjectID		    46
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "settlingTime"
 		    }
 		    Object {
-		    $ObjectID		    55
+		    $ObjectID		    47
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "sampleTime"
 		    }
 		    Object {
-		    $ObjectID		    56
+		    $ObjectID		    48
 		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
 		    Name		    "resetOnSettlingTime"
 		    }
@@ -1596,21 +1576,21 @@ Library {
 		    Name		    "Tab1"
 		    }
 		    Object {
-		    $ObjectID		    57
+		    $ObjectID		    49
 		    Prompt		    "Input/Output"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.CheckBox"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    58
+		    $ObjectID		    50
 		    Name		    "firstDerivatives"
 		    }
 		    Object {
-		    $ObjectID		    59
+		    $ObjectID		    51
 		    Name		    "secondDerivatives"
 		    }
 		    Object {
-		    $ObjectID		    60
+		    $ObjectID		    52
 		    Name		    "explicitInitialValue"
 		    }
 		    PropName		    "DialogControls"
@@ -1634,7 +1614,7 @@ Library {
 	  Ports			  []
 	  Position		  [155, 14, 280, 51]
 	  ZOrder		  23
-	  ForegroundColor	  "white"
+	  ForegroundColor	  "[0.917647, 0.917647, 0.917647]"
 	  BackgroundColor	  "gray"
 	  ShowName		  off
 	  FunctionName		  "WBToolbox"
@@ -1644,7 +1624,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    61
+	    $ObjectID		    53
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Real Time Synchronizer"
 	    Description		    "This block slows down the simulation trying to match the period specified \nas parameter (in se"
@@ -1652,7 +1632,7 @@ Library {
 	    Display		    "disp('Real Time Synchronizer')"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      62
+	      $ObjectID		      54
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "edit"
 	      Name		      "period"
@@ -1661,6 +1641,247 @@ Library {
 	    }
 	  }
 	}
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Robot"
+	  SID			  "1774"
+	  Ports			  []
+	  Position		  [435, 260, 510, 290]
+	  ZOrder		  95
+	  InitFcn		  "source = get_param(gcb,'ConfigSource');\n\nif strcmp(source, 'Workspace')\n    object = get_param(gcb,'"
+	  "ConfigObject');\n    WBToolbox.WBToolboxConfig2Mask(gcb, object);\nend\n\nWBToolbox.Mask2WBToolboxConfig(gcb);\n\nc"
+	  "lear object source"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    55
+	    $ClassName		    "Simulink.Mask"
+	    SelfModifiable	    "on"
+	    Display		    "disp('Config')"
+	    RunInitForIconRedraw    "off"
+	    Array {
+	      Type		      "Simulink.MaskParameter"
+	      Dimension		      8
+	      Object {
+		$ObjectID		56
+		Type			"popup"
+		Array {
+		  Type			  "Cell"
+		  Dimension		  2
+		  Cell			  "Workspace"
+		  Cell			  "Mask"
+		  PropName		  "TypeOptions"
+		}
+		Name			"ConfigSource"
+		Prompt			"Configuration from"
+		Value			"Mask"
+		Callback		"% Get the Workspace/Mask menu\nh = Simulink.Mask.get(gcb);\ncurrentConfigSource = get_param(gcb,'ConfigSo"
+		"urce');\n\nif strcmp(currentConfigSource,'Workspace')\n    % Switch the visibility of the GUI elements\n    set_para"
+		"m(gcb,'MaskVisibilities',{'on';'on';'on';'on';'on';'on';'on';'on';});\n    h.Parameters(3).ReadOnly = 'on';\n    h.P"
+		"arameters(4).ReadOnly = 'on';\n    h.Parameters(5).ReadOnly = 'on';\n    h.Parameters(6).ReadOnly = 'on';\n    h.Par"
+		"ameters(7).ReadOnly = 'on';\n    h.Parameters(8).ReadOnly = 'on';\n    \n    % Parse the object inserted in the Conf"
+		"igObject field\n    currentConfigObject = get_param(gcb,'ConfigObject');\n    WBToolbox.WBTConfig2Mask(gcb,currentCo"
+		"nfigObject);\n    clear currentConfigObject;\nelseif strcmp(currentConfigSource,'Mask')\n    % Switch the visibility"
+		" of the GUI elements\n    set_param(gcb,'MaskVisibilities',{'on';'off';'on';'on';'on';'on';'on';'on';});\n    h.Para"
+		"meters(3).ReadOnly = 'off';\n    h.Parameters(4).ReadOnly = 'off';\n    h.Parameters(5).ReadOnly = 'off';\n    h.Par"
+		"ameters(6).ReadOnly = 'off';\n    h.Parameters(7).ReadOnly = 'off';\n    h.Parameters(8).ReadOnly = 'off';\n    h.Pa"
+		"rameters(3).Enabled = 'on';\n    h.Parameters(4).Enabled = 'on';\n    h.Parameters(5).Enabled = 'on';\n    h.Paramet"
+		"ers(6).Enabled = 'on';\n    h.Parameters(7).Enabled = 'on';\n    h.Parameters(8).Enabled = 'on';\nend\n\nclear h cur"
+		"rentConfigSource"
+	      }
+	      Object {
+		$ObjectID		57
+		Type			"edit"
+		Name			"ConfigObject"
+		Prompt			"Name of the object"
+		Value			"'WBTConfigRobot'"
+		Tunable			"off"
+		Visible			"off"
+		Callback		"% This code get called whatsoever\nif strcmp(char(get_param(gcb,'ConfigSource')),'Mask')\n    return\nend"
+		"\n\n% Parse the object inserted in the ConfigObject field\ncurrentConfigObject = get_param(gcb,'ConfigObject');\nWBT"
+		"oolbox.WBTConfig2Mask(gcb,currentConfigObject);\n\nclear currentConfigObject;"
+	      }
+	      Object {
+		$ObjectID		58
+		Type			"edit"
+		Name			"RobotName"
+		Prompt			"Robot Name"
+		Value			"'icub'"
+	      }
+	      Object {
+		$ObjectID		59
+		Type			"edit"
+		Name			"UrdfFile"
+		Prompt			"Urdf File"
+		Value			"'model.urdf'"
+	      }
+	      Object {
+		$ObjectID		60
+		Type			"edit"
+		Name			"ControlledJoints"
+		Prompt			"Controlled Joints"
+		Value			"{'l_elbow','l_shoulder_pitch','torso_roll'}"
+	      }
+	      Object {
+		$ObjectID		61
+		Type			"edit"
+		Name			"ControlBoardsNames"
+		Prompt			"Control Boards Names"
+		Value			"{'left_arm','right_arm','torso'}"
+	      }
+	      Object {
+		$ObjectID		62
+		Type			"edit"
+		Name			"LocalName"
+		Prompt			"Local Name"
+		Value			"'WBT'"
+	      }
+	      Object {
+		$ObjectID		63
+		Type			"edit"
+		Name			"GravityVector"
+		Prompt			"Gravity Vector"
+		Value			"[0,0,-9.81]"
+	      }
+	      PropName		      "Parameters"
+	    }
+	    Array {
+	      Type		      "Simulink.dialog.Group"
+	      Dimension		      2
+	      Object {
+		$ObjectID		64
+		Prompt			"%<MaskType>"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  65
+		  $ClassName		  "Simulink.dialog.Text"
+		  Prompt		  "%<MaskDescription>"
+		  Name			  "DescTextVar"
+		}
+		Name			"DescGroupVar"
+	      }
+	      Object {
+		$ObjectID		66
+		Prompt			"Simulink:studio:ToolBarParametersMenu"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  67
+		  $ClassName		  "Simulink.dialog.TabContainer"
+		  Array {
+		    Type		    "Simulink.dialog.Tab"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    68
+		    Prompt		    "From"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Control"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    69
+		    $ClassName		    "Simulink.dialog.parameter.Popup"
+		    Name		    "ConfigSource"
+		    }
+		    Object {
+		    $ObjectID		    70
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    PromptLocation	    "left"
+		    Name		    "ConfigObject"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "TabFrom"
+		    }
+		    Object {
+		    $ObjectID		    71
+		    Prompt		    "Data"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Edit"
+		    Dimension		    6
+		    Object {
+		    $ObjectID		    72
+		    PromptLocation	    "left"
+		    Name		    "RobotName"
+		    }
+		    Object {
+		    $ObjectID		    73
+		    PromptLocation	    "left"
+		    Name		    "UrdfFile"
+		    }
+		    Object {
+		    $ObjectID		    74
+		    PromptLocation	    "left"
+		    Name		    "ControlledJoints"
+		    }
+		    Object {
+		    $ObjectID		    75
+		    PromptLocation	    "left"
+		    Name		    "ControlBoardsNames"
+		    }
+		    Object {
+		    $ObjectID		    76
+		    PromptLocation	    "left"
+		    Name		    "LocalName"
+		    }
+		    Object {
+		    $ObjectID		    77
+		    PromptLocation	    "left"
+		    Name		    "GravityVector"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "TabData"
+		    }
+		    PropName		    "DialogControls"
+		  }
+		  Name			  "TabContainer"
+		}
+		Name			"ParameterGroupVar"
+	      }
+	      PropName		      "DialogControls"
+	    }
+	  }
+	  System {
+	    Name		    "Robot"
+	    Location		    [550, 86, 1677, 725]
+	    Open		    off
+	    PortBlocksUseCompactNotation off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "600"
+	    SIDHighWatermark	    "70"
+	    Block {
+	      BlockType		      Constant
+	      Name		      "ImConfig"
+	      SID		      "1774:67"
+	      Position		      [20, 20, 50, 50]
+	      ZOrder		      81
+	      Value		      "0"
+	    }
+	    Block {
+	      BlockType		      Terminator
+	      Name		      "Terminator"
+	      SID		      "1774:68"
+	      Position		      [95, 25, 115, 45]
+	      ZOrder		      80
+	    }
+	    Line {
+	      ZOrder		      1
+	      SrcBlock		      "ImConfig"
+	      SrcPort		      1
+	      DstBlock		      "Terminator"
+	      DstPort		      1
+	    }
+	  }
+	}
 	Block {
 	  BlockType		  S-Function
 	  Name			  "Simulator Synchronizer"
@@ -1677,7 +1898,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    63
+	    $ObjectID		    78
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Simulator Synchronizer"
 	    Description		    "This block synchronizes with the external simulation on a simulator \n(only Gazebo is supported"
@@ -1687,21 +1908,21 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      3
 	      Object {
-		$ObjectID		64
+		$ObjectID		79
 		Type			"edit"
 		Name			"period"
 		Prompt			"Controller Period (in seconds)"
 		Value			"0.01"
 	      }
 	      Object {
-		$ObjectID		65
+		$ObjectID		80
 		Type			"edit"
 		Name			"serverPortName"
 		Prompt			"Server Port Name"
 		Value			"'/clock/rpc'"
 	      }
 	      Object {
-		$ObjectID		66
+		$ObjectID		81
 		Type			"edit"
 		Name			"clientPortName"
 		Prompt			"Client Port Name"
@@ -1723,11 +1944,11 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    67
+	    $ObjectID		    82
 	    $ClassName		    "Simulink.Mask"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      68
+	      $ObjectID		      83
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "edit"
 	      Name		      "tol"
@@ -1739,6 +1960,7 @@ Library {
 	    Name		    "TruncPinv"
 	    Location		    [0, 29, 1280, 744]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -1785,6 +2007,7 @@ Library {
 		Name			"Truncated PseudoInverse"
 		Location		[12, 45, 1279, 3773]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -1796,7 +2019,7 @@ Library {
 		TiledPageScale		1
 		ShowPageBoundaries	off
 		ZoomFactor		"100"
-		SIDHighWatermark	"1610"
+		SIDHighWatermark	"1613"
 		Block {
 		  BlockType		  Inport
 		  Name			  "mat"
@@ -1817,20 +2040,20 @@ Library {
 		Block {
 		  BlockType		  Demux
 		  Name			  " Demux "
-		  SID			  "112::1609"
+		  SID			  "112::1612"
 		  Ports			  [1, 1]
 		  Position		  [270, 230, 320, 270]
-		  ZOrder		  98
+		  ZOrder		  101
 		  Outputs		  "1"
 		}
 		Block {
 		  BlockType		  S-Function
 		  Name			  " SFunction "
-		  SID			  "112::1608"
+		  SID			  "112::1611"
 		  Tag			  "Stateflow S-Function WBToolboxLibrary_repository 7"
 		  Ports			  [2, 2]
 		  Position		  [180, 100, 230, 160]
-		  ZOrder		  97
+		  ZOrder		  100
 		  FunctionName		  "sf_sfun"
 		  PortCounts		  "[2 2]"
 		  SFunctionDeploymentMode off
@@ -1839,16 +2062,14 @@ Library {
 		  Port {
 		    PortNumber		    2
 		    Name		    "TPinv"
-		    RTWStorageClass	    "Auto"
-		    DataLoggingNameMode	    "SignalName"
 		  }
 		}
 		Block {
 		  BlockType		  Terminator
 		  Name			  " Terminator "
-		  SID			  "112::1610"
+		  SID			  "112::1613"
 		  Position		  [460, 241, 480, 259]
-		  ZOrder		  99
+		  ZOrder		  102
 		}
 		Block {
 		  BlockType		  Outport
@@ -1859,7 +2080,7 @@ Library {
 		  IconDisplay		  "Port number"
 		}
 		Line {
-		  ZOrder		  61
+		  ZOrder		  66
 		  SrcBlock		  "mat"
 		  SrcPort		  1
 		  Points		  [120, 0]
@@ -1867,7 +2088,7 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  62
+		  ZOrder		  67
 		  SrcBlock		  "tol"
 		  SrcPort		  1
 		  DstBlock		  " SFunction "
@@ -1875,7 +2096,7 @@ Library {
 		}
 		Line {
 		  Name			  "TPinv"
-		  ZOrder		  63
+		  ZOrder		  68
 		  Labels		  [0, 0]
 		  SrcBlock		  " SFunction "
 		  SrcPort		  2
@@ -1883,14 +2104,14 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  64
+		  ZOrder		  69
 		  SrcBlock		  " Demux "
 		  SrcPort		  1
 		  DstBlock		  " Terminator "
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  65
+		  ZOrder		  70
 		  SrcBlock		  " SFunction "
 		  SrcPort		  1
 		  DstBlock		  " Demux "
@@ -1944,11 +2165,11 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    69
+	    $ObjectID		    84
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "YARP Clock"
-	    Description		    "This block outputs the current YARP Time\nIn a nutshell, this block outputs the equivalent of t"
-	    "he C++ function call\nyarp::os::Time::now()"
+	    Description		    "This block outputs the current YARP Time.\nIn a nutshell, this block outputs the equivalent of "
+	    "the C++ function call yarp::os::Time::now()"
 	    SelfModifiable	    "on"
 	    Display		    "disp('YARP Time')\n"
 	  }
@@ -1968,7 +2189,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    70
+	    $ObjectID		    85
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "YARP Read"
 	    Description		    "This block behaves as the command 'yarp read'. \nBy default it has the option 'Autoconnect' act"
@@ -1986,35 +2207,35 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      6
 	      Object {
-		$ObjectID		71
+		$ObjectID		86
 		Type			"edit"
 		Name			"portName"
 		Prompt			"Source Port Name"
 		Value			"'/portname'"
 	      }
 	      Object {
-		$ObjectID		72
+		$ObjectID		87
 		Type			"edit"
 		Name			"signalSize"
 		Prompt			"Port Size"
 		Value			"1"
 	      }
 	      Object {
-		$ObjectID		73
+		$ObjectID		88
 		Type			"checkbox"
 		Name			"blocking"
 		Prompt			"Blocking Read"
 		Value			"off"
 	      }
 	      Object {
-		$ObjectID		74
+		$ObjectID		89
 		Type			"checkbox"
 		Name			"timestamp"
 		Prompt			"Read Timestamp"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		75
+		$ObjectID		90
 		Type			"checkbox"
 		Name			"autoconnect"
 		Prompt			"Autoconnect"
@@ -2026,7 +2247,7 @@ Library {
 		"t_string"
 	      }
 	      Object {
-		$ObjectID		76
+		$ObjectID		91
 		Type			"checkbox"
 		Name			"errorOnConnection"
 		Prompt			"Error on missing connection"
@@ -2051,7 +2272,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    77
+	    $ObjectID		    92
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "YARP Write"
 	    Description		    "This block behaves as the command 'yarp write'. \n\nBy default this block opens a port names as"
@@ -2064,14 +2285,14 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      3
 	      Object {
-		$ObjectID		78
+		$ObjectID		93
 		Type			"edit"
 		Name			"portName"
 		Prompt			"Opened Port Name"
 		Value			"'/portname'"
 	      }
 	      Object {
-		$ObjectID		79
+		$ObjectID		94
 		Type			"checkbox"
 		Name			"autoconnect"
 		Prompt			"Autoconnect"
@@ -2082,7 +2303,7 @@ Library {
 		"';'off'});\nend\nset_param(gcb, 'MaskPrompts', prompt_string);\nclear autoconnect_val prompt_string"
 	      }
 	      Object {
-		$ObjectID		80
+		$ObjectID		95
 		Type			"checkbox"
 		Name			"errorOnConnection"
 		Prompt			"Error on missing connection"
@@ -2105,7 +2326,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    81
+	    $ObjectID		    96
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Errors"
 	    Description		    "Computes two kinds of errors. The first is just the difference between x\nand y while the secon"
@@ -2115,6 +2336,7 @@ Library {
 	    Name		    "errors"
 	    Location		    [0, 29, 1280, 744]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -2248,7 +2470,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    82
+	    $ObjectID		    97
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Holder"
 	    Description		    "This block holds the first input value during the simulation."
@@ -2257,6 +2479,7 @@ Library {
 	    Name		    "holder\n"
 	    Location		    [12, 45, 1340, 980]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -2290,9 +2513,11 @@ Library {
 	      Ports		      [1, 1]
 	      Position		      [90, 60, 120, 90]
 	      ZOrder		      10
-	      LibraryVersion	      "1.388"
+	      LibraryVersion	      "1.391"
 	      SourceBlock	      "simulink/Logic and Bit\nOperations/Compare\nTo Constant"
 	      SourceType	      "Compare To Constant"
+	      SourceProductName	      "Simulink"
+	      SourceProductBaseCode   "SL"
 	      ContentPreviewEnabled   off
 	      relop		      "=="
 	      const		      "0"
@@ -2317,6 +2542,7 @@ Library {
 		Name			"MATLAB Function"
 		Location		[12, 45, 1135, 3068]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -2328,7 +2554,7 @@ Library {
 		TiledPageScale		1
 		ShowPageBoundaries	off
 		ZoomFactor		"100"
-		SIDHighWatermark	"1610"
+		SIDHighWatermark	"1619"
 		Block {
 		  BlockType		  Inport
 		  Name			  "s"
@@ -2349,20 +2575,20 @@ Library {
 		Block {
 		  BlockType		  Demux
 		  Name			  " Demux "
-		  SID			  "1300::1609"
+		  SID			  "1300::1612"
 		  Ports			  [1, 1]
 		  Position		  [270, 230, 320, 270]
-		  ZOrder		  86
+		  ZOrder		  89
 		  Outputs		  "1"
 		}
 		Block {
 		  BlockType		  S-Function
 		  Name			  " SFunction "
-		  SID			  "1300::1608"
+		  SID			  "1300::1611"
 		  Tag			  "Stateflow S-Function WBToolboxLibrary_repository 1"
 		  Ports			  [2, 2]
 		  Position		  [180, 100, 230, 160]
-		  ZOrder		  85
+		  ZOrder		  88
 		  FunctionName		  "sf_sfun"
 		  PortCounts		  "[2 2]"
 		  SFunctionDeploymentMode off
@@ -2371,16 +2597,14 @@ Library {
 		  Port {
 		    PortNumber		    2
 		    Name		    "s0"
-		    RTWStorageClass	    "Auto"
-		    DataLoggingNameMode	    "SignalName"
 		  }
 		}
 		Block {
 		  BlockType		  Terminator
 		  Name			  " Terminator "
-		  SID			  "1300::1610"
+		  SID			  "1300::1613"
 		  Position		  [460, 241, 480, 259]
-		  ZOrder		  87
+		  ZOrder		  90
 		}
 		Block {
 		  BlockType		  Outport
@@ -2391,7 +2615,7 @@ Library {
 		  IconDisplay		  "Port number"
 		}
 		Line {
-		  ZOrder		  61
+		  ZOrder		  66
 		  SrcBlock		  "s"
 		  SrcPort		  1
 		  Points		  [120, 0]
@@ -2399,7 +2623,7 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  62
+		  ZOrder		  67
 		  SrcBlock		  "unused"
 		  SrcPort		  1
 		  DstBlock		  " SFunction "
@@ -2407,7 +2631,7 @@ Library {
 		}
 		Line {
 		  Name			  "s0"
-		  ZOrder		  63
+		  ZOrder		  68
 		  Labels		  [0, 0]
 		  SrcBlock		  " SFunction "
 		  SrcPort		  2
@@ -2415,14 +2639,14 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  64
+		  ZOrder		  69
 		  SrcBlock		  " Demux "
 		  SrcPort		  1
 		  DstBlock		  " Terminator "
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  65
+		  ZOrder		  70
 		  SrcBlock		  " SFunction "
 		  SrcPort		  1
 		  DstBlock		  " Demux "
@@ -2483,14 +2707,15 @@ Library {
       Variant		      off
       Object {
 	$PropName		"MaskObject"
-	$ObjectID		83
+	$ObjectID		98
 	$ClassName		"Simulink.Mask"
 	Display			"image(imread('wholeBodyActuators.png'),'center')"
       }
       System {
 	Name			"wholeBodyActuators"
-	Location		[425, 373, 1725, 1134]
+	Location		[2245, 90, 3840, 956]
 	Open			off
+	PortBlocksUseCompactNotation off
 	ModelBrowserVisibility	off
 	ModelBrowserWidth	200
 	ScreenColor		"white"
@@ -2501,50 +2726,50 @@ Library {
 	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 	TiledPageScale		1
 	ShowPageBoundaries	off
-	ZoomFactor		"667"
+	ZoomFactor		"300"
 	Block {
 	  BlockType		  SubSystem
 	  Name			  "Set LowLevel PIDs"
 	  SID			  "1752"
 	  Ports			  []
-	  Position		  [745, 230, 820, 280]
+	  Position		  [760, 230, 835, 280]
 	  ZOrder		  41
-	  BackgroundColor	  "[0.827500, 0.576500, 0.603900]"
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
+	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
 	  RequestExecContextInheritance	off
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    84
+	    $ObjectID		    99
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Set Low Level PIDs"
-	    Description		    "This block sets the low level PID values for the robot actuators.\n\nIf only one gain file is s"
-	    "pecified, those gains are loaded at startup.\nOtherwise an additional port to this block is added which accept an"
-	    " integer\nrepresenting the index in the list of gains to be loaded (also at runtime)\n\nAssuming DoFs is the numb"
-	    "er of degrees of freedom of the robot,\nParameters:\n- PID Parameter: String specifying either a file containing "
-	    "the PIDs for the\n                 low level control, or a list of files (in yarp Bottle format).\n\n- Robot Port"
-	    " Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use th"
-	    "e name specified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name "
-	    "of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the conf"
-	    "iguration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Bo"
-	    "dy Interface\n"
+	    Description		    "This block sets the low level PID values for the robot actuators.\n\nThe PIDs can be stored in "
+	    "a WBToolbox.WBTPIDConfig object, each of them constructed from a WBToolbox.PID class.\nThe number of PIDs must ma"
+	    "tch the DoFs of the Config block pointed by this SetLowLevelPID block.\n\nParameters:\n- WBTPIDConfig Object Name"
+	    ": The name of the object which store the PIDs. It must be loaded in the workspace before the simulation runs\n- P"
+	    "ID Type: the type of the target PIDs to set"
+	    Initialization	    "% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig"
+	    "] = WBToolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n "
+	    "   clear WBTConfig;\ncatch\nend\n\n% SetLowLevelPIDs Initialization\n% ==============================\n\ntry\n   "
+	    " PIDObjectName = WBTPIDConfigObjectName;\n   \n    % Remove the apices if present\n    if (PIDObjectName(1) == \""
+	    "'\" && ...\n        PIDObjectName(end) == \"'\")\n        PIDObjectName = PIDObjectName(2:end-1);\n    end\n     "
+	    "\n    % Get the struct from the class\n    PIDs = evalin('base', PIDObjectName);\n    if (isa(PIDs,'WBToolbox.WBT"
+	    "PIDConfig'))\n        WBTPIDConfigStruct = PIDs.getSimulinkParameters;\n    end\nend\n"
 	    Display		    "pidType = get_param(gcb,'pidType');\ndescription = sprintf('Set Low Level\\n%s PIDs', pidType);\ndi"
 	    "sp(description);\n"
+	    RunInitForIconRedraw    "off"
 	    Array {
 	      Type		      "Simulink.MaskParameter"
-	      Dimension		      6
+	      Dimension		      2
 	      Object {
-		$ObjectID		85
+		$ObjectID		100
 		Type			"edit"
-		Name			"pidParameters"
-		Prompt			"PID parameter"
+		Name			"WBTPIDConfigObjectName"
+		Prompt			"WBTPIDConfig Object Name"
 		Value			"''"
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		86
+		$ObjectID		101
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
@@ -2555,57 +2780,26 @@ Library {
 		}
 		Name			"pidType"
 		Prompt			"PID Type"
-		Value			"Torque"
+		Value			"Position"
 		Evaluate		"off"
 		Callback		"% Get the mask parameter values. This is a cell\n%   array of strings.\nmaskStr = get_param(gcb,'pidType'"
-		");\nif strcmp(maskStr, 'Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0]');\nelseif s"
-		"trcmp(maskStr, 'Position Direct')\n    set_param(gcb,'BackgroundColor', '[0.3922, 0.7882, 0.3451, 1.0]');\nelseif st"
-		"rcmp(maskStr, 'Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\nelseif strcmp(mas"
-		"kStr, 'Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nend\nclear  maskStr"
-	      }
-	      Object {
-		$ObjectID		87
-		Type			"edit"
-		Name			"robotName"
-		Prompt			"Robot Port Name"
-		Value			"WBT_robotName"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		88
-		Type			"edit"
-		Name			"localName"
-		Prompt			"Model Name"
-		Value			"WBT_modelName"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		89
-		Type			"edit"
-		Name			"wbiFile"
-		Prompt			"WBI filename"
-		Value			"WBT_wbiFilename"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		90
-		Type			"edit"
-		Name			"wbiList"
-		Prompt			"WBI list name"
-		Value			"WBT_wbiList"
-		Tunable			"off"
+		");\n\nswitch maskStr\n    case 'Position'\n        set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0]')"
+		";\n    case 'Position Direct'\n        set_param(gcb,'BackgroundColor', '[0.3922, 0.7882, 0.3451, 1.0]');\n    case "
+		"'Velocity'\n        set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\n    case 'Torque'\n        s"
+		"et_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\n    otherwise\n        error('PID Type not recogn"
+		"ized');\nend\n\nclear  maskStr"
 	      }
 	      PropName		      "Parameters"
 	    }
 	    Array {
 	      Type		      "Simulink.dialog.Group"
-	      Dimension		      2
+	      Dimension		      3
 	      Object {
-		$ObjectID		91
+		$ObjectID		102
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  92
+		  $ObjectID		  103
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -2613,75 +2807,49 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		93
+		$ObjectID		104
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
-		Object {
-		  $PropName		  "DialogControls"
-		  $ObjectID		  94
-		  $ClassName		  "Simulink.dialog.TabContainer"
-		  Array {
-		    Type		    "Simulink.dialog.Tab"
-		    Dimension		    2
-		    Object {
-		    $ObjectID		    95
-		    Prompt		    "Block parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Control"
-		    Dimension		    2
-		    Object {
-		    $ObjectID		    96
+		Array {
+		  Type			  "Simulink.dialog.parameter.Control"
+		  Dimension		  2
+		  Object {
+		    $ObjectID		    105
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
-		    Name		    "pidParameters"
-		    }
-		    Object {
-		    $ObjectID		    97
+		    Name		    "WBTPIDConfigObjectName"
+		  }
+		  Object {
+		    $ObjectID		    106
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "pidType"
-		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "Container8"
-		    }
-		    Object {
-		    $ObjectID		    98
-		    Prompt		    "WBI parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    4
-		    Object {
-		    $ObjectID		    99
-		    Name		    "robotName"
-		    }
-		    Object {
-		    $ObjectID		    100
-		    Name		    "localName"
-		    }
-		    Object {
-		    $ObjectID		    101
-		    Name		    "wbiFile"
-		    }
-		    Object {
-		    $ObjectID		    102
-		    Name		    "wbiList"
-		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "Container5"
-		    }
-		    PropName		    "DialogControls"
 		  }
-		  Name			  "Container4"
+		  PropName		  "DialogControls"
 		}
 		Name			"ParameterGroupVar"
 	      }
+	      Object {
+		$ObjectID		107
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  108
+		  $ClassName		  "Simulink.dialog.Button"
+		  Prompt		  "Toggle Config Block Highlighting"
+		  Callback		  "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(configBl"
+		  "ock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system(confi"
+		  "gBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block name: %s'"
+		  ",gcb,configBlock);\nend\n\nclear configBlock"
+		  Name			  "toggleHighlighting"
+		}
+		Name			"ToggleButtonContainer"
+	      }
 	      PropName		      "DialogControls"
 	    }
 	  }
 	  System {
 	    Name		    "Set LowLevel PIDs"
-	    Location		    [0, 29, 1280, 744]
+	    Location		    [114, 82, 1709, 948]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -2692,7 +2860,7 @@ Library {
 	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
 	    TiledPageScale	    1
 	    ShowPageBoundaries	    off
-	    ZoomFactor		    "1000"
+	    ZoomFactor		    "600"
 	    Block {
 	      BlockType		      S-Function
 	      Name		      "S-Function"
@@ -2701,7 +2869,7 @@ Library {
 	      Position		      [125, 39, 185, 71]
 	      ZOrder		      19
 	      FunctionName	      "WBToolbox"
-	      Parameters	      "'SetLowLevelPID',robotName,localName,wbiFile,wbiList,pidParameters,pidType"
+	      Parameters	      "'SetLowLevelPID',WBTConfigParameters,configBlockAbsName,WBTPIDConfigStruct,pidType"
 	      SFunctionDeploymentMode off
 	      EnableBusSupport	      off
 	      SFcnIsStateOwnerBlock   off
@@ -2716,121 +2884,76 @@ Library {
 	  Position		  [645, 230, 720, 280]
 	  ZOrder		  43
 	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
 	  RequestExecContextInheritance	off
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    103
+	    $ObjectID		    109
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Set References"
 	    Description		    "This block sets the references for the robot actuators.\nThe type of control mode is specified "
-	    "as a parameter in the block.\n\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Refere"
-	    "nces: Vector of size DoFs, representing the references to be sent \n                to the robot controlled joint"
-	    "s.\n\nParameters:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name "
-	    "of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name speci"
-	    "fied in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports"
-	    " opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of"
-	    " the Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface"
-	    "\n"
+	    "as a parameter in the block.\n\nAssuming DoFs is the number of degrees of freedom configured in the Config block "
+	    "associated:\n\nInput:\n- References: Vector of size DoFs, representing the references to be sent to the robot con"
+	    "trolled joints.\n- Reference Speed (Position): Set the reference speed used by the trajectory generator of the IP"
+	    "ositionControl interface\n\nParameters:\n- Control Mode: The control mode. Choose one of the supplied mode."
+	    Initialization	    "% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig"
+	    "] = WBToolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n "
+	    "   clear WBTConfig;\ncatch\nend"
 	    Display		    "disp(get_param(gcb,'controlType'))\n%port_label('input',1,'References')"
+	    RunInitForIconRedraw    "off"
 	    Array {
 	      Type		      "Simulink.MaskParameter"
-	      Dimension		      7
+	      Dimension		      2
 	      Object {
-		$ObjectID		104
+		$ObjectID		110
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
-		  Dimension		  5
+		  Dimension		  7
 		  Cell			  "Position"
 		  Cell			  "Position Direct"
 		  Cell			  "Velocity"
 		  Cell			  "Torque"
 		  Cell			  "Open Loop"
+		  Cell			  "PWM"
+		  Cell			  "Current"
 		  PropName		  "TypeOptions"
 		}
 		Name			"controlType"
 		Prompt			"Control Mode"
 		Value			"Position"
 		Evaluate		"off"
-		Callback		"% Get the mask parameter values. This is a cell\n%   array of strings.\nmaskStr = get_param(gcb,'controlT"
-		"ype');\nif strcmp(maskStr, 'Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0]');\nelse"
-		"if strcmp(maskStr, 'Position Direct')\n    set_param(gcb,'BackgroundColor', '[0.3922, 0.7882, 0.3451, 1.0]');\nelsei"
-		"f strcmp(maskStr, 'Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\nelseif strcmp"
-		"(maskStr, 'Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nelseif strcmp(maskStr, "
-		"'Open Loop')\n    set_param(gcb,'BackgroundColor', '[0.98, 0.98, 0.98, 1.0]');\nend\nclear  maskStr"
-	      }
-	      Object {
-		$ObjectID		105
-		Type			"popup"
-		Array {
-		  Type			  "Cell"
-		  Dimension		  2
-		  Cell			  "Full"
-		  Cell			  "Sublist"
-		  PropName		  "TypeOptions"
-		}
-		Name			"fullOrSubControl"
-		Prompt			"Control Type"
-		Value			"Full"
-		Callback		"subOrFull = get_param(gcb, 'fullOrSubControl');\nif(strcmp(subOrFull, 'Sublist'))\n    set_param(gcb, 'Ma"
-		"skVisibilities',{'on';'on';'on';'on';'on';'on';'on'});\nelse\n    set_param(gcb, 'MaskVisibilities',{'on';'on';'off'"
-		";'on';'on';'on';'on'});\nend\nclear subOrFull "
-	      }
-	      Object {
-		$ObjectID		106
-		Type			"edit"
-		Name			"controlledJoints"
-		Prompt			"Controlled Joint List"
-		Value			"''"
-		Visible			"off"
-	      }
-	      Object {
-		$ObjectID		107
-		Type			"edit"
-		Name			"robotName"
-		Prompt			"Robot Port Name"
-		Value			"WBT_robotName"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		108
-		Type			"edit"
-		Name			"localName"
-		Prompt			"Model Name"
-		Value			"WBT_modelName"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		109
-		Type			"edit"
-		Name			"wbiFile"
-		Prompt			"WBI filename"
-		Value			"WBT_wbiFilename"
-		Tunable			"off"
+		Callback		"% Get the mask parameter values. This is a cell\n%   array of strings.\n\nmaskStr = get_param(gcb,'contro"
+		"lType');\n\nswitch maskStr\n    case 'Position'\n        set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, "
+		"1.0]');\n        set_param(gcb,'MaskVisibilities', {'on';'on'});\n    case 'Position Direct'\n        set_param(gcb,"
+		"'BackgroundColor', '[0.3922, 0.7882, 0.3451, 1.0]');\n        set_param(gcb,'MaskVisibilities', {'on';'off'});\n    "
+		"case 'Velocity'\n        set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\n        set_param(gcb,'"
+		"MaskVisibilities', {'on';'off'});\n    case 'Torque'\n        set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6"
+		"039, 1.0]');\n        set_param(gcb,'MaskVisibilities', {'on';'off'});\n    case 'Open Loop'\n        set_param(gcb,"
+		"'BackgroundColor', '[0.98, 0.98, 0.98, 1.0]');\n        set_param(gcb,'MaskVisibilities', {'on';'off'});\n    case '"
+		"PWM'\n        set_param(gcb,'BackgroundColor', '[1, 1, 1, 1.0]');\n        set_param(gcb,'MaskVisibilities', {'on';'"
+		"off'});\n    case 'Current'\n        set_param(gcb,'BackgroundColor', '[0.96, 0.77, 0.46, 1.0]');\n        set_param"
+		"(gcb,'MaskVisibilities', {'on';'off'});\n    otherwise\n        error('Control Type not recognized.')\nend\n\nclear "
+		" maskStr"
 	      }
 	      Object {
-		$ObjectID		110
+		$ObjectID		111
 		Type			"edit"
-		Name			"wbiList"
-		Prompt			"WBI list name"
-		Value			"WBT_wbiList"
-		Tunable			"off"
+		Name			"refSpeed"
+		Prompt			"Reference Speed"
+		Value			"50"
 	      }
 	      PropName		      "Parameters"
 	    }
 	    Array {
 	      Type		      "Simulink.dialog.Group"
-	      Dimension		      2
+	      Dimension		      3
 	      Object {
-		$ObjectID		111
+		$ObjectID		112
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  112
+		  $ObjectID		  113
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -2838,79 +2961,49 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		113
+		$ObjectID		114
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
-		Object {
-		  $PropName		  "DialogControls"
-		  $ObjectID		  114
-		  $ClassName		  "Simulink.dialog.TabContainer"
-		  Array {
-		    Type		    "Simulink.dialog.Tab"
-		    Dimension		    2
-		    Object {
+		Array {
+		  Type			  "Simulink.dialog.parameter.Control"
+		  Dimension		  2
+		  Object {
 		    $ObjectID		    115
-		    Prompt		    "Block parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Control"
-		    Dimension		    3
-		    Object {
-		    $ObjectID		    116
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "controlType"
-		    }
-		    Object {
-		    $ObjectID		    117
-		    $ClassName		    "Simulink.dialog.parameter.Popup"
-		    Name		    "fullOrSubControl"
-		    }
-		    Object {
-		    $ObjectID		    118
+		  }
+		  Object {
+		    $ObjectID		    116
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
-		    Name		    "controlledJoints"
-		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "Container8"
-		    }
-		    Object {
-		    $ObjectID		    119
-		    Prompt		    "WBI parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    4
-		    Object {
-		    $ObjectID		    120
-		    Name		    "robotName"
-		    }
-		    Object {
-		    $ObjectID		    121
-		    Name		    "localName"
-		    }
-		    Object {
-		    $ObjectID		    122
-		    Name		    "wbiFile"
-		    }
-		    Object {
-		    $ObjectID		    123
-		    Name		    "wbiList"
-		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "Container5"
-		    }
-		    PropName		    "DialogControls"
+		    PromptLocation	    "left"
+		    Name		    "refSpeed"
 		  }
-		  Name			  "Container4"
+		  PropName		  "DialogControls"
 		}
 		Name			"ParameterGroupVar"
 	      }
+	      Object {
+		$ObjectID		117
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  118
+		  $ClassName		  "Simulink.dialog.Button"
+		  Prompt		  "Toggle Config Block Highlighting"
+		  Callback		  "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(configBl"
+		  "ock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system(confi"
+		  "gBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block name: %s'"
+		  ",gcb,configBlock);\nend\n\nclear configBlock"
+		  Name			  "toggleHighlighting"
+		}
+		Name			"ToggleButtonContainer"
+	      }
 	      PropName		      "DialogControls"
 	    }
 	  }
 	  System {
 	    Name		    "Set References"
-	    Location		    [535, 41, 1280, 744]
+	    Location		    [2245, 90, 3840, 956]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -2938,8 +3031,7 @@ Library {
 	      Position		      [125, 39, 185, 71]
 	      ZOrder		      19
 	      FunctionName	      "WBToolbox"
-	      Parameters	      "'SetReferences',robotName,localName,wbiFile,wbiList,controlType,fullOrSubControl,controlledJo"
-	      "ints"
+	      Parameters	      "'SetReferences',WBTConfigParameters,configBlockAbsName,controlType,refSpeed"
 	      SFunctionDeploymentMode off
 	      EnableBusSupport	      off
 	      SFcnIsStateOwnerBlock   off
@@ -2968,14 +3060,15 @@ Library {
       Variant		      off
       Object {
 	$PropName		"MaskObject"
-	$ObjectID		124
+	$ObjectID		119
 	$ClassName		"Simulink.Mask"
 	Display			"image(imread('wholeBodyModel.png'),'center')"
       }
       System {
 	Name			"wholeBodyModel"
-	Location		[425, 373, 1725, 1134]
+	Location		[2245, 90, 3840, 956]
 	Open			off
+	PortBlocksUseCompactNotation off
 	ModelBrowserVisibility	off
 	ModelBrowserWidth	200
 	ScreenColor		"white"
@@ -2986,7 +3079,7 @@ Library {
 	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 	TiledPageScale		1
 	ShowPageBoundaries	off
-	ZoomFactor		"309"
+	ZoomFactor		"381"
 	Block {
 	  BlockType		  SubSystem
 	  Name			  "Dynamics"
@@ -2999,14 +3092,15 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    125
+	    $ObjectID		    120
 	    $ClassName		    "Simulink.Mask"
 	    Display		    "image(imread('Dynamics.png'))"
 	  }
 	  System {
 	    Name		    "Dynamics"
-	    Location		    [425, 373, 1725, 1134]
-	    Open		    off
+	    Location		    [2245, 90, 3840, 956]
+	    Open		    on
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -3017,7 +3111,7 @@ Library {
 	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
 	    TiledPageScale	    1
 	    ShowPageBoundaries	    off
-	    ZoomFactor		    "219"
+	    ZoomFactor		    "269"
 	    Block {
 	      BlockType		      SubSystem
 	      Name		      "Centroidal Momentum"
@@ -3025,71 +3119,64 @@ Library {
 	      Ports		      [4, 1]
 	      Position		      [495, 101, 680, 164]
 	      ZOrder		      72
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
 	      RequestExecContextInheritance off
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		126
+		$ObjectID		121
 		$ClassName		"Simulink.Mask"
 		Type			"Centroidal Momentum"
 		Description		"This block computed the 6 element centroidal momentum, as defined in:\n\"Centroidal dynamics of a huma"
 		"noid robot\" - DE Orin, A Goswami, SH Lee - \nAutonomous Robots 35 (2-3), 161-176\n\nAssuming DoFs is the number of "
-		"degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between"
-		"\n             the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the con"
-		"figuration \n                       of the joints.\n- Base velocity: Vector of size 6 representing the linear and an"
-		"gular velocity\n                 of the base frame.\n- Joints velocity: Vector of size DoFs, representing the veloci"
-		"ty \n                   of the joints.\n\nOutput:\n- Centroidal Momentum: 6-element vector containg the centroidal m"
-		"omentum \n                (3 value for linear momentum and 3 for angular momentum)\n\nParameters:\n- Robot Port Name"
-		": Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name s"
-		"pecified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the port"
-		"s opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of t"
-		"he Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-		Array {
-		  Type			  "Simulink.MaskParameter"
-		  Dimension		  4
-		  Object {
-		    $ObjectID		    127
-		    Type		    "edit"
-		    Name		    "robotName"
-		    Prompt		    "Robot Port Name"
-		    Value		    "WBT_robotName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    128
-		    Type		    "edit"
-		    Name		    "localName"
-		    Prompt		    "Model Name"
-		    Value		    "WBT_modelName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    129
-		    Type		    "edit"
-		    Name		    "wbiFile"
-		    Prompt		    "WBI filename"
-		    Value		    "WBT_wbiFilename"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    130
-		    Type		    "edit"
-		    Name		    "wbiList"
-		    Prompt		    "WBI list name"
-		    Value		    "WBT_wbiList"
-		    Tunable		    "off"
+		"degrees of freedom of the robot:\n\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation betwe"
+		"en the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration o"
+		"f the joints.\n- Base velocity: Vector of size 6 representing the linear and angular velocity of the base frame.\n- "
+		"Joints velocity: Vector of size DoFs, representing the velocity of the joints.\n\nOutput:\n- Centroidal Momentum: 6-"
+		"element vector containg the centroidal momentum (3 value for linear momentum and 3 for angular momentum)"
+		Initialization		"% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig] = WB"
+		"Toolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n    clear "
+		"WBTConfig;\ncatch\nend"
+		RunInitForIconRedraw	"on"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  122
+		  $ClassName		  "Simulink.dialog.Group"
+		  Prompt		  "%<MaskType>"
+		  Array {
+		    Type		    "Simulink.dialog.Control"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    123
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "%<MaskDescription>"
+		    Name		    "DescTextVar"
+		    }
+		    Object {
+		    $ObjectID		    124
+		    $ClassName		    "Simulink.dialog.Group"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    125
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
+		    }
+		    Name		    "ToggleButtonContainer"
+		    }
+		    PropName		    "DialogControls"
 		  }
-		  PropName		  "Parameters"
+		  Name			  "DescGroupVar"
 		}
 	      }
 	      System {
 		Name			"Centroidal Momentum"
-		Location		[0, 23, 1280, 744]
+		Location		[300, 122, 1706, 880]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -3100,7 +3187,7 @@ Library {
 		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 		TiledPageScale		1
 		ShowPageBoundaries	off
-		ZoomFactor		"248"
+		ZoomFactor		"347"
 		Block {
 		  BlockType		  Inport
 		  Name			  "Base Pose"
@@ -3144,7 +3231,7 @@ Library {
 		  Position		  [180, 11, 255, 144]
 		  ZOrder		  19
 		  FunctionName		  "WBToolbox"
-		  Parameters		  "'CentroidalMomentum',robotName,localName,wbiFile,wbiList"
+		  Parameters		  "'CentroidalMomentum',WBTConfigParameters,configBlockAbsName"
 		  SFunctionDeploymentMode off
 		  EnableBusSupport	  off
 		  SFcnIsStateOwnerBlock	  off
@@ -3201,84 +3288,63 @@ Library {
 	      Ports		      [4, 1]
 	      Position		      [400, 202, 540, 303]
 	      ZOrder		      73
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
 	      RequestExecContextInheritance off
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		131
+		$ObjectID		126
 		$ClassName		"Simulink.Mask"
 		Type			"Get Generalized Bias Forces"
-		Description		"This block retrieves the generalied bias forces of the robot.\n\nParameter:\n- Explicit Gravity. If Tr"
-		"ue, an additional port (explicit Gravity) is added.\n                    Otherwise the vector [0; 0; -9.81] is used."
-		"\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the "
-		"homogenous transformation between\n            the base frame and the world frame.\n- Joint configuration: Vector of"
-		" size DoFs, representing the configuration \n                    of the joints.\n- Base velocity: Vector of size 6 r"
-		"epresenting the linear and angular velocity\n                 of the base frame.\n- Joints velocity: Vector of size "
-		"DoFs, representing the velocity of the joints.\n\nOutput:\n- Bias Forces: a Dofs + 6 vector representing the general"
-		"ized bias forces\n            of the robot\n\nParameters:\n- Robot Port Name: Name of the ports opened by the robot."
-		" (e.g. icub).\n                   Set an empty string ('') to use the name specified in the                    \n   "
-		"                 Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the unde"
-		"rlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interf"
-		"ace\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-		Initialization		"gravityInput = find_system(gcb, ...\n'LookUnderMasks', 'on', ...\n'FollowLinks', 'on', ...\n'Name',"
-		" 'Gravity');\n\nif explicitGravity\n    if isempty(gravityInput)\n        Simulink.Block.eval([gcb,'/S-Function']);\n"
-		"        add_block('built-in/Inport',[gcb,'/Gravity']);\n        add_line(gcb','Gravity/1','S-Function/7', 'autorouti"
-		"ng','on');\n    end\nelse\n    if ~isempty(gravityInput)\n        delete_line(gcb','Gravity/1','S-Function/7');\n   "
-		"     delete_block(gravityInput);\n        Simulink.Block.eval([gcb,'/S-Function']);\n    end\nend\n"
-		SelfModifiable		"on"
-		Array {
-		  Type			  "Simulink.MaskParameter"
-		  Dimension		  5
-		  Object {
-		    $ObjectID		    132
-		    Type		    "edit"
-		    Name		    "robotName"
-		    Prompt		    "Robot Port Name"
-		    Value		    "WBT_robotName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    133
-		    Type		    "edit"
-		    Name		    "localName"
-		    Prompt		    "Model Name"
-		    Value		    "WBT_modelName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    134
-		    Type		    "edit"
-		    Name		    "wbiFile"
-		    Prompt		    "WBI filename"
-		    Value		    "WBT_wbiFilename"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    135
-		    Type		    "edit"
-		    Name		    "wbiList"
-		    Prompt		    "WBI list name"
-		    Value		    "WBT_wbiList"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    136
-		    Type		    "checkbox"
-		    Name		    "explicitGravity"
-		    Prompt		    "Explicit Gravity"
-		    Value		    "off"
+		Description		"This block retrieves the generalied bias forces of the robot.\n\nAssuming DoFs is the number of degree"
+		"s of freedom of the robot:\n\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between the"
+		" base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration of the "
+		"joints.\n- Base velocity: Vector of size 6 representing the linear and angular velocity of the base frame.\n- Joints"
+		" velocity: Vector of size DoFs, representing the velocity of the joints.\n\nOutput:\n- Bias Forces: a Dofs + 6 vecto"
+		"r representing the generalized bias forces of the robot."
+		Initialization		"% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig] = WB"
+		"Toolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n    clear "
+		"WBTConfig;\ncatch\nend"
+		RunInitForIconRedraw	"on"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  127
+		  $ClassName		  "Simulink.dialog.Group"
+		  Prompt		  "%<MaskType>"
+		  Array {
+		    Type		    "Simulink.dialog.Control"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    128
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "%<MaskDescription>"
+		    Name		    "DescTextVar"
+		    }
+		    Object {
+		    $ObjectID		    129
+		    $ClassName		    "Simulink.dialog.Group"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    130
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
+		    }
+		    Name		    "ToggleButtonContainer"
+		    }
+		    PropName		    "DialogControls"
 		  }
-		  PropName		  "Parameters"
+		  Name			  "DescGroupVar"
 		}
 	      }
 	      System {
 		Name			"Get Bias Forces"
-		Location		[354, 32, 1634, 747]
+		Location		[215, 73, 1810, 939]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -3289,12 +3355,11 @@ Library {
 		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 		TiledPageScale		1
 		ShowPageBoundaries	off
-		ZoomFactor		"255"
-		SIDHighWatermark	"1748"
+		ZoomFactor		"318"
 		Block {
 		  BlockType		  Inport
 		  Name			  "Base Pose"
-		  SID			  "1724:1725"
+		  SID			  "1776"
 		  Position		  [10, 38, 40, 52]
 		  ZOrder		  22
 		  IconDisplay		  "Port number"
@@ -3302,7 +3367,7 @@ Library {
 		Block {
 		  BlockType		  Inport
 		  Name			  "Joint configuration"
-		  SID			  "1724:1726"
+		  SID			  "1777"
 		  Position		  [10, 68, 40, 82]
 		  ZOrder		  24
 		  Port			  "2"
@@ -3311,7 +3376,7 @@ Library {
 		Block {
 		  BlockType		  Inport
 		  Name			  "Base velocity"
-		  SID			  "1724:1727"
+		  SID			  "1778"
 		  Position		  [10, 98, 40, 112]
 		  ZOrder		  26
 		  Port			  "3"
@@ -3320,7 +3385,7 @@ Library {
 		Block {
 		  BlockType		  Inport
 		  Name			  "Joints velocity"
-		  SID			  "1724:1728"
+		  SID			  "1779"
 		  Position		  [10, 128, 40, 142]
 		  ZOrder		  27
 		  Port			  "4"
@@ -3329,7 +3394,7 @@ Library {
 		Block {
 		  BlockType		  Constant
 		  Name			  "Constant"
-		  SID			  "1724:1742"
+		  SID			  "1780"
 		  Position		  [-5, 157, 50, 173]
 		  ZOrder		  30
 		  ShowName		  off
@@ -3338,7 +3403,7 @@ Library {
 		Block {
 		  BlockType		  Gain
 		  Name			  "Gain"
-		  SID			  "1724:1743"
+		  SID			  "1781"
 		  Position		  [110, 180, 140, 210]
 		  ZOrder		  31
 		  ShowName		  off
@@ -3350,12 +3415,12 @@ Library {
 		Block {
 		  BlockType		  S-Function
 		  Name			  "S-Function"
-		  SID			  "1724:1731"
+		  SID			  "1782"
 		  Ports			  [6, 1]
 		  Position		  [180, 24, 240, 216]
 		  ZOrder		  19
 		  FunctionName		  "WBToolbox"
-		  Parameters		  "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
+		  Parameters		  "'InverseDynamics',WBTConfigParameters,configBlockAbsName"
 		  SFunctionDeploymentMode off
 		  EnableBusSupport	  off
 		  SFcnIsStateOwnerBlock	  off
@@ -3363,7 +3428,7 @@ Library {
 		Block {
 		  BlockType		  Outport
 		  Name			  "Bias Forces"
-		  SID			  "1724:1732"
+		  SID			  "1783"
 		  Position		  [300, 113, 330, 127]
 		  ZOrder		  25
 		  IconDisplay		  "Port number"
@@ -3436,82 +3501,61 @@ Library {
 	      Ports		      [2, 1]
 	      Position		      [605, 200, 745, 300]
 	      ZOrder		      74
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
 	      RequestExecContextInheritance off
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		137
+		$ObjectID		131
 		$ClassName		"Simulink.Mask"
 		Type			"Gravity bias"
-		Description		"This block compute the generalized bias forces due to the gravity\n\nParameter:\n- Explicit Gravity. I"
-		"f True, an additional port (explicit Gravity) is added.\n                    Otherwise the vector [0; 0; -9.81] is u"
-		"sed.\n\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representin"
-		"g the homogenous transformation between\n             the base frame and the world frame.\n- Joint configuration: Ve"
-		"ctor of size DoFs, representing the configuration \n                       of the joints.\n\nOutput:\n- Gravity: a D"
-		"ofs + 6 vector representing the torques due to the gravity.\n\nParameters:\n- Robot Port Name: Name of the ports ope"
-		"ned by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n     "
-		"              Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underly"
-		"ing Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interface"
-		"\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-		Initialization		"gravityInput = find_system(gcb, ...\n'LookUnderMasks', 'on', ...\n'FollowLinks', 'on', ...\n'Name',"
-		" 'Gravity');\n\nif explicitGravity\n    if isempty(gravityInput)\n        Simulink.Block.eval([gcb,'/S-Function']);\n"
-		"        add_block('built-in/Inport',[gcb,'/Gravity']);\n        add_line(gcb','Gravity/1','S-Function/7', 'autorouti"
-		"ng','on');\n    end\nelse\n    if ~isempty(gravityInput)\n        delete_line(gcb','Gravity/1','S-Function/7');\n   "
-		"     delete_block(gravityInput);\n        Simulink.Block.eval([gcb,'/S-Function']);\n    end\nend\n"
-		SelfModifiable		"on"
-		Array {
-		  Type			  "Simulink.MaskParameter"
-		  Dimension		  5
-		  Object {
-		    $ObjectID		    138
-		    Type		    "edit"
-		    Name		    "robotName"
-		    Prompt		    "Robot Port Name"
-		    Value		    "WBT_robotName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    139
-		    Type		    "edit"
-		    Name		    "localName"
-		    Prompt		    "Model Name"
-		    Value		    "WBT_modelName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    140
-		    Type		    "edit"
-		    Name		    "wbiFile"
-		    Prompt		    "WBI filename"
-		    Value		    "WBT_wbiFilename"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    141
-		    Type		    "edit"
-		    Name		    "wbiList"
-		    Prompt		    "WBI list name"
-		    Value		    "WBT_wbiList"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    142
-		    Type		    "checkbox"
-		    Name		    "explicitGravity"
-		    Prompt		    "Explicit Gravity"
-		    Value		    "off"
+		Description		"This block compute the generalized bias forces due to the gravity\n\nAssuming DoFs is the number of de"
+		"grees of freedom of the robot:\n\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between"
+		" the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration of "
+		"the joints.\n\nOutput:\n- Gravity: a Dofs + 6 vector representing the torques due to the gravity."
+		Initialization		"% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig] = WB"
+		"Toolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n    clear "
+		"WBTConfig;\ncatch\nend"
+		RunInitForIconRedraw	"off"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  132
+		  $ClassName		  "Simulink.dialog.Group"
+		  Prompt		  "%<MaskType>"
+		  Array {
+		    Type		    "Simulink.dialog.Control"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    133
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "%<MaskDescription>"
+		    Name		    "DescTextVar"
+		    }
+		    Object {
+		    $ObjectID		    134
+		    $ClassName		    "Simulink.dialog.Group"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    135
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
+		    }
+		    Name		    "ToggleButtonContainer"
+		    }
+		    PropName		    "DialogControls"
 		  }
-		  PropName		  "Parameters"
+		  Name			  "DescGroupVar"
 		}
 	      }
 	      System {
 		Name			"Get Gravity Forces"
-		Location		[354, 32, 1634, 747]
+		Location		[300, 122, 1706, 880]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -3522,12 +3566,11 @@ Library {
 		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 		TiledPageScale		1
 		ShowPageBoundaries	off
-		ZoomFactor		"255"
-		SIDHighWatermark	"1748"
+		ZoomFactor		"285"
 		Block {
 		  BlockType		  Inport
 		  Name			  "Base Pose"
-		  SID			  "1733:1734"
+		  SID			  "1784"
 		  Position		  [10, 38, 40, 52]
 		  ZOrder		  22
 		  IconDisplay		  "Port number"
@@ -3535,7 +3578,7 @@ Library {
 		Block {
 		  BlockType		  Inport
 		  Name			  "Joint configuration"
-		  SID			  "1733:1735"
+		  SID			  "1785"
 		  Position		  [10, 68, 40, 82]
 		  ZOrder		  24
 		  Port			  "2"
@@ -3544,7 +3587,7 @@ Library {
 		Block {
 		  BlockType		  Constant
 		  Name			  "Constant"
-		  SID			  "1733:1744"
+		  SID			  "1786"
 		  Position		  [0, 97, 55, 113]
 		  ZOrder		  32
 		  ShowName		  off
@@ -3553,7 +3596,7 @@ Library {
 		Block {
 		  BlockType		  Gain
 		  Name			  "Gain"
-		  SID			  "1733:1745"
+		  SID			  "1787"
 		  Position		  [100, 120, 130, 150]
 		  ZOrder		  33
 		  ShowName		  off
@@ -3565,12 +3608,12 @@ Library {
 		Block {
 		  BlockType		  S-Function
 		  Name			  "S-Function"
-		  SID			  "1733:1740"
+		  SID			  "1788"
 		  Ports			  [6, 1]
 		  Position		  [180, 24, 240, 216]
 		  ZOrder		  19
 		  FunctionName		  "WBToolbox"
-		  Parameters		  "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
+		  Parameters		  "'InverseDynamics',WBTConfigParameters,configBlockAbsName"
 		  SFunctionDeploymentMode off
 		  EnableBusSupport	  off
 		  SFcnIsStateOwnerBlock	  off
@@ -3578,7 +3621,7 @@ Library {
 		Block {
 		  BlockType		  Outport
 		  Name			  "Gravity Torques"
-		  SID			  "1733:1741"
+		  SID			  "1789"
 		  Position		  [300, 113, 330, 127]
 		  ZOrder		  25
 		  IconDisplay		  "Port number"
@@ -3658,73 +3701,63 @@ Library {
 	      Position		      [190, 199, 355, 331]
 	      ZOrder		      75
 	      FunctionName	      "WBToolbox"
-	      Parameters	      "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
+	      Parameters	      "'InverseDynamics',WBTConfigParameters,configBlockAbsName"
 	      SFunctionDeploymentMode off
 	      EnableBusSupport	      off
 	      SFcnIsStateOwnerBlock   off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		143
+		$ObjectID		136
 		$ClassName		"Simulink.Mask"
 		Type			"Inverse Dynamics"
-		Description		"This block compute the inverse dynamics of the robot.\n\nParameter:\n- Explicit Gravity. If True, an a"
-		"dditional port (explicit Gravity) is added.\n                    Otherwise the vector [0; 0; -9.81] is used.\n\nAssu"
-		"ming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homoge"
-		"nous transformation between\n             the base frame and the world frame.\n- Joint configuration: Vector of size"
-		" DoFs, representing the configuration \n                       of the joints.\n- Base velocity: Vector of size 6 rep"
-		"resenting the linear and angular velocity\n                 of the base frame.\n- Joints velocity: Vector of size Do"
-		"Fs, representing the velocity \n                   of the joints.\n- Base acceleration: Vector of size 6 representin"
-		"g the linear and angular acceleration\n                 of the base frame.\n- Joints acceleration: Vector of size Do"
-		"Fs, representing the acceleration \n                   of the joints.\n- Gravity: Vector of size 3, denoting the acc"
-		"eleration vector w.r.t. the world frame.\n\n\nOutput:\n- Torques: a Dofs + 6 vector representing the corresponding t"
-		"orques required\n           to achive the desired accelerations given the robot state\n\nParameters:\n- Robot Port N"
-		"ame: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the nam"
-		"e specified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the p"
-		"orts opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration o"
-		"f the Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+		Description		"This block compute the inverse dynamics of the robot.\n\nAssuming DoFs is the number of degrees of fre"
+		"edom of the robot:\n\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between the base fr"
+		"ame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration of the joints.\n"
+		"- Base velocity: Vector of size 6 representing the linear and angular velocity of the base frame.\n- Joints velocity"
+		": Vector of size DoFs, representing the velocity of the joints.\n- Base acceleration: Vector of size 6 representing "
+		"the linear and angular acceleration of the base frame.\n- Joints acceleration: Vector of size DoFs, representing the"
+		" acceleration of the joints.\n\nOutput:\n- Torques: a Dofs + 6 vector representing the corresponding torques require"
+		"d to achive the desired accelerations given the robot state"
+		Initialization		"% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig] = WB"
+		"Toolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n    clear "
+		"WBTConfig;\ncatch\nend"
 		Display			"port_label('output', 1, 'Torques')\n\nport_label('input', 1, 'Base pose')\nport_label('input', 2, 'Joints"
 		" configuration')\nport_label('input', 3, 'Base velocity')\nport_label('input', 4, 'Joints velocity')\nport_label('in"
-		"put', 5, 'Base acceleration')\nport_label('input', 6, 'Joints acceleration')\n\n\ngravity = get_param(gcb, 'explicit"
-		"Gravity');\nif(strcmp(gravity, 'on'))\n    port_label('input', 7, 'Gravity')\nend\n"
-		Array {
-		  Type			  "Simulink.MaskParameter"
-		  Dimension		  5
-		  Object {
-		    $ObjectID		    144
-		    Type		    "edit"
-		    Name		    "robotName"
-		    Prompt		    "Robot Port Name"
-		    Value		    "WBT_robotName"
-		  }
-		  Object {
-		    $ObjectID		    145
-		    Type		    "edit"
-		    Name		    "localName"
-		    Prompt		    "Model Name"
-		    Value		    "WBT_modelName"
-		  }
-		  Object {
-		    $ObjectID		    146
-		    Type		    "edit"
-		    Name		    "wbiFile"
-		    Prompt		    "WBI filename"
-		    Value		    "WBT_wbiFilename"
-		  }
-		  Object {
-		    $ObjectID		    147
-		    Type		    "edit"
-		    Name		    "wbiList"
-		    Prompt		    "WBI list name"
-		    Value		    "WBT_wbiList"
-		  }
-		  Object {
-		    $ObjectID		    148
-		    Type		    "checkbox"
-		    Name		    "explicitGravity"
-		    Prompt		    "Explicit Gravity"
-		    Value		    "off"
+		"put', 5, 'Base acceleration')\nport_label('input', 6, 'Joints acceleration')\n"
+		RunInitForIconRedraw	"on"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  137
+		  $ClassName		  "Simulink.dialog.Group"
+		  Prompt		  "%<MaskType>"
+		  Array {
+		    Type		    "Simulink.dialog.Control"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    138
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "%<MaskDescription>"
+		    Name		    "DescTextVar"
+		    }
+		    Object {
+		    $ObjectID		    139
+		    $ClassName		    "Simulink.dialog.Group"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    140
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
+		    }
+		    Name		    "ToggleButtonContainer"
+		    }
+		    PropName		    "DialogControls"
 		  }
-		  PropName		  "Parameters"
+		  Name			  "DescGroupVar"
 		}
 	      }
 	    }
@@ -3735,68 +3768,61 @@ Library {
 	      Ports		      [2, 1]
 	      Position		      [250, 104, 390, 171]
 	      ZOrder		      32
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
 	      RequestExecContextInheritance off
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		149
+		$ObjectID		141
 		$ClassName		"Simulink.Mask"
 		Type			"Mass Matrix"
 		Description		"This block retrieves the robot mass matrix.\n\nAssuming DoFs is the number of degrees of freedom of th"
-		"e robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between\n             the base "
-		"frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration \n           "
-		"            of the joints.\n\nOutput:\n- Mass Matrix: a (Dofs + 6) x (Dofs + 6) matrix representing the mass matrix "
-		"\n               of the robot\n\nParameters:\n- Robot Port Name: Name of the ports opened by the robot. (e.g. icub)."
-		"\n                   Set an empty string ('') to use the name specified in the \n                   Whole Body Inter"
-		"face configuration file.\n- Model Name: Prefix name of the ports opened by the underlying Whole Body Interface.\n- W"
-		"BI filename: name of the file containing the configuration of the Whole Body Interface\n- WBI List Name: name of the"
-		" list of joints used to configure the Whole Body Interface\n"
-		Array {
-		  Type			  "Simulink.MaskParameter"
-		  Dimension		  4
-		  Object {
-		    $ObjectID		    150
-		    Type		    "edit"
-		    Name		    "robotName"
-		    Prompt		    "Robot Port Name"
-		    Value		    "WBT_robotName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    151
-		    Type		    "edit"
-		    Name		    "localName"
-		    Prompt		    "Model Name"
-		    Value		    "WBT_modelName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    152
-		    Type		    "edit"
-		    Name		    "wbiFile"
-		    Prompt		    "WBI filename"
-		    Value		    "WBT_wbiFilename"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    153
-		    Type		    "edit"
-		    Name		    "wbiList"
-		    Prompt		    "WBI list name"
-		    Value		    "WBT_wbiList"
-		    Tunable		    "off"
+		"e robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between the base frame and the "
+		"world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration of the joints.\n\nOutput:\n"
+		"- Mass Matrix: a (Dofs + 6) x (Dofs + 6) matrix representing the mass matrix of the robot"
+		Initialization		"% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig] = WB"
+		"Toolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n    clear "
+		"WBTConfig;\ncatch\nend"
+		RunInitForIconRedraw	"on"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  142
+		  $ClassName		  "Simulink.dialog.Group"
+		  Prompt		  "%<MaskType>"
+		  Array {
+		    Type		    "Simulink.dialog.Control"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    143
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "%<MaskDescription>"
+		    Name		    "DescTextVar"
+		    }
+		    Object {
+		    $ObjectID		    144
+		    $ClassName		    "Simulink.dialog.Group"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    145
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
+		    }
+		    Name		    "ToggleButtonContainer"
+		    }
+		    PropName		    "DialogControls"
 		  }
-		  PropName		  "Parameters"
+		  Name			  "DescGroupVar"
 		}
 	      }
 	      System {
 		Name			"Mass Matrix"
-		Location		[589, 68, 1869, 783]
+		Location		[300, 122, 1706, 880]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -3807,7 +3833,7 @@ Library {
 		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 		TiledPageScale		1
 		ShowPageBoundaries	off
-		ZoomFactor		"248"
+		ZoomFactor		"455"
 		Block {
 		  BlockType		  Inport
 		  Name			  "Base Pose"
@@ -3833,7 +3859,7 @@ Library {
 		  Position		  [125, 37, 185, 68]
 		  ZOrder		  19
 		  FunctionName		  "WBToolbox"
-		  Parameters		  "'MassMatrix',robotName,localName,wbiFile,wbiList"
+		  Parameters		  "'MassMatrix',WBTConfigParameters,configBlockAbsName"
 		  SFunctionDeploymentMode off
 		  EnableBusSupport	  off
 		  SFcnIsStateOwnerBlock	  off
@@ -3885,14 +3911,15 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    154
+	    $ObjectID		    146
 	    $ClassName		    "Simulink.Mask"
 	    Display		    "image(imread('jacobian.png'))"
 	  }
 	  System {
 	    Name		    "Jacobians"
-	    Location		    [425, 373, 1725, 1134]
+	    Location		    [325, 44, 1920, 910]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -3903,95 +3930,55 @@ Library {
 	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
 	    TiledPageScale	    1
 	    ShowPageBoundaries	    off
-	    ZoomFactor		    "322"
-	    Block {
-	      BlockType		      SubSystem
-	      Name		      "DotJ Nu"
-	      SID		      "1683"
-	      Ports		      [4, 1]
-	      Position		      [590, 170, 755, 265]
-	      ZOrder		      67
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
-	      RequestExecContextInheritance off
-	      Variant		      off
-	      Object {
-		$PropName		"MaskObject"
-		$ObjectID		155
-		$ClassName		"Simulink.Mask"
-		Type			"DotJ Nu"
-		Description		"This block computes the product between the time derivative of the\n         Jacobian of the specified"
-		" frame and the state (base and joints)\n        velocity vector.\n\nAssuming DoFs is the number of degrees of freedo"
-		"m of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between\n             th"
-		"e the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration \n"
-		"                       of the joints.\n- Base velocity: Vector of size 6 representing the linear and angular velocit"
-		"y\n                 of the base frame.\n- Joints velocity: Vector of size DoFs, representing the velocity \n        "
-		"           of the joints.\n\nOutput:\n- dotJ nu: a 6-d vector representing the product between the time derivative o"
-		"f the\n         Jacobian of the specified frame and the state velocity vector\n\nParameters:\n- Frame name: the name"
-		" of the frame. It should be specified in the URDF model.\n\n- Robot Port Name: Name of the ports opened by the robot"
-		". (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n                   Wh"
-		"ole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underlying Whole Body I"
-		"nterface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interface\n- WBI List Nam"
-		"e: name of the list of joints used to configure the Whole Body Interface\n"
-		Display			"escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('dot J_{',escapedFrameN"
-		"ame,'} \\nu'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\nport_label('input',"
-		" 2, 'Joint configuration')\nport_label('input', 3, 'Base velocity')\nport_label('input', 4, 'Joint velocity')\n\ncle"
-		"ar escapedFrameName;"
-		Array {
-		  Type			  "Simulink.MaskParameter"
-		  Dimension		  5
-		  Object {
-		    $ObjectID		    156
-		    Type		    "edit"
-		    Name		    "frameName"
-		    Prompt		    "Frame name"
-		    Value		    "'frame'"
-		  }
-		  Object {
-		    $ObjectID		    157
-		    Type		    "edit"
-		    Name		    "robotName"
-		    Prompt		    "Robot Port Name"
-		    Value		    "WBT_robotName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    158
-		    Type		    "edit"
-		    Name		    "localName"
-		    Prompt		    "Model Name"
-		    Value		    "WBT_modelName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    159
-		    Type		    "edit"
-		    Name		    "wbiFile"
-		    Prompt		    "WBI filename"
-		    Value		    "WBT_wbiFilename"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    160
-		    Type		    "edit"
-		    Name		    "wbiList"
-		    Prompt		    "WBI list name"
-		    Value		    "WBT_wbiList"
-		    Tunable		    "off"
-		  }
-		  PropName		  "Parameters"
+	    ZoomFactor		    "397"
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "DotJ Nu"
+	      SID		      "1683"
+	      Ports		      [4, 1]
+	      Position		      [590, 170, 755, 265]
+	      ZOrder		      67
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      Object {
+		$PropName		"MaskObject"
+		$ObjectID		147
+		$ClassName		"Simulink.Mask"
+		Type			"DotJ Nu"
+		Description		"This block computes the product between the time derivative of the Jacobian of the specified frame and"
+		" the state (base and joints) velocity vector.\n\nAssuming DoFs is the number of degrees of freedom of the robot:\n\n"
+		"Input:\n- Base pose: 4x4 matrix representing the homogenous transformation between the the base frame and the world "
+		"frame.\n- Joint configuration: Vector of size DoFs, representing the configuration of the joints.\n- Base velocity: "
+		"Vector of size 6 representing the linear and angular velocity of the base frame.\n- Joints velocity: Vector of size "
+		"DoFs, representing the velocity of the joints.\n\nOutput:\n- dotJ nu: a 6-d vector representing the product between "
+		"the time derivative of the\n         Jacobian of the specified frame and the state velocity vector\n\nParameters:\n-"
+		" Frame name: the name of the frame. It should be specified in the URDF model."
+		Initialization		"% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig] = WB"
+		"Toolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n    clear "
+		"WBTConfig;\ncatch\nend"
+		Display			"escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('dot J_{',escapedFrameN"
+		"ame,'} \\nu'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\nport_label('input',"
+		" 2, 'Joint configuration')\nport_label('input', 3, 'Base velocity')\nport_label('input', 4, 'Joint velocity')\n\ncle"
+		"ar escapedFrameName;"
+		RunInitForIconRedraw	"on"
+		Object {
+		  $PropName		  "Parameters"
+		  $ObjectID		  148
+		  $ClassName		  "Simulink.MaskParameter"
+		  Type			  "edit"
+		  Name			  "frameName"
+		  Prompt		  "Frame name"
+		  Value			  "'frame'"
 		}
 		Array {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    161
+		    $ObjectID		    149
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    162
+		    $ObjectID		    150
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -3999,56 +3986,34 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    163
+		    $ObjectID		    151
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    164
-		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Array {
-		    Type		    "Simulink.dialog.Tab"
+		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    165
-		    Prompt		    "Block parameters"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    166
+		    $ObjectID		    152
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "frameName"
 		    }
-		    Name		    "Container8"
-		    }
-		    Object {
-		    $ObjectID		    167
-		    Prompt		    "WBI parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    4
-		    Object {
-		    $ObjectID		    168
-		    Name		    "robotName"
-		    }
-		    Object {
-		    $ObjectID		    169
-		    Name		    "localName"
-		    }
 		    Object {
-		    $ObjectID		    170
-		    Name		    "wbiFile"
-		    }
+		    $ObjectID		    153
+		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
-		    $ObjectID		    171
-		    Name		    "wbiList"
-		    }
-		    PropName		    "DialogControls"
+		    $PropName		    "DialogControls"
+		    $ObjectID		    154
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
 		    }
-		    Name		    "Container5"
+		    Name		    "ToggleButtonContainer"
 		    }
 		    PropName		    "DialogControls"
 		    }
-		    Name		    "Container4"
-		    }
 		    Name		    "ParameterGroupVar"
 		  }
 		  PropName		  "DialogControls"
@@ -4056,8 +4021,9 @@ Library {
 	      }
 	      System {
 		Name			"DotJ Nu"
-		Location		[0, 29, 1280, 744]
+		Location		[300, 122, 1706, 880]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -4068,7 +4034,7 @@ Library {
 		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 		TiledPageScale		1
 		ShowPageBoundaries	off
-		ZoomFactor		"391"
+		ZoomFactor		"428"
 		Block {
 		  BlockType		  Inport
 		  Name			  "Base Pose"
@@ -4112,7 +4078,7 @@ Library {
 		  Position		  [125, 4, 190, 126]
 		  ZOrder		  19
 		  FunctionName		  "WBToolbox"
-		  Parameters		  "'DotJNu',robotName,localName,wbiFile,wbiList,frameName"
+		  Parameters		  "'DotJNu',WBTConfigParameters,configBlockAbsName,frameName"
 		  SFunctionDeploymentMode off
 		  EnableBusSupport	  off
 		  SFcnIsStateOwnerBlock	  off
@@ -4121,7 +4087,7 @@ Library {
 		  BlockType		  Outport
 		  Name			  "dotJ dotnu"
 		  SID			  "1689"
-		  Position		  [245, 43, 275, 57]
+		  Position		  [245, 58, 275, 72]
 		  ZOrder		  25
 		  IconDisplay		  "Port number"
 		}
@@ -4143,7 +4109,6 @@ Library {
 		  ZOrder		  3
 		  SrcBlock		  "S-Function"
 		  SrcPort		  1
-		  Points		  [20, 0; 0, -15]
 		  DstBlock		  "dotJ dotnu"
 		  DstPort		  1
 		}
@@ -4170,83 +4135,43 @@ Library {
 	      Ports		      [2, 1]
 	      Position		      [380, 190, 540, 245]
 	      ZOrder		      39
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
 	      RequestExecContextInheritance off
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		172
+		$ObjectID		155
 		$ClassName		"Simulink.Mask"
 		Type			"Jacobian"
 		Description		"This block retrieves the Jacobian of the specified frame.\n\nAssuming DoFs is the number of degrees of"
-		" freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between\n        "
-		"     the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configura"
-		"tion \n                       of the joints.\n\nOutput:\n- Jacobian: a 6x6+dofs matrix representing the Jacobian of\n"
-		"             the specified frame written in the world frame.\n\nParameters:\n- Frame name: the name of the frame. It"
-		" should be specified in the URDF model.\n\n- Robot Port Name: Name of the ports opened by the robot. (e.g. icub).\n "
-		"                  Set an empty string ('') to use the name specified in the \n                   Whole Body Interfac"
-		"e configuration file.\n- Model Name: Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI "
-		"filename: name of the file containing the configuration of the Whole Body Interface\n- WBI List Name: name of the li"
-		"st of joints used to configure the Whole Body Interface\n"
+		" freedom of the robot:\n\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between the the"
+		" base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration of the "
+		"joints.\n\nOutput:\n- Jacobian: a 6x6+dofs matrix representing the Jacobian of the specified frame written in the wo"
+		"rld frame.\n\nParameters:\n- Frame name: the name of the frame. It should be specified in the URDF model.\n"
+		Initialization		"% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig] = WB"
+		"Toolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n    clear "
+		"WBTConfig;\ncatch\nend"
 		Display			"escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('{}^{world} J_{',escape"
 		"dFrameName,'}'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\nport_label('input"
 		"', 2, 'Joint configuration')\n\nclear escapedFrameName;"
-		Array {
-		  Type			  "Simulink.MaskParameter"
-		  Dimension		  5
-		  Object {
-		    $ObjectID		    173
-		    Type		    "edit"
-		    Name		    "frameName"
-		    Prompt		    "Frame name"
-		    Value		    "'frame'"
-		  }
-		  Object {
-		    $ObjectID		    174
-		    Type		    "edit"
-		    Name		    "robotName"
-		    Prompt		    "Robot Port Name"
-		    Value		    "WBT_robotName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    175
-		    Type		    "edit"
-		    Name		    "localName"
-		    Prompt		    "Model Name"
-		    Value		    "WBT_modelName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    176
-		    Type		    "edit"
-		    Name		    "wbiFile"
-		    Prompt		    "WBI filename"
-		    Value		    "WBT_wbiFilename"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    177
-		    Type		    "edit"
-		    Name		    "wbiList"
-		    Prompt		    "WBI list name"
-		    Value		    "WBT_wbiList"
-		    Tunable		    "off"
-		  }
-		  PropName		  "Parameters"
+		RunInitForIconRedraw	"on"
+		Object {
+		  $PropName		  "Parameters"
+		  $ObjectID		  156
+		  $ClassName		  "Simulink.MaskParameter"
+		  Type			  "edit"
+		  Name			  "frameName"
+		  Prompt		  "Frame name"
+		  Value			  "'frame'"
 		}
 		Array {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    178
+		    $ObjectID		    157
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    179
+		    $ObjectID		    158
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4254,56 +4179,34 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    180
+		    $ObjectID		    159
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    181
-		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Array {
-		    Type		    "Simulink.dialog.Tab"
+		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    182
-		    Prompt		    "Block parameters"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    183
+		    $ObjectID		    160
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "frameName"
 		    }
-		    Name		    "Container8"
-		    }
-		    Object {
-		    $ObjectID		    184
-		    Prompt		    "WBI parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    4
-		    Object {
-		    $ObjectID		    185
-		    Name		    "robotName"
-		    }
-		    Object {
-		    $ObjectID		    186
-		    Name		    "localName"
-		    }
 		    Object {
-		    $ObjectID		    187
-		    Name		    "wbiFile"
-		    }
+		    $ObjectID		    161
+		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
-		    $ObjectID		    188
-		    Name		    "wbiList"
-		    }
-		    PropName		    "DialogControls"
+		    $PropName		    "DialogControls"
+		    $ObjectID		    162
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
 		    }
-		    Name		    "Container5"
+		    Name		    "ToggleButtonContainer"
 		    }
 		    PropName		    "DialogControls"
 		    }
-		    Name		    "Container4"
-		    }
 		    Name		    "ParameterGroupVar"
 		  }
 		  PropName		  "DialogControls"
@@ -4311,8 +4214,9 @@ Library {
 	      }
 	      System {
 		Name			"Jacobian"
-		Location		[208, 105, 1008, 627]
+		Location		[300, 122, 1706, 880]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -4323,7 +4227,7 @@ Library {
 		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 		TiledPageScale		1
 		ShowPageBoundaries	off
-		ZoomFactor		"237"
+		ZoomFactor		"430"
 		Block {
 		  BlockType		  Inport
 		  Name			  "Base Pose"
@@ -4349,7 +4253,7 @@ Library {
 		  Position		  [125, 37, 185, 68]
 		  ZOrder		  19
 		  FunctionName		  "WBToolbox"
-		  Parameters		  "'Jacobian',robotName,localName,wbiFile,wbiList,frameName"
+		  Parameters		  "'Jacobian',WBTConfigParameters,configBlockAbsName,frameName"
 		  SFunctionDeploymentMode off
 		  EnableBusSupport	  off
 		  SFcnIsStateOwnerBlock	  off
@@ -4401,14 +4305,15 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    189
+	    $ObjectID		    163
 	    $ClassName		    "Simulink.Mask"
 	    Display		    "image(imread('forwardKinematics.png'))"
 	  }
 	  System {
 	    Name		    "Kinematics"
-	    Location		    [425, 373, 1725, 1134]
+	    Location		    [325, 44, 1920, 910]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -4419,7 +4324,7 @@ Library {
 	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
 	    TiledPageScale	    1
 	    ShowPageBoundaries	    off
-	    ZoomFactor		    "326"
+	    ZoomFactor		    "338"
 	    Block {
 	      BlockType		      SubSystem
 	      Name		      "Forward Kinematics"
@@ -4427,83 +4332,43 @@ Library {
 	      Ports		      [2, 1]
 	      Position		      [350, 103, 500, 167]
 	      ZOrder		      34
-	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
-	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
-	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
-	      "nd"
 	      RequestExecContextInheritance off
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		190
+		$ObjectID		164
 		$ClassName		"Simulink.Mask"
 		Type			"Forward Kinematics"
 		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
-		"degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between"
-		"\n             the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the"
-		" configuration \n                       of the joints.\n\nOutput:\n- Forward Kinematics: a 4x4 matrix representing t"
-		"he homogenous transformation between\n             the specified frame and the world frame.\n\nParameters:\n- Frame "
-		"name: the name of the frame. It should be specified in the URDF model.\n\n- Robot Port Name: Name of the ports opene"
-		"d by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n       "
-		"            Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underlyin"
-		"g Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interface\n"
-		"- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+		"degrees of freedom of the robot:\n\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation betwe"
+		"en the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configurati"
+		"on of the joints.\n\nOutput:\n- Forward Kinematics: a 4x4 matrix representing the homogenous transformation between "
+		"the specified frame and the world frame.\n\nParameters:\n- Frame name: the name of the frame. It should be specified"
+		" in the URDF model."
+		Initialization		"% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig] = WB"
+		"Toolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n    clear "
+		"WBTConfig;\ncatch\nend"
 		Display			"escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('{}^{world} H_{',escape"
 		"dFrameName,'}'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\nport_label('input"
 		"', 2, 'Joint configuration')\n\nclear escapedFrameName;"
-		Array {
-		  Type			  "Simulink.MaskParameter"
-		  Dimension		  5
-		  Object {
-		    $ObjectID		    191
-		    Type		    "edit"
-		    Name		    "frameName"
-		    Prompt		    "Frame name"
-		    Value		    "'frame'"
-		  }
-		  Object {
-		    $ObjectID		    192
-		    Type		    "edit"
-		    Name		    "robotName"
-		    Prompt		    "Robot Port Name"
-		    Value		    "WBT_robotName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    193
-		    Type		    "edit"
-		    Name		    "localName"
-		    Prompt		    "Model Name"
-		    Value		    "WBT_modelName"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    194
-		    Type		    "edit"
-		    Name		    "wbiFile"
-		    Prompt		    "WBI filename"
-		    Value		    "WBT_wbiFilename"
-		    Tunable		    "off"
-		  }
-		  Object {
-		    $ObjectID		    195
-		    Type		    "edit"
-		    Name		    "wbiList"
-		    Prompt		    "WBI list name"
-		    Value		    "WBT_wbiList"
-		    Tunable		    "off"
-		  }
-		  PropName		  "Parameters"
+		Object {
+		  $PropName		  "Parameters"
+		  $ObjectID		  165
+		  $ClassName		  "Simulink.MaskParameter"
+		  Type			  "edit"
+		  Name			  "frameName"
+		  Prompt		  "Frame name"
+		  Value			  "'frame'"
 		}
 		Array {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    196
+		    $ObjectID		    166
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    197
+		    $ObjectID		    167
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4511,56 +4376,34 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    198
+		    $ObjectID		    168
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    199
-		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Array {
-		    Type		    "Simulink.dialog.Tab"
+		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    200
-		    Prompt		    "Block parameters"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    201
+		    $ObjectID		    169
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "frameName"
 		    }
-		    Name		    "Container8"
-		    }
 		    Object {
-		    $ObjectID		    202
-		    Prompt		    "WBI parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    4
-		    Object {
-		    $ObjectID		    203
-		    Name		    "robotName"
-		    }
-		    Object {
-		    $ObjectID		    204
-		    Name		    "localName"
-		    }
-		    Object {
-		    $ObjectID		    205
-		    Name		    "wbiFile"
-		    }
+		    $ObjectID		    170
+		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
-		    $ObjectID		    206
-		    Name		    "wbiList"
-		    }
-		    PropName		    "DialogControls"
+		    $PropName		    "DialogControls"
+		    $ObjectID		    171
+		    $ClassName		    "Simulink.dialog.Button"
+		    Prompt		    "Toggle Config Block Highlighting"
+		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
+		    "igBlock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system"
+		    "(configBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block n"
+		    "ame: %s',gcb,configBlock);\nend\n\nclear configBlock"
+		    Name		    "toggleHighlighting"
 		    }
-		    Name		    "Container5"
+		    Name		    "ToggleButtonContainer"
 		    }
 		    PropName		    "DialogControls"
 		    }
-		    Name		    "Container4"
-		    }
 		    Name		    "ParameterGroupVar"
 		  }
 		  PropName		  "DialogControls"
@@ -4568,8 +4411,9 @@ Library {
 	      }
 	      System {
 		Name			"Forward Kinematics"
-		Location		[0, 29, 1280, 744]
+		Location		[300, 122, 1706, 880]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -4580,7 +4424,7 @@ Library {
 		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 		TiledPageScale		1
 		ShowPageBoundaries	off
-		ZoomFactor		"391"
+		ZoomFactor		"430"
 		Block {
 		  BlockType		  Inport
 		  Name			  "Base Pose"
@@ -4606,7 +4450,7 @@ Library {
 		  Position		  [125, 37, 185, 68]
 		  ZOrder		  19
 		  FunctionName		  "WBToolbox"
-		  Parameters		  "'ForwardKinematics',robotName,localName,wbiFile,wbiList,frameName"
+		  Parameters		  "'ForwardKinematics',WBTConfigParameters,configBlockAbsName,frameName"
 		  SFunctionDeploymentMode off
 		  EnableBusSupport	  off
 		  SFcnIsStateOwnerBlock	  off
@@ -4651,6 +4495,7 @@ Library {
 	      Ports		      [3, 2]
 	      Position		      [350, 198, 525, 262]
 	      ZOrder		      35
+	      Commented		      "on"
 	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
 	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
 	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
@@ -4659,7 +4504,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		207
+		$ObjectID		172
 		$ClassName		"Simulink.Mask"
 		Type			"Forward Kinematics"
 		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
@@ -4683,21 +4528,21 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  7
 		  Object {
-		    $ObjectID		    208
+		    $ObjectID		    173
 		    Type		    "edit"
 		    Name		    "baseFrame"
 		    Prompt		    "Base Frame"
 		    Value		    "'root_link'"
 		  }
 		  Object {
-		    $ObjectID		    209
+		    $ObjectID		    174
 		    Type		    "edit"
 		    Name		    "endEffFrame"
 		    Prompt		    "End Effector frame"
 		    Value		    "'l_sole'"
 		  }
 		  Object {
-		    $ObjectID		    210
+		    $ObjectID		    175
 		    Type		    "popup"
 		    Array {
 		    Type		    "Cell"
@@ -4711,7 +4556,7 @@ Library {
 		    Value		    "Full Constraint (Position and Orientation)"
 		  }
 		  Object {
-		    $ObjectID		    211
+		    $ObjectID		    176
 		    Type		    "edit"
 		    Name		    "robotName"
 		    Prompt		    "Robot Port Name"
@@ -4719,7 +4564,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    212
+		    $ObjectID		    177
 		    Type		    "edit"
 		    Name		    "localName"
 		    Prompt		    "Model Name"
@@ -4727,7 +4572,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    213
+		    $ObjectID		    178
 		    Type		    "edit"
 		    Name		    "wbiFile"
 		    Prompt		    "WBI filename"
@@ -4735,7 +4580,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    214
+		    $ObjectID		    179
 		    Type		    "edit"
 		    Name		    "wbiList"
 		    Prompt		    "WBI list name"
@@ -4748,11 +4593,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    215
+		    $ObjectID		    180
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    216
+		    $ObjectID		    181
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4760,34 +4605,34 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    217
+		    $ObjectID		    182
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    218
+		    $ObjectID		    183
 		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    219
+		    $ObjectID		    184
 		    Prompt		    "Block parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    220
+		    $ObjectID		    185
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
 		    Name		    "baseFrame"
 		    }
 		    Object {
-		    $ObjectID		    221
+		    $ObjectID		    186
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "endEffFrame"
 		    }
 		    Object {
-		    $ObjectID		    222
+		    $ObjectID		    187
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "optOption"
 		    }
@@ -4796,25 +4641,25 @@ Library {
 		    Name		    "Container8"
 		    }
 		    Object {
-		    $ObjectID		    223
+		    $ObjectID		    188
 		    Prompt		    "WBI parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Edit"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    224
+		    $ObjectID		    189
 		    Name		    "robotName"
 		    }
 		    Object {
-		    $ObjectID		    225
+		    $ObjectID		    190
 		    Name		    "localName"
 		    }
 		    Object {
-		    $ObjectID		    226
+		    $ObjectID		    191
 		    Name		    "wbiFile"
 		    }
 		    Object {
-		    $ObjectID		    227
+		    $ObjectID		    192
 		    Name		    "wbiList"
 		    }
 		    PropName		    "DialogControls"
@@ -4834,6 +4679,7 @@ Library {
 		Name			"Inverse Kinematics"
 		Location		[0, 23, 1280, 744]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -4945,6 +4791,7 @@ Library {
 	      Ports		      [2, 1]
 	      Position		      [560, 105, 720, 165]
 	      ZOrder		      66
+	      Commented		      "on"
 	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
 	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
 	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
@@ -4953,7 +4800,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		228
+		$ObjectID		193
 		$ClassName		"Simulink.Mask"
 		Type			"Forward Kinematics"
 		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
@@ -4979,14 +4826,14 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  3
 		  Object {
-		    $ObjectID		    229
+		    $ObjectID		    194
 		    Type		    "edit"
 		    Name		    "solverName"
 		    Prompt		    "Solver Name"
 		    Value		    "'/cartesianSolver'"
 		  }
 		  Object {
-		    $ObjectID		    230
+		    $ObjectID		    195
 		    Type		    "edit"
 		    Name		    "dofs"
 		    Prompt		    "#Dofs"
@@ -4994,7 +4841,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    231
+		    $ObjectID		    196
 		    Type		    "popup"
 		    Array {
 		    Type		    "Cell"
@@ -5013,11 +4860,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    232
+		    $ObjectID		    197
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    233
+		    $ObjectID		    198
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -5025,33 +4872,33 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    234
+		    $ObjectID		    199
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    235
+		    $ObjectID		    200
 		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    236
+		    $ObjectID		    201
 		    $ClassName		    "Simulink.dialog.Tab"
 		    Prompt		    "Block parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    237
+		    $ObjectID		    202
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
 		    Name		    "solverName"
 		    }
 		    Object {
-		    $ObjectID		    238
+		    $ObjectID		    203
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "dofs"
 		    }
 		    Object {
-		    $ObjectID		    239
+		    $ObjectID		    204
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "optOption"
 		    }
@@ -5070,6 +4917,7 @@ Library {
 		Name			"Remote Inverse Kinematics"
 		Location		[853, 51, 2214, 1013]
 		Open			off
+		PortBlocksUseCompactNotation off
 		ModelBrowserVisibility	off
 		ModelBrowserWidth	200
 		ScreenColor		"white"
@@ -5159,14 +5007,15 @@ Library {
       Variant		      off
       Object {
 	$PropName		"MaskObject"
-	$ObjectID		240
+	$ObjectID		205
 	$ClassName		"Simulink.Mask"
 	Display			"image(imread('wholeBodyStates.png'),'center');"
       }
       System {
 	Name			"wholeBodyStates"
-	Location		[425, 373, 1725, 1134]
+	Location		[2245, 90, 3840, 956]
 	Open			off
+	PortBlocksUseCompactNotation off
 	ModelBrowserVisibility	off
 	ModelBrowserWidth	200
 	ScreenColor		"white"
@@ -5177,102 +5026,93 @@ Library {
 	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 	TiledPageScale		1
 	ShowPageBoundaries	off
-	ZoomFactor		"576"
+	ZoomFactor		"600"
 	Block {
 	  BlockType		  SubSystem
-	  Name			  "Get Estimate"
-	  SID			  "1671"
-	  Ports			  [0, 1]
-	  Position		  [360, 212, 440, 248]
-	  ZOrder		  53
+	  Name			  "Get Limits"
+	  SID			  "1690"
+	  Ports			  [0, 2]
+	  Position		  [395, 218, 515, 247]
+	  ZOrder		  68
 	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
 	  RequestExecContextInheritance	off
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    241
+	    $ObjectID		    206
 	    $ClassName		    "Simulink.Mask"
-	    Type		    "Get Estimate"
-	    Description		    "This block get the estimate of the specified type\n\nAssuming DoFs is the number of degrees of "
-	    "freedom of the robot,\nOutput:\n- References: Vector of size DoFs, representing the estimate requested.\n\nParame"
-	    "ters:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name of the ports"
-	    " opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the "
-	    "\n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by t"
-	    "he underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole B"
-	    "ody Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	    Display		    "%disp(get_param(gcb,'estimateType'))\nport_label('output',1,get_param(gcb,'estimateType'))"
+	    Type		    "Get Limits"
+	    Description		    "This block provides the joint limits gathering data from either the Robot's Control Board or UR"
+	    "DF model.\n\nOutput:\n\n* Max: 1xDoFs vector containing the maximum limit\n* Min:  1xDoFs vector containing the m"
+	    "aximum limit\n\nMeasures are in radians."
+	    Initialization	    "% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig"
+	    "] = WBToolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n "
+	    "   clear WBTConfig;\ncatch\nend\n\n% GetLimits Initialization\n% =========================\n\nsourceLimit = get_p"
+	    "aram(gcb,'limitsSource');\ntypeLimit = get_param(gcb,'limitsType');\nnotifyError = false;\n\nswitch sourceLimit\n"
+	    "    case 'ControlBoard'\n        switch typeLimit\n            case 'Position'\n                limitsType = 'Con"
+	    "trolBoardPosition';\n            case 'Velocity'\n                limitsType = 'ControlBoardVelocity';\n         "
+	    "   otherwise\n                notifyError = true;\n        end\n    case 'URDF'\n        switch typeLimit\n      "
+	    "      case 'Position'\n                limitsType = 'ModelPosition';\n            otherwise\n                noti"
+	    "fyError = true;\n        end\nend\n\nif notifyError\n    error('Limit Type not recognized');\nend\n\nclear source"
+	    "Limit typeLimit notifyError"
+	    SelfModifiable	    "on"
+	    Display		    "fprintf('%s\\n(%s)',get_param(gcb,'limitsType'),get_param(gcb,'limitsSource'))\n\nport_label('outpu"
+	    "t',1,'Min')\nport_label('output',2,'Max')"
+	    RunInitForIconRedraw    "off"
 	    Array {
 	      Type		      "Simulink.MaskParameter"
-	      Dimension		      5
+	      Dimension		      2
 	      Object {
-		$ObjectID		242
+		$ObjectID		207
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
-		  Dimension		  4
-		  Cell			  "Joints Position"
-		  Cell			  "Joints Velocity"
-		  Cell			  "Joints Acceleration"
-		  Cell			  "Joints Torque"
+		  Dimension		  2
+		  Cell			  "ControlBoard"
+		  Cell			  "URDF"
 		  PropName		  "TypeOptions"
 		}
-		Name			"estimateType"
-		Prompt			"Estimate Type"
-		Value			"Joints Position"
-		Evaluate		"off"
-		Callback		"% Get the mask parameter values. This is a cell\n%   array of strings.\n\nmaskStr = get_param(gcb,'estima"
-		"teType');\nif strcmp(maskStr, 'Joints Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0"
-		"]');\nelseif strcmp(maskStr, 'Joints Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]"
-		"');\nelseif strcmp(maskStr, 'Joints Acceleration')\n    set_param(gcb,'BackgroundColor', '[0.9255, 0.8706, 0.1333, 1"
-		".0]');\nelseif strcmp(maskStr, 'Joints Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]"
-		"');\nend\nclear  maskStr"
-	      }
-	      Object {
-		$ObjectID		243
-		Type			"edit"
-		Name			"robotName"
-		Prompt			"Robot Port Name"
-		Value			"WBT_robotName"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		244
-		Type			"edit"
-		Name			"localName"
-		Prompt			"Model Name"
-		Value			"WBT_modelName"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		245
-		Type			"edit"
-		Name			"wbiFile"
-		Prompt			"WBI filename"
-		Value			"WBT_wbiFilename"
-		Tunable			"off"
+		Name			"limitsSource"
+		Prompt			"Limits Source"
+		Value			"ControlBoard"
+		Callback		"sourceLimit = get_param(gcb,'limitsSource');\nblockParameters = Simulink.Mask.get(gcb).Parameters;\nlimit"
+		"sTypeBlockParam = blockParameters(2);\n\nswitch sourceLimit\n    case 'ControlBoard'\n        limitsTypeBlockParam.T"
+		"ypeOptions = {'Position','Velocity'};\n        %limitsTypeBlockParam.Value = limitsTypeBlockParam.TypeOptions{1};\n "
+		"   case 'URDF'\n        limitsTypeBlockParam.TypeOptions = {'Position'};\n        %limitsTypeBlockParam.Value = limi"
+		"tsTypeBlockParam.TypeOptions{1};\n    otherwise\n        error('Limit Source not recognized');\nend\n\nclear sourceL"
+		"imit blockParameters limitsTypeBlockParam"
 	      }
 	      Object {
-		$ObjectID		246
-		Type			"edit"
-		Name			"wbiList"
-		Prompt			"WBI list name"
-		Value			"WBT_wbiList"
-		Tunable			"off"
+		$ObjectID		208
+		Type			"popup"
+		Array {
+		  Type			  "Cell"
+		  Dimension		  2
+		  Cell			  "Position"
+		  Cell			  "Velocity"
+		  PropName		  "TypeOptions"
+		}
+		Name			"limitsType"
+		Prompt			"Limits Type"
+		Value			"Position"
+		Evaluate		"off"
+		Callback		"% Get the mask parameter values. This is a cell array of strings.\n%   \nmaskStr = get_param(gcb,'limitsT"
+		"ype');\nif strcmp(maskStr, 'Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0]');\nelse"
+		"if strcmp(maskStr, 'Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\nelseif strcm"
+		"p(maskStr, 'Acceleration')\n    set_param(gcb,'BackgroundColor', '[0.9255, 0.8706, 0.1333, 1.0]');\nelseif strcmp(ma"
+		"skStr, 'Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nend\nclear  maskStr"
 	      }
 	      PropName		      "Parameters"
 	    }
 	    Array {
 	      Type		      "Simulink.dialog.Group"
-	      Dimension		      2
+	      Dimension		      3
 	      Object {
-		$ObjectID		247
+		$ObjectID		209
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  248
+		  $ObjectID		  210
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -5280,65 +5120,46 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		249
+		$ObjectID		211
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
-		Object {
-		  $PropName		  "DialogControls"
-		  $ObjectID		  250
-		  $ClassName		  "Simulink.dialog.TabContainer"
-		  Array {
-		    Type		    "Simulink.dialog.Tab"
-		    Dimension		    2
-		    Object {
-		    $ObjectID		    251
-		    Prompt		    "Block parameters"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    252
-		    $ClassName		    "Simulink.dialog.parameter.Popup"
-		    Name		    "estimateType"
-		    }
-		    Name		    "Container8"
-		    }
-		    Object {
-		    $ObjectID		    253
-		    Prompt		    "WBI parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    4
-		    Object {
-		    $ObjectID		    254
-		    Name		    "robotName"
-		    }
-		    Object {
-		    $ObjectID		    255
-		    Name		    "localName"
-		    }
-		    Object {
-		    $ObjectID		    256
-		    Name		    "wbiFile"
-		    }
-		    Object {
-		    $ObjectID		    257
-		    Name		    "wbiList"
-		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "Container5"
-		    }
-		    PropName		    "DialogControls"
+		Array {
+		  Type			  "Simulink.dialog.parameter.Popup"
+		  Dimension		  2
+		  Object {
+		    $ObjectID		    212
+		    Name		    "limitsSource"
+		  }
+		  Object {
+		    $ObjectID		    213
+		    Name		    "limitsType"
 		  }
-		  Name			  "Container4"
+		  PropName		  "DialogControls"
 		}
 		Name			"ParameterGroupVar"
 	      }
+	      Object {
+		$ObjectID		214
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  215
+		  $ClassName		  "Simulink.dialog.Button"
+		  Prompt		  "Toggle Config Block Highlighting"
+		  Callback		  "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(configBl"
+		  "ock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system(confi"
+		  "gBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block name: %s'"
+		  ",gcb,configBlock);\nend\n\nclear configBlock"
+		  Name			  "toggleHighlighting"
+		}
+		Name			"ToggleButtonContainer"
+	      }
 	      PropName		      "DialogControls"
 	    }
 	  }
 	  System {
-	    Name		    "Get Estimate"
-	    Location		    [653, 318, 2086, 1271]
+	    Name		    "Get Limits"
+	    Location		    [300, 122, 1706, 880]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -5349,129 +5170,111 @@ Library {
 	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
 	    TiledPageScale	    1
 	    ShowPageBoundaries	    off
-	    ZoomFactor		    "1000"
+	    ZoomFactor		    "692"
+	    SIDHighWatermark	    "1773"
 	    Block {
 	      BlockType		      S-Function
 	      Name		      "S-Function"
-	      SID		      "1672"
-	      Ports		      [0, 1]
-	      Position		      [125, 39, 185, 71]
+	      SID		      "1690:1691"
+	      Ports		      [0, 2]
+	      Position		      [115, 33, 175, 102]
 	      ZOrder		      19
 	      FunctionName	      "WBToolbox"
-	      Parameters	      "'GetEstimate',robotName,localName,wbiFile,wbiList,estimateType"
+	      Parameters	      "'GetLimits',WBTConfigParameters,configBlockAbsName,limitsType"
 	      SFunctionDeploymentMode off
 	      EnableBusSupport	      off
 	      SFcnIsStateOwnerBlock   off
 	    }
 	    Block {
 	      BlockType		      Outport
-	      Name		      "Estimate"
-	      SID		      "1673"
-	      Position		      [210, 48, 240, 62]
+	      Name		      "Min"
+	      SID		      "1690:1692"
+	      Position		      [220, 43, 250, 57]
 	      ZOrder		      25
 	      IconDisplay	      "Port number"
 	    }
+	    Block {
+	      BlockType		      Outport
+	      Name		      "Max"
+	      SID		      "1690:1693"
+	      Position		      [220, 78, 250, 92]
+	      ZOrder		      26
+	      Port		      "2"
+	      IconDisplay	      "Port number"
+	    }
 	    Line {
 	      ZOrder		      1
 	      SrcBlock		      "S-Function"
 	      SrcPort		      1
-	      DstBlock		      "Estimate"
+	      DstBlock		      "Min"
+	      DstPort		      1
+	    }
+	    Line {
+	      ZOrder		      2
+	      SrcBlock		      "S-Function"
+	      SrcPort		      2
+	      DstBlock		      "Max"
 	      DstPort		      1
 	    }
 	  }
 	}
 	Block {
 	  BlockType		  SubSystem
-	  Name			  "Get Limits"
-	  SID			  "1690"
-	  Ports			  [0, 2]
-	  Position		  [475, 211, 570, 249]
-	  ZOrder		  68
+	  Name			  "Get Measurement"
+	  SID			  "1671"
+	  Ports			  [0, 1]
+	  Position		  [395, 156, 515, 184]
+	  ZOrder		  53
 	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
-	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
-	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
-	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
 	  RequestExecContextInheritance	off
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    258
+	    $ObjectID		    216
 	    $ClassName		    "Simulink.Mask"
-	    Type		    "Get Estimate"
-	    Description		    "This block get the estimate of the specified type\n\nAssuming DoFs is the number of degrees of "
-	    "freedom of the robot,\nOutput:\n- References: Vector of size DoFs, representing the estimate requested.\n\nParame"
-	    "ters:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name of the ports"
-	    " opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the "
-	    "\n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by t"
-	    "he underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole B"
-	    "ody Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
-	    Display		    "disp(get_param(gcb,'limitsType'))\nport_label('output',1,'Min')\nport_label('output',2,'Max')"
-	    Array {
-	      Type		      "Simulink.MaskParameter"
-	      Dimension		      5
-	      Object {
-		$ObjectID		259
-		Type			"popup"
-		Array {
-		  Type			  "Cell"
-		  Dimension		  1
-		  Cell			  "Position"
-		  PropName		  "TypeOptions"
-		}
-		Name			"limitsType"
-		Prompt			"Limits Type"
-		Value			"Position"
-		Evaluate		"off"
-		Callback		"% Get the mask parameter values. This is a cell\n%   array of strings.\n\nmaskStr = get_param(gcb,'limits"
-		"Type');\nif strcmp(maskStr, 'Joints Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0]'"
-		");\nelseif strcmp(maskStr, 'Joints Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]')"
-		";\nelseif strcmp(maskStr, 'Joints Acceleration')\n    set_param(gcb,'BackgroundColor', '[0.9255, 0.8706, 0.1333, 1.0"
-		"]');\nelseif strcmp(maskStr, 'Joints Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]')"
-		";\nend\nclear  maskStr"
-	      }
-	      Object {
-		$ObjectID		260
-		Type			"edit"
-		Name			"robotName"
-		Prompt			"Robot Port Name"
-		Value			"WBT_robotName"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		261
-		Type			"edit"
-		Name			"localName"
-		Prompt			"Model Name"
-		Value			"WBT_modelName"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		262
-		Type			"edit"
-		Name			"wbiFile"
-		Prompt			"WBI filename"
-		Value			"WBT_wbiFilename"
-		Tunable			"off"
-	      }
-	      Object {
-		$ObjectID		263
-		Type			"edit"
-		Name			"wbiList"
-		Prompt			"WBI list name"
-		Value			"WBT_wbiList"
-		Tunable			"off"
+	    Type		    "Get Measurement"
+	    Description		    "This block gathers the measurement of the specified type.\n\nAssuming DoFs is the number of deg"
+	    "rees of freedom of the robot,\n\nOutput:\n* References: Vector of size DoFs, representing the requested measureme"
+	    "nt.\n\nParameters:\n* Control Mode: The control mode. Choose one of the supplied mode.\n"
+	    Initialization	    "% WBBlock Initialization\n% ======================\n\ntry\n    [configBlockAbsName, WBTConfig"
+	    "] = WBToolbox.BlockInitialization(gcb, gcs);\n    \n    WBTConfigParameters = WBTConfig.getSimulinkParameters;\n "
+	    "   clear WBTConfig;\ncatch\nend"
+	    Display		    "port_label('output', 1, get_param(gcb,'measuredType'))"
+	    RunInitForIconRedraw    "off"
+	    Object {
+	      $PropName		      "Parameters"
+	      $ObjectID		      217
+	      $ClassName	      "Simulink.MaskParameter"
+	      Type		      "popup"
+	      Array {
+		Type			"Cell"
+		Dimension		4
+		Cell			"Joints Position"
+		Cell			"Joints Velocity"
+		Cell			"Joints Acceleration"
+		Cell			"Joints Torque"
+		PropName		"TypeOptions"
 	      }
-	      PropName		      "Parameters"
+	      Name		      "measuredType"
+	      Prompt		      "Estimate Type"
+	      Value		      "Joints Position"
+	      Evaluate		      "off"
+	      Callback		      "% Get the mask parameter values. This is a cell\n%   array of strings.\n\nmaskStr = get_param("
+	      "gcb,'measuredType');\nif strcmp(maskStr, 'Joints Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8"
+	      "510, 0.6706, 1.0]');\nelseif strcmp(maskStr, 'Joints Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137,"
+	      " 0.6745, 1.0000, 1.0]');\nelseif strcmp(maskStr, 'Joints Acceleration')\n    set_param(gcb,'BackgroundColor', '"
+	      "[0.9255, 0.8706, 0.1333, 1.0]');\nelseif strcmp(maskStr, 'Joints Torque')\n    set_param(gcb,'BackgroundColor',"
+	      " '[0.8275, 0.5765, 0.6039, 1.0]');\nend\nclear  maskStr"
 	    }
 	    Array {
 	      Type		      "Simulink.dialog.Group"
-	      Dimension		      2
+	      Dimension		      3
 	      Object {
-		$ObjectID		264
+		$ObjectID		218
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  265
+		  $ObjectID		  219
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -5479,65 +5282,39 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		266
+		$ObjectID		220
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  267
-		  $ClassName		  "Simulink.dialog.TabContainer"
-		  Array {
-		    Type		    "Simulink.dialog.Tab"
-		    Dimension		    2
-		    Object {
-		    $ObjectID		    268
-		    Prompt		    "Block parameters"
-		    Object {
-		    $PropName		    "DialogControls"
-		    $ObjectID		    269
-		    $ClassName		    "Simulink.dialog.parameter.Popup"
-		    Name		    "limitsType"
-		    }
-		    Name		    "Container8"
-		    }
-		    Object {
-		    $ObjectID		    270
-		    Prompt		    "WBI parameters"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    4
-		    Object {
-		    $ObjectID		    271
-		    Name		    "robotName"
-		    }
-		    Object {
-		    $ObjectID		    272
-		    Name		    "localName"
-		    }
-		    Object {
-		    $ObjectID		    273
-		    Name		    "wbiFile"
-		    }
-		    Object {
-		    $ObjectID		    274
-		    Name		    "wbiList"
-		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "Container5"
-		    }
-		    PropName		    "DialogControls"
-		  }
-		  Name			  "Container4"
+		  $ObjectID		  221
+		  $ClassName		  "Simulink.dialog.parameter.Popup"
+		  Name			  "measuredType"
 		}
 		Name			"ParameterGroupVar"
 	      }
+	      Object {
+		$ObjectID		222
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  223
+		  $ClassName		  "Simulink.dialog.Button"
+		  Prompt		  "Toggle Config Block Highlighting"
+		  Callback		  "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(configBl"
+		  "ock,'HiliteAncestors'),'none'))\n        hilite_system(configBlock,'find');\n    else\n        hilite_system(confi"
+		  "gBlock,'none');\n    end\ncatch\n    error('[%s:ShowConfigBlock:Callback] Failed to process config block name: %s'"
+		  ",gcb,configBlock);\nend\n\nclear configBlock"
+		  Name			  "toggleHighlighting"
+		}
+		Name			"Container8"
+	      }
 	      PropName		      "DialogControls"
 	    }
 	  }
 	  System {
-	    Name		    "Get Limits"
-	    Location		    [0, 23, 1280, 744]
+	    Name		    "Get Measurement"
+	    Location		    [109, 127, 1339, 823]
 	    Open		    off
+	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
 	    ModelBrowserWidth	    200
 	    ScreenColor		    "white"
@@ -5548,49 +5325,33 @@ Library {
 	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
 	    TiledPageScale	    1
 	    ShowPageBoundaries	    off
-	    ZoomFactor		    "411"
+	    ZoomFactor		    "600"
 	    Block {
 	      BlockType		      S-Function
 	      Name		      "S-Function"
-	      SID		      "1691"
-	      Ports		      [0, 2]
-	      Position		      [115, 33, 175, 102]
+	      SID		      "1672"
+	      Ports		      [0, 1]
+	      Position		      [125, 39, 185, 71]
 	      ZOrder		      19
 	      FunctionName	      "WBToolbox"
-	      Parameters	      "'GetLimits',robotName,localName,wbiFile,wbiList,limitsType"
+	      Parameters	      "'GetMeasurement',WBTConfigParameters,configBlockAbsName,measuredType"
 	      SFunctionDeploymentMode off
 	      EnableBusSupport	      off
 	      SFcnIsStateOwnerBlock   off
 	    }
 	    Block {
 	      BlockType		      Outport
-	      Name		      "Min"
-	      SID		      "1692"
-	      Position		      [220, 43, 250, 57]
+	      Name		      "Estimate"
+	      SID		      "1673"
+	      Position		      [210, 48, 240, 62]
 	      ZOrder		      25
 	      IconDisplay	      "Port number"
 	    }
-	    Block {
-	      BlockType		      Outport
-	      Name		      "Max"
-	      SID		      "1693"
-	      Position		      [220, 78, 250, 92]
-	      ZOrder		      26
-	      Port		      "2"
-	      IconDisplay	      "Port number"
-	    }
 	    Line {
 	      ZOrder		      1
 	      SrcBlock		      "S-Function"
 	      SrcPort		      1
-	      DstBlock		      "Min"
-	      DstPort		      1
-	    }
-	    Line {
-	      ZOrder		      2
-	      SrcBlock		      "S-Function"
-	      SrcPort		      2
-	      DstBlock		      "Max"
+	      DstBlock		      "Estimate"
 	      DstPort		      1
 	    }
 	  }
@@ -5600,7 +5361,7 @@ Library {
     Annotation {
       SID		      "1213"
       Name		      "WHOLE BODY TOOLBOX"
-      Position		      [172, 149, 311, 166]
+      Position		      [172, 149, 319, 165]
       InternalMargins	      [0, 0, 0, 0]
       FixedHeight	      off
       FixedWidth	      off
@@ -5612,10 +5373,10 @@ Library {
     }
     Annotation {
       SID		      "1214"
-      Name		      "Copyright  2013-2016 iCub Facility Department, Istituto Italiano di Tecnologia\nThis software was s"
+      Name		      "Copyright  2013-2017 iCub Facility Department, Istituto Italiano di Tecnologia\nThis software was s"
       "upported by the FP7 EU Project CoDyCO (No. 600716 ICT 2011.2.1 Cognitive Systems and Robotics (b))\nhttp://www.c"
       "odyco.eu"
-      Position		      [102, 184, 379, 201]
+      Position		      [102, 184, 380, 207]
       InternalMargins	      [0, 0, 0, 0]
       FixedHeight	      off
       FixedWidth	      off
@@ -5628,7 +5389,7 @@ Library {
 }
 #Finite State Machines
 #
-#   Stateflow 80000010
+#   Stateflow 80000011
 #
 #
 Stateflow {
@@ -5637,7 +5398,7 @@ Stateflow {
     name		    "WBToolboxLibrary_repository"
     created		    "06-Feb-2014 11:51:26"
     isLibrary		    1
-    sfVersion		    80000010
+    sfVersion		    80000011
     firstTarget		    26
   }
   chart {
diff --git a/toolbox/matlab/library/exported/WBToolboxLibrary.slx b/toolbox/matlab/library/exported/WBToolboxLibrary.slx
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literal 0
HcmV?d00001

diff --git a/toolbox/.setupForMatlabDebug.m.in b/toolbox/matlab/setupForMatlabDebug.m.in
similarity index 100%
rename from toolbox/.setupForMatlabDebug.m.in
rename to toolbox/matlab/setupForMatlabDebug.m.in
diff --git a/toolbox/matlab/slblocks.m b/toolbox/matlab/slblocks.m
new file mode 100644
index 000000000..7c348193b
--- /dev/null
+++ b/toolbox/matlab/slblocks.m
@@ -0,0 +1,8 @@
+function blkStruct = slblocks
+
+% Name of the .mdl file
+Browser.Library   = 'WBToolboxLibrary';
+Browser.Name      = 'Whole Body Toolbox';
+Browser.IsFlat    =  0;
+
+blkStruct.Browser =  Browser;
diff --git a/toolbox/.startup_wbitoolbox.m.in b/toolbox/matlab/startup_wbitoolbox.m.in
similarity index 100%
rename from toolbox/.startup_wbitoolbox.m.in
rename to toolbox/matlab/startup_wbitoolbox.m.in
diff --git a/toolbox/slblocks.m b/toolbox/slblocks.m
deleted file mode 100644
index 89a28e382..000000000
--- a/toolbox/slblocks.m
+++ /dev/null
@@ -1,54 +0,0 @@
-function blkStruct = slblocks
-
-%  Copyright (C) 2013 Robotics, Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
-%  Author: Jorhabib Eljaik Gomez
-%  email: jorhabib.eljaik@iit.it
-%  The development of this software was supported by the FP7 EU project
-%  CoDyCo (No. 600716 ICT 2011.2.1 Cognitive Systems and Robotics (b))
-%  http://www.codyco.eu
-%  Permission is granted to copy, distribute, and/or modify this program
-%  under the terms of the GNU General Public License, version 2 or any
-%  later version published by the Free Software Foundation.
-%  
-%  This program is distributed in the hope that it will be useful, but
-%  WITHOUT ANY WARRANTY; without even the implied warranty of
-%  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-%  Public License for more details
-%  Copyright (C) 2013 Robotics, Brain and Cognitive Sciences - Istituto Italiano di Tecnologia
-%  Author: Jorhabib Eljaik Gomez
-%  email: jorhabib.eljaik@iit.it
-%  
-%  The development of this software was supported by the FP7 EU project
-%  CoDyCo (No. 600716 ICT 2011.2.1 Cognitive Systems and Robotics (b))
-%  http://www.codyco.eu
-%  
-%  Permission is granted to copy, distribute, and/or modify this program
-%  under the terms of the GNU General Public License, version 2 or any
-%  later version published by the Free Software Foundation.
-%  This program is distributed in the hope that it will be useful, but
-%  WITHOUT ANY WARRANTY; without even the implied warranty of
-%  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General
-%  Public License for more details
-
-Browser.Library   = 'WBToolboxLibrary';     %Name of the .mdl file
-Browser.Name      = 'Whole Body Toolbox';    
-Browser.IsFlat    =  0;
-
-if (~verLessThan('matlab', '8.4'))  % R2014b
-  % Add repository information if not yet done
-  % ???: is this part really needed?
-  try
-    load_system(Browser.Library);
-    if (strcmp(get_param(Browser.Library, 'EnableLBRepository'), 'off'))
-      set_param(Browser.Library, 'Lock', 'off');
-      set_param(Browser.Library, 'EnableLBRepository', 'on');
-      set_param(Browser.Library, 'Lock', 'on');
-      save_system(Browser.Library);
-    end;
-    close_system(Browser.Library);
-  catch ex;
-  end
-end;
-
-
-blkStruct.Browser =  Browser;

From 6d882b5a8fdfeb4ccb7468e59a9f0b20b6999972 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 1 Dec 2017 07:56:34 +0000
Subject: [PATCH 75/92] [Squash] Update lib

---
 .../library/WBToolboxLibrary_repository.mdl   | 578 +++++++++---------
 .../library/exported/WBToolboxLibrary.slx     | Bin 535297 -> 534789 bytes
 2 files changed, 289 insertions(+), 289 deletions(-)

diff --git a/toolbox/matlab/library/WBToolboxLibrary_repository.mdl b/toolbox/matlab/library/WBToolboxLibrary_repository.mdl
index 8e4a391ca..0ae80c40b 100644
--- a/toolbox/matlab/library/WBToolboxLibrary_repository.mdl
+++ b/toolbox/matlab/library/WBToolboxLibrary_repository.mdl
@@ -25,7 +25,7 @@ Library {
       $ObjectID		      2
       $ClassName	      "Simulink.WindowInfo"
       IsActive		      [1]
-      Location		      [2245.0, 90.0, 1595.0, 866.0]
+      Location		      [2086.0, 89.0, 1595.0, 866.0]
       Object {
 	$PropName		"ModelBrowserInfo"
 	$ObjectID		3
@@ -57,11 +57,11 @@ Library {
 	Object {
 	  $ObjectID		  6
 	  IsActive		  [1]
-	  ViewObjType		  "SimulinkTopLevel"
-	  LoadSaveID		  "0"
-	  Extents		  [1557.0, 693.0]
-	  ZoomFactor		  [3.428251121076233]
-	  Offset		  [11.916285153695213, 10.428057553956833]
+	  ViewObjType		  "SimulinkSubsys"
+	  LoadSaveID		  "192"
+	  Extents		  [1557.0, 726.0]
+	  ZoomFactor		  [2.13]
+	  Offset		  [0.0, 0.0]
 	}
 	PropName		"EditorsInfo"
       }
@@ -83,7 +83,7 @@ Library {
       "AAAAAAA+wAAABYARABvAGMAawBXAGkAZABnAGUAdAA0AAAAAAD/////AAAAAAAAAAD7AAAAUgBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0Ac"
       "ABvAG4AZQBuAHQALwBHAEwAVQBFADIAIAB0AHIAZQBlACAAYwBvAG0AcABvAG4AZQBuAHQAAAAANQAAAooAAABbAP///wAAAAEAAAAAAAAAAPwCA"
       "AAAAfsAAABUAEcATABVAEUAMgA6AFAAcgBvAHAAZQByAHQAeQBJAG4AcwBwAGUAYwB0AG8AcgAvAFAAcgBvAHAAZQByAHQAeQAgAEkAbgBzAHAAZ"
-      "QBjAHQAbwByAAAAAAD/////AAAAKwD///8AAAY7AAAC9gAAAAEAAAACAAAAAQAAAAL8AAAAAQAAAAIAAAAP/////wAAAAAA/////wAAAAAAAAAA/"
+      "QBjAHQAbwByAAAAAAD/////AAAAKwD///8AAAY7AAADFwAAAAEAAAACAAAAAQAAAAL8AAAAAQAAAAIAAAAP/////wAAAAAA/////wAAAAAAAAAA/"
       "////wEAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/"
       "////wEAAAB6/////wAAAAAAAAAA/////wEAAADe/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/"
       "////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wEAAAEt/////wAAAAAAAAAA/"
@@ -97,9 +97,9 @@ Library {
   ModifiedByFormat	  "%<Auto>"
   LastModifiedBy	  "dferigo"
   ModifiedDateFormat	  "%<Auto>"
-  LastModifiedDate	  "Wed Nov 29 15:45:34 2017"
-  RTWModifiedTimeStamp	  433871066
-  ModelVersionFormat	  "1.%<AutoIncrement:471>"
+  LastModifiedDate	  "Thu Nov 30 14:54:35 2017"
+  RTWModifiedTimeStamp	  433954470
+  ModelVersionFormat	  "1.%<AutoIncrement:474>"
   ConfigurationManager	  "none"
   SampleTimeColors	  off
   SampleTimeAnnotations	  off
@@ -1065,8 +1065,8 @@ Library {
   }
   System {
     Name		    "WBToolboxLibrary_repository"
-    Location		    [2245, 90, 3840, 956]
-    Open		    on
+    Location		    [2086, 89, 3681, 955]
+    Open		    off
     PortBlocksUseCompactNotation off
     ModelBrowserVisibility  off
     ModelBrowserWidth	    200
@@ -1100,8 +1100,8 @@ Library {
       }
       System {
 	Name			"Utilities"
-	Location		[2245, 90, 3840, 956]
-	Open			off
+	Location		[2086, 89, 3681, 955]
+	Open			on
 	PortBlocksUseCompactNotation off
 	ModelBrowserVisibility	off
 	ModelBrowserWidth	200
@@ -1114,6 +1114,247 @@ Library {
 	TiledPageScale		1
 	ShowPageBoundaries	off
 	ZoomFactor		"213"
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Configuration"
+	  SID			  "1774"
+	  Ports			  []
+	  Position		  [435, 260, 510, 290]
+	  ZOrder		  95
+	  InitFcn		  "source = get_param(gcb,'ConfigSource');\n\nif strcmp(source, 'Workspace')\n    object = get_param(gcb,'"
+	  "ConfigObject');\n    WBToolbox.WBToolboxConfig2Mask(gcb, object);\nend\n\nWBToolbox.Mask2WBToolboxConfig(gcb);\n\nc"
+	  "lear object source"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    22
+	    $ClassName		    "Simulink.Mask"
+	    SelfModifiable	    "on"
+	    Display		    "disp('Config')"
+	    RunInitForIconRedraw    "off"
+	    Array {
+	      Type		      "Simulink.MaskParameter"
+	      Dimension		      8
+	      Object {
+		$ObjectID		23
+		Type			"popup"
+		Array {
+		  Type			  "Cell"
+		  Dimension		  2
+		  Cell			  "Workspace"
+		  Cell			  "Mask"
+		  PropName		  "TypeOptions"
+		}
+		Name			"ConfigSource"
+		Prompt			"Configuration from"
+		Value			"Mask"
+		Callback		"% Get the Workspace/Mask menu\nh = Simulink.Mask.get(gcb);\ncurrentConfigSource = get_param(gcb,'ConfigSo"
+		"urce');\n\nif strcmp(currentConfigSource,'Workspace')\n    % Switch the visibility of the GUI elements\n    set_para"
+		"m(gcb,'MaskVisibilities',{'on';'on';'on';'on';'on';'on';'on';'on';});\n    h.Parameters(3).ReadOnly = 'on';\n    h.P"
+		"arameters(4).ReadOnly = 'on';\n    h.Parameters(5).ReadOnly = 'on';\n    h.Parameters(6).ReadOnly = 'on';\n    h.Par"
+		"ameters(7).ReadOnly = 'on';\n    h.Parameters(8).ReadOnly = 'on';\n    \n    % Parse the object inserted in the Conf"
+		"igObject field\n    currentConfigObject = get_param(gcb,'ConfigObject');\n    WBToolbox.WBToolboxConfig2Mask(gcb,cur"
+		"rentConfigObject);\n    clear currentConfigObject;\nelseif strcmp(currentConfigSource,'Mask')\n    % Switch the visi"
+		"bility of the GUI elements\n    set_param(gcb,'MaskVisibilities',{'on';'off';'on';'on';'on';'on';'on';'on';});\n    "
+		"h.Parameters(3).ReadOnly = 'off';\n    h.Parameters(4).ReadOnly = 'off';\n    h.Parameters(5).ReadOnly = 'off';\n   "
+		" h.Parameters(6).ReadOnly = 'off';\n    h.Parameters(7).ReadOnly = 'off';\n    h.Parameters(8).ReadOnly = 'off';\n  "
+		"  h.Parameters(3).Enabled = 'on';\n    h.Parameters(4).Enabled = 'on';\n    h.Parameters(5).Enabled = 'on';\n    h.P"
+		"arameters(6).Enabled = 'on';\n    h.Parameters(7).Enabled = 'on';\n    h.Parameters(8).Enabled = 'on';\nend\n\nclear"
+		" h currentConfigSource"
+	      }
+	      Object {
+		$ObjectID		24
+		Type			"edit"
+		Name			"ConfigObject"
+		Prompt			"Name of the object"
+		Value			"'WBTConfigRobot'"
+		Tunable			"off"
+		Visible			"off"
+		Callback		"% This code get called whatsoever\nif strcmp(char(get_param(gcb,'ConfigSource')),'Mask')\n    return\nend"
+		"\n\n% Parse the object inserted in the ConfigObject field\ncurrentConfigObject = get_param(gcb,'ConfigObject');\nWBT"
+		"oolbox.WBToolboxConfig2Mask(gcb,currentConfigObject);\n\nclear currentConfigObject;"
+	      }
+	      Object {
+		$ObjectID		25
+		Type			"edit"
+		Name			"RobotName"
+		Prompt			"Robot Name"
+		Value			"'icub'"
+	      }
+	      Object {
+		$ObjectID		26
+		Type			"edit"
+		Name			"UrdfFile"
+		Prompt			"Urdf File"
+		Value			"'model.urdf'"
+	      }
+	      Object {
+		$ObjectID		27
+		Type			"edit"
+		Name			"ControlledJoints"
+		Prompt			"Controlled Joints"
+		Value			"{'l_elbow','l_shoulder_pitch','torso_roll'}"
+	      }
+	      Object {
+		$ObjectID		28
+		Type			"edit"
+		Name			"ControlBoardsNames"
+		Prompt			"Control Boards Names"
+		Value			"{'left_arm','right_arm','torso'}"
+	      }
+	      Object {
+		$ObjectID		29
+		Type			"edit"
+		Name			"LocalName"
+		Prompt			"Local Name"
+		Value			"'WBT'"
+	      }
+	      Object {
+		$ObjectID		30
+		Type			"edit"
+		Name			"GravityVector"
+		Prompt			"Gravity Vector"
+		Value			"[0,0,-9.81]"
+	      }
+	      PropName		      "Parameters"
+	    }
+	    Array {
+	      Type		      "Simulink.dialog.Group"
+	      Dimension		      2
+	      Object {
+		$ObjectID		31
+		Prompt			"%<MaskType>"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  32
+		  $ClassName		  "Simulink.dialog.Text"
+		  Prompt		  "%<MaskDescription>"
+		  Name			  "DescTextVar"
+		}
+		Name			"DescGroupVar"
+	      }
+	      Object {
+		$ObjectID		33
+		Prompt			"Simulink:studio:ToolBarParametersMenu"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  34
+		  $ClassName		  "Simulink.dialog.TabContainer"
+		  Array {
+		    Type		    "Simulink.dialog.Tab"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    35
+		    Prompt		    "From"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Control"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    36
+		    $ClassName		    "Simulink.dialog.parameter.Popup"
+		    Name		    "ConfigSource"
+		    }
+		    Object {
+		    $ObjectID		    37
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    PromptLocation	    "left"
+		    Name		    "ConfigObject"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "TabFrom"
+		    }
+		    Object {
+		    $ObjectID		    38
+		    Prompt		    "Data"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Edit"
+		    Dimension		    6
+		    Object {
+		    $ObjectID		    39
+		    PromptLocation	    "left"
+		    Name		    "RobotName"
+		    }
+		    Object {
+		    $ObjectID		    40
+		    PromptLocation	    "left"
+		    Name		    "UrdfFile"
+		    }
+		    Object {
+		    $ObjectID		    41
+		    PromptLocation	    "left"
+		    Name		    "ControlledJoints"
+		    }
+		    Object {
+		    $ObjectID		    42
+		    PromptLocation	    "left"
+		    Name		    "ControlBoardsNames"
+		    }
+		    Object {
+		    $ObjectID		    43
+		    PromptLocation	    "left"
+		    Name		    "LocalName"
+		    }
+		    Object {
+		    $ObjectID		    44
+		    PromptLocation	    "left"
+		    Name		    "GravityVector"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "TabData"
+		    }
+		    PropName		    "DialogControls"
+		  }
+		  Name			  "TabContainer"
+		}
+		Name			"ParameterGroupVar"
+	      }
+	      PropName		      "DialogControls"
+	    }
+	  }
+	  System {
+	    Name		    "Configuration"
+	    Location		    [550, 86, 1677, 725]
+	    Open		    off
+	    PortBlocksUseCompactNotation off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "600"
+	    SIDHighWatermark	    "70"
+	    Block {
+	      BlockType		      Constant
+	      Name		      "ImConfig"
+	      SID		      "1774:67"
+	      Position		      [20, 20, 50, 50]
+	      ZOrder		      81
+	      Value		      "0"
+	    }
+	    Block {
+	      BlockType		      Terminator
+	      Name		      "Terminator"
+	      SID		      "1774:68"
+	      Position		      [95, 25, 115, 45]
+	      ZOrder		      80
+	    }
+	    Line {
+	      ZOrder		      1
+	      SrcBlock		      "ImConfig"
+	      SrcPort		      1
+	      DstBlock		      "Terminator"
+	      DstPort		      1
+	    }
+	  }
+	}
 	Block {
 	  BlockType		  SubSystem
 	  Name			  "DampPinv"
@@ -1126,11 +1367,11 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    22
+	    $ObjectID		    45
 	    $ClassName		    "Simulink.Mask"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      23
+	      $ObjectID		      46
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "edit"
 	      Name		      "tol"
@@ -1346,7 +1587,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    24
+	    $ObjectID		    47
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "DoFs converter"
 	    Description		    "This block converts from a DoFs serialization to a YARP serialization or viceversa depending on"
@@ -1363,7 +1604,7 @@ Library {
 	    RunInitForIconRedraw    "off"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      25
+	      $ObjectID		      48
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "popup"
 	      Array {
@@ -1381,11 +1622,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      2
 	      Object {
-		$ObjectID		26
+		$ObjectID		49
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  27
+		  $ObjectID		  50
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -1393,22 +1634,22 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		28
+		$ObjectID		51
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Array {
 		  Type			  "Simulink.dialog.Control"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    29
+		    $ObjectID		    52
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "yarp2WBIOption"
 		  }
 		  Object {
-		    $ObjectID		    30
+		    $ObjectID		    53
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    31
+		    $ObjectID		    54
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -1442,7 +1683,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    32
+	    $ObjectID		    55
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Minimum Jerk Trajectory Generator"
 	    Description		    "This block wraps the minJerkTrajGen class from iCub::ctrl::minJerkTrajGen.\n\nThe Minimum Jerk "
@@ -1465,7 +1706,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      7
 	      Object {
-		$ObjectID		33
+		$ObjectID		56
 		Type			"checkbox"
 		Name			"externalSettlingTime"
 		Prompt			"External Settling Time"
@@ -1476,42 +1717,42 @@ Library {
 		"SettlingTime"
 	      }
 	      Object {
-		$ObjectID		34
+		$ObjectID		57
 		Type			"edit"
 		Name			"settlingTime"
 		Prompt			"Settling Time"
 		Value			"3"
 	      }
 	      Object {
-		$ObjectID		35
+		$ObjectID		58
 		Type			"edit"
 		Name			"sampleTime"
 		Prompt			"Sample Time"
 		Value			"0.01"
 	      }
 	      Object {
-		$ObjectID		36
+		$ObjectID		59
 		Type			"checkbox"
 		Name			"resetOnSettlingTime"
 		Prompt			"Reset on Settling Time Changes"
 		Value			"off"
 	      }
 	      Object {
-		$ObjectID		37
+		$ObjectID		60
 		Type			"checkbox"
 		Name			"firstDerivatives"
 		Prompt			"Output First Derivative"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		38
+		$ObjectID		61
 		Type			"checkbox"
 		Name			"secondDerivatives"
 		Prompt			"Output Second Derivative"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		39
+		$ObjectID		62
 		Type			"checkbox"
 		Name			"explicitInitialValue"
 		Prompt			"Explicit Initial Value"
@@ -1524,11 +1765,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      2
 	      Object {
-		$ObjectID		40
+		$ObjectID		63
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  41
+		  $ObjectID		  64
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -1536,38 +1777,38 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		42
+		$ObjectID		65
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  43
+		  $ObjectID		  66
 		  $ClassName		  "Simulink.dialog.TabContainer"
 		  Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    44
+		    $ObjectID		    67
 		    Prompt		    "Trajectory Parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    45
+		    $ObjectID		    68
 		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
 		    Name		    "externalSettlingTime"
 		    }
 		    Object {
-		    $ObjectID		    46
+		    $ObjectID		    69
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "settlingTime"
 		    }
 		    Object {
-		    $ObjectID		    47
+		    $ObjectID		    70
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "sampleTime"
 		    }
 		    Object {
-		    $ObjectID		    48
+		    $ObjectID		    71
 		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
 		    Name		    "resetOnSettlingTime"
 		    }
@@ -1576,21 +1817,21 @@ Library {
 		    Name		    "Tab1"
 		    }
 		    Object {
-		    $ObjectID		    49
+		    $ObjectID		    72
 		    Prompt		    "Input/Output"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.CheckBox"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    50
+		    $ObjectID		    73
 		    Name		    "firstDerivatives"
 		    }
 		    Object {
-		    $ObjectID		    51
+		    $ObjectID		    74
 		    Name		    "secondDerivatives"
 		    }
 		    Object {
-		    $ObjectID		    52
+		    $ObjectID		    75
 		    Name		    "explicitInitialValue"
 		    }
 		    PropName		    "DialogControls"
@@ -1624,7 +1865,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    53
+	    $ObjectID		    76
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Real Time Synchronizer"
 	    Description		    "This block slows down the simulation trying to match the period specified \nas parameter (in se"
@@ -1632,7 +1873,7 @@ Library {
 	    Display		    "disp('Real Time Synchronizer')"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      54
+	      $ObjectID		      77
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "edit"
 	      Name		      "period"
@@ -1641,247 +1882,6 @@ Library {
 	    }
 	  }
 	}
-	Block {
-	  BlockType		  SubSystem
-	  Name			  "Robot"
-	  SID			  "1774"
-	  Ports			  []
-	  Position		  [435, 260, 510, 290]
-	  ZOrder		  95
-	  InitFcn		  "source = get_param(gcb,'ConfigSource');\n\nif strcmp(source, 'Workspace')\n    object = get_param(gcb,'"
-	  "ConfigObject');\n    WBToolbox.WBToolboxConfig2Mask(gcb, object);\nend\n\nWBToolbox.Mask2WBToolboxConfig(gcb);\n\nc"
-	  "lear object source"
-	  RequestExecContextInheritance	off
-	  Variant		  off
-	  Object {
-	    $PropName		    "MaskObject"
-	    $ObjectID		    55
-	    $ClassName		    "Simulink.Mask"
-	    SelfModifiable	    "on"
-	    Display		    "disp('Config')"
-	    RunInitForIconRedraw    "off"
-	    Array {
-	      Type		      "Simulink.MaskParameter"
-	      Dimension		      8
-	      Object {
-		$ObjectID		56
-		Type			"popup"
-		Array {
-		  Type			  "Cell"
-		  Dimension		  2
-		  Cell			  "Workspace"
-		  Cell			  "Mask"
-		  PropName		  "TypeOptions"
-		}
-		Name			"ConfigSource"
-		Prompt			"Configuration from"
-		Value			"Mask"
-		Callback		"% Get the Workspace/Mask menu\nh = Simulink.Mask.get(gcb);\ncurrentConfigSource = get_param(gcb,'ConfigSo"
-		"urce');\n\nif strcmp(currentConfigSource,'Workspace')\n    % Switch the visibility of the GUI elements\n    set_para"
-		"m(gcb,'MaskVisibilities',{'on';'on';'on';'on';'on';'on';'on';'on';});\n    h.Parameters(3).ReadOnly = 'on';\n    h.P"
-		"arameters(4).ReadOnly = 'on';\n    h.Parameters(5).ReadOnly = 'on';\n    h.Parameters(6).ReadOnly = 'on';\n    h.Par"
-		"ameters(7).ReadOnly = 'on';\n    h.Parameters(8).ReadOnly = 'on';\n    \n    % Parse the object inserted in the Conf"
-		"igObject field\n    currentConfigObject = get_param(gcb,'ConfigObject');\n    WBToolbox.WBTConfig2Mask(gcb,currentCo"
-		"nfigObject);\n    clear currentConfigObject;\nelseif strcmp(currentConfigSource,'Mask')\n    % Switch the visibility"
-		" of the GUI elements\n    set_param(gcb,'MaskVisibilities',{'on';'off';'on';'on';'on';'on';'on';'on';});\n    h.Para"
-		"meters(3).ReadOnly = 'off';\n    h.Parameters(4).ReadOnly = 'off';\n    h.Parameters(5).ReadOnly = 'off';\n    h.Par"
-		"ameters(6).ReadOnly = 'off';\n    h.Parameters(7).ReadOnly = 'off';\n    h.Parameters(8).ReadOnly = 'off';\n    h.Pa"
-		"rameters(3).Enabled = 'on';\n    h.Parameters(4).Enabled = 'on';\n    h.Parameters(5).Enabled = 'on';\n    h.Paramet"
-		"ers(6).Enabled = 'on';\n    h.Parameters(7).Enabled = 'on';\n    h.Parameters(8).Enabled = 'on';\nend\n\nclear h cur"
-		"rentConfigSource"
-	      }
-	      Object {
-		$ObjectID		57
-		Type			"edit"
-		Name			"ConfigObject"
-		Prompt			"Name of the object"
-		Value			"'WBTConfigRobot'"
-		Tunable			"off"
-		Visible			"off"
-		Callback		"% This code get called whatsoever\nif strcmp(char(get_param(gcb,'ConfigSource')),'Mask')\n    return\nend"
-		"\n\n% Parse the object inserted in the ConfigObject field\ncurrentConfigObject = get_param(gcb,'ConfigObject');\nWBT"
-		"oolbox.WBTConfig2Mask(gcb,currentConfigObject);\n\nclear currentConfigObject;"
-	      }
-	      Object {
-		$ObjectID		58
-		Type			"edit"
-		Name			"RobotName"
-		Prompt			"Robot Name"
-		Value			"'icub'"
-	      }
-	      Object {
-		$ObjectID		59
-		Type			"edit"
-		Name			"UrdfFile"
-		Prompt			"Urdf File"
-		Value			"'model.urdf'"
-	      }
-	      Object {
-		$ObjectID		60
-		Type			"edit"
-		Name			"ControlledJoints"
-		Prompt			"Controlled Joints"
-		Value			"{'l_elbow','l_shoulder_pitch','torso_roll'}"
-	      }
-	      Object {
-		$ObjectID		61
-		Type			"edit"
-		Name			"ControlBoardsNames"
-		Prompt			"Control Boards Names"
-		Value			"{'left_arm','right_arm','torso'}"
-	      }
-	      Object {
-		$ObjectID		62
-		Type			"edit"
-		Name			"LocalName"
-		Prompt			"Local Name"
-		Value			"'WBT'"
-	      }
-	      Object {
-		$ObjectID		63
-		Type			"edit"
-		Name			"GravityVector"
-		Prompt			"Gravity Vector"
-		Value			"[0,0,-9.81]"
-	      }
-	      PropName		      "Parameters"
-	    }
-	    Array {
-	      Type		      "Simulink.dialog.Group"
-	      Dimension		      2
-	      Object {
-		$ObjectID		64
-		Prompt			"%<MaskType>"
-		Object {
-		  $PropName		  "DialogControls"
-		  $ObjectID		  65
-		  $ClassName		  "Simulink.dialog.Text"
-		  Prompt		  "%<MaskDescription>"
-		  Name			  "DescTextVar"
-		}
-		Name			"DescGroupVar"
-	      }
-	      Object {
-		$ObjectID		66
-		Prompt			"Simulink:studio:ToolBarParametersMenu"
-		Object {
-		  $PropName		  "DialogControls"
-		  $ObjectID		  67
-		  $ClassName		  "Simulink.dialog.TabContainer"
-		  Array {
-		    Type		    "Simulink.dialog.Tab"
-		    Dimension		    2
-		    Object {
-		    $ObjectID		    68
-		    Prompt		    "From"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Control"
-		    Dimension		    2
-		    Object {
-		    $ObjectID		    69
-		    $ClassName		    "Simulink.dialog.parameter.Popup"
-		    Name		    "ConfigSource"
-		    }
-		    Object {
-		    $ObjectID		    70
-		    $ClassName		    "Simulink.dialog.parameter.Edit"
-		    PromptLocation	    "left"
-		    Name		    "ConfigObject"
-		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "TabFrom"
-		    }
-		    Object {
-		    $ObjectID		    71
-		    Prompt		    "Data"
-		    Array {
-		    Type		    "Simulink.dialog.parameter.Edit"
-		    Dimension		    6
-		    Object {
-		    $ObjectID		    72
-		    PromptLocation	    "left"
-		    Name		    "RobotName"
-		    }
-		    Object {
-		    $ObjectID		    73
-		    PromptLocation	    "left"
-		    Name		    "UrdfFile"
-		    }
-		    Object {
-		    $ObjectID		    74
-		    PromptLocation	    "left"
-		    Name		    "ControlledJoints"
-		    }
-		    Object {
-		    $ObjectID		    75
-		    PromptLocation	    "left"
-		    Name		    "ControlBoardsNames"
-		    }
-		    Object {
-		    $ObjectID		    76
-		    PromptLocation	    "left"
-		    Name		    "LocalName"
-		    }
-		    Object {
-		    $ObjectID		    77
-		    PromptLocation	    "left"
-		    Name		    "GravityVector"
-		    }
-		    PropName		    "DialogControls"
-		    }
-		    Name		    "TabData"
-		    }
-		    PropName		    "DialogControls"
-		  }
-		  Name			  "TabContainer"
-		}
-		Name			"ParameterGroupVar"
-	      }
-	      PropName		      "DialogControls"
-	    }
-	  }
-	  System {
-	    Name		    "Robot"
-	    Location		    [550, 86, 1677, 725]
-	    Open		    off
-	    PortBlocksUseCompactNotation off
-	    ModelBrowserVisibility  off
-	    ModelBrowserWidth	    200
-	    ScreenColor		    "white"
-	    PaperOrientation	    "landscape"
-	    PaperPositionMode	    "auto"
-	    PaperType		    "usletter"
-	    PaperUnits		    "inches"
-	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
-	    TiledPageScale	    1
-	    ShowPageBoundaries	    off
-	    ZoomFactor		    "600"
-	    SIDHighWatermark	    "70"
-	    Block {
-	      BlockType		      Constant
-	      Name		      "ImConfig"
-	      SID		      "1774:67"
-	      Position		      [20, 20, 50, 50]
-	      ZOrder		      81
-	      Value		      "0"
-	    }
-	    Block {
-	      BlockType		      Terminator
-	      Name		      "Terminator"
-	      SID		      "1774:68"
-	      Position		      [95, 25, 115, 45]
-	      ZOrder		      80
-	    }
-	    Line {
-	      ZOrder		      1
-	      SrcBlock		      "ImConfig"
-	      SrcPort		      1
-	      DstBlock		      "Terminator"
-	      DstPort		      1
-	    }
-	  }
-	}
 	Block {
 	  BlockType		  S-Function
 	  Name			  "Simulator Synchronizer"
@@ -3098,7 +3098,7 @@ Library {
 	  }
 	  System {
 	    Name		    "Dynamics"
-	    Location		    [2245, 90, 3840, 956]
+	    Location		    [2086, 89, 3681, 955]
 	    Open		    on
 	    PortBlocksUseCompactNotation off
 	    ModelBrowserVisibility  off
diff --git a/toolbox/matlab/library/exported/WBToolboxLibrary.slx b/toolbox/matlab/library/exported/WBToolboxLibrary.slx
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From 163ddeb02b210705546f78a9c1f08f6ce087dbdf Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 1 Dec 2017 07:57:05 +0000
Subject: [PATCH 76/92] Explicitly set the velocity representation in iDynTree

---
 toolbox/src/base/RobotInterface.cpp | 3 +++
 1 file changed, 3 insertions(+)

diff --git a/toolbox/src/base/RobotInterface.cpp b/toolbox/src/base/RobotInterface.cpp
index 9755e4d7a..30662d2e4 100644
--- a/toolbox/src/base/RobotInterface.cpp
+++ b/toolbox/src/base/RobotInterface.cpp
@@ -410,6 +410,9 @@ bool RobotInterface::initializeModel()
     m_kinDynComp = std::make_shared<iDynTree::KinDynComputations>();
     if (!m_kinDynComp) return false;
 
+    // Explicitly set the velocity representation
+    m_kinDynComp->setFrameVelocityRepresentation(iDynTree::MIXED_REPRESENTATION);
+
     // Use RF to load the urdf file
     // ----------------------------
 

From 98aafccf308d38e50c9b71b55c8e76397ef9595d Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 6 Dec 2017 12:05:34 +0000
Subject: [PATCH 77/92] Fixed the generalized torques conversion of
 InverseDynamics block

---
 toolbox/src/InverseDynamics.cpp | 19 ++++++++++++++++---
 1 file changed, 16 insertions(+), 3 deletions(-)

diff --git a/toolbox/src/InverseDynamics.cpp b/toolbox/src/InverseDynamics.cpp
index 49b3e8386..d5d0ab1fa 100644
--- a/toolbox/src/InverseDynamics.cpp
+++ b/toolbox/src/InverseDynamics.cpp
@@ -7,6 +7,8 @@
 #include <memory>
 #include <iDynTree/Model/FreeFloatingState.h>
 #include <iDynTree/KinDynComputations.h>
+#include <iDynTree/Core/EigenHelpers.h>
+#include <Eigen/Core>
 
 using namespace wbt;
 
@@ -188,9 +190,20 @@ bool InverseDynamics::output(const BlockInformation* blockInfo)
                            iDynTree::LinkNetExternalWrenches(model->getNrOfLinks()),
                            *m_torques);
 
-    // Forward the output to Simulink
+    // Get the output signal
     Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_TORQUES);
-    output.setBuffer(m_torques->jointTorques().data(),
-                     blockInfo->getOutputPortWidth(OUTPUT_IDX_TORQUES));
+    double* outputBuffer = output.getBuffer<double>();
+    if (!outputBuffer) {
+        Log::getSingleton().error("Failed to get output buffer.");
+        return false;
+    }
+
+    // Convert generalized torques and forward the directly to Simulink
+    // mapping the memory through Eigen::Map
+    const auto& torquesSize = m_torques->jointTorques().size();
+    Eigen::Map<Eigen::VectorXd> generalizedOutputTrqs(outputBuffer, torquesSize + 6);
+    generalizedOutputTrqs.segment(0, 6) = toEigen(m_torques->baseWrench());
+    generalizedOutputTrqs.segment(6, torquesSize) = toEigen(m_torques->jointTorques());
+
     return true;
 }

From 5480fae4cb48ca7c578f5aaea16023adcece9c23 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 6 Dec 2017 15:46:13 +0000
Subject: [PATCH 78/92] Updated README.md

---
 README.md | 132 +++++++++++++++++++++++++++++++-----------------------
 1 file changed, 76 insertions(+), 56 deletions(-)

diff --git a/README.md b/README.md
index 34b2187de..4478dee41 100644
--- a/README.md
+++ b/README.md
@@ -1,67 +1,76 @@
 ![](http://drive.google.com/uc?export=view&id=0B6zDGh11iY6oc0gtM0lMdDNweWM)
-Whole Body Toolbox - A Simulink Toolbox for Whole Body Control
--------------------------------------------------------------
+# Whole Body Toolbox
+<h3 style="text-align: center">A Simulink Toolbox for Whole Body Control</h3>
 
 [![GitPitch](https://gitpitch.com/assets/badge.svg)](https://gitpitch.com/robotology/WB-Toolbox?grs=github)
 
-### This toolbox is intended as a replacement (a 2.0 version) of the  [WBI-Toolbox](https://github.com/robotology-playground/WBI-Toolbox). If you are interested, see [the migration guide from WBI-Toolbox 1.0](doc/Migration.md). 
-
 ### Main Goal
-> The library should allow non-programming experts or those researchers just getting acquainted with Whole Body Control to more easily deploy controllers either on simulation or a real YARP-based robotic platform, as well as to analyze their performance and take advantage of the innumerable MATLAB and Simulink toolboxes. We like to call it "rapid controller prototyping" after which a proper YARP module should be made for hard real time performance and final deployment.
+
+> The library should allow non-programming experts or those researchers just getting acquainted with Whole Body Control to more easily deploy controllers either on simulation or real YARP-based robotic platforms, and to analyze their performance taking advantage of the innumerable MATLAB and Simulink toolboxes. We like to call it "rapid controller prototyping" after which a proper YARP module should be made for hard real time performance and final deployment.
 
 The following video shows CoDyCo's latest results on iCub in which the top level controller has been implemented with the [WB-Toolbox](https://github.com/robotology/WB-Toolbox) running at a 10ms rate!
 
 <p align="center">
 <a href="https://youtu.be/UXU3KSa201o
-" target="_blank"><img src="http://img.youtube.com/vi/VrPBSSQEr3A/0.jpg" 
+" target="_blank"><img src="http://img.youtube.com/vi/VrPBSSQEr3A/0.jpg"
 alt="iCub balancing on one foot via external force control and interacting with humans" width="480" height="360" border="10" /></a>
 </p>
 
-
 - [Installation](https://github.com/robotology/WB-Toolbox#Installation)
 - [Troubleshooting](https://github.com/robotology/WB-Toolbox#Troubleshooting)
-- [Using the Toolbox](https://github.com/robotology/WB-Toolbox#Using the Toolbox)
+- [Using the Toolbox](https://github.com/robotology/WB-Toolbox#using-the-toolbox)
+- [Migrating from WBI-Toolbox](https://github.com/robotology/WB-Toolbox#migrating-from-wbi-toolbox)
+- [Migrating from WB-Toolbox 2.0](https://github.com/robotology/WB-Toolbox#migrating-from-wbi-toolbox-2.0)
 - [Modifying the Toolbox](https://github.com/robotology/WB-Toolbox#modifyng-the-toolbox)
 - [Citing this work](https://github.com/robotology/WB-Toolbox#citing-this-work)
 
-### Installation
+## Installation
 
-#### Requirements
-* Matlab V. 7.1+ and Simulink (Tested with Matlab R2015b, R2014a/b, R2013a/b, R2012a/b)
-* YARP (https://github.com/robotology/yarp) **-IMPORTANT-** Please compile as shared library. Currently a default yarp configuration option.
-* (Optional. Needed for some blocks) iCub (https://github.com/robotology/icub-main)
-* yarpWholeBodyInterface (https://github.com/robotology/yarp-wholebodyinterface)
+### Requirements
+* Matlab V. 7.1+ and Simulink (Tested with Matlab `R2015b`, `R2014a/b`, `R2013a/b`, `R2012a/b`)
+* [`YARP`](https://github.com/robotology/yarp) (Compiled as **shared library**. Currently a default yarp configuration option)
+* [`iDynTree`](https://github.com/robotology/idyntree)
+* Supported Operating Systems: **Linux**, **macOS**,  **Windows**
 
 **Note:** You can install the dependencies either manually or by using the [codyco-superbuild](https://github.com/robotology/codyco-superbuild).
 
-###### Optional
+### Optional requirements
+* [`iCub`](https://github.com/robotology/icub-main) (needed for some blocks) 
 * Gazebo Simulator (http://gazebosim.org/)
 * gazebo_yarp_plugins (https://github.com/robotology/gazebo_yarp_plugins).
 
-**Operating Systems supported: macOS, Linux, Windows.**
-
 **Note: The following instructions are for *NIX systems, but it works similarly on the other operating systems.**
 
-#### Compiling the C++ Code (Mex File)
+### Compiling the C++ Code (Mex File)
+
+**Prerequisite: Check the [Matlab configuration](https://github.com/robotology/WB-Toolbox#matlab-configuration) section.**
 
-**Prerequisite: Check the Matlab configuration.** Before going ahead with the compilation of the library, make sure that you have MATLAB and Simulink properly installed and running. Then, check that the MEX compiler for MATLAB is setup and working. For this you can try compiling some of the MATLAB C code examples as described in [http://www.mathworks.com/help/matlab/ref/mex.html#btz1tb5-12]. **If you installed Matlab in a location different from the default one, please set an environmental variable called either `MATLABDIR` or `MATLAB_DIR` with the root of your Matlab installation**, e.g. add a line to your `~/.bashrc` such as: `export MATLAB_DIR=/usr/local/bin/matlab`
+Before going ahead with the compilation of the library, make sure that you have MATLAB and Simulink properly installed and running. Then, check that the MEX compiler for MATLAB is setup and working. For this you can try compiling some of the MATLAB C code examples as described in the [mex official documentation](https://www.mathworks.com/help/matlab/ref/mex.html).
 
+**If you installed Matlab in a location different from the default one, please set an environmental variable called either `MATLABDIR` or `MATLAB_DIR` with the root of your Matlab installation**, e.g. add a line to your `~/.bashrc` such as: `export MATLAB_DIR=/usr/local/bin/matlab`.
 
 If you used the [codyco-superbuild](https://github.com/robotology/codyco-superbuild) you can skip this step and go directly to the Matlab configuration step.
-Otherwise follow the following instructions.
 
-- Clone this repository: `git clone https://github.com/robotology/WB-Toolbox.git`
-- Create the build directory: `mkdir -p WB-Toolbox/build`
-- Move inside the build directory: `cd WB-Toolbox/build`
-- Configure the project: `cmake ..`
+Execute:
+
+```sh
+git clone https://github.com/robotology/WB-Toolbox.git
+mkdir -p WB-Toolbox/build
+cd WB-Toolbox/build
+cmake ..
+```
+
+**Note:** We suggest to install the project instead of using it from the build directory. You should thus change the default installation directory by configuring the `CMAKE_INSTALL_PREFIX` variable. You can do it before running the first `cmake` command by calling `cmake .. -DCMAKE_INSTALL_PREFIX=/your/new/path`, or by configuring the project with `ccmake .`
 
-**Note** We suggest to install the project instead of using it from the build directory. You should thus change the default installation directory by configuring the `CMAKE_INSTALL_PREFIX` variable. You can do it before running the first `cmake` command by calling `cmake .. -DCMAKE_INSTALL_PREFIX=/your/new/path`, or by configuring the project with `ccmake .`
+Compile and install the toolbox as follows:
 
-- Compile the project: `make`
-- *[Optional/Suggested]* Install the project: `make install`
+```sh
+make
+make install
+```
 
+### Matlab configuration
 
-#### Matlab configuration
 In the following section we assume the `install` folder is either the one you specified in the previous step by using `CMAKE_INSTALL_PREFIX` or if you used the `codyco-superbuild`, is `/path/to/superbuild/build_folder/install`.
 
 In order to use the WB-Toolbox in Matlab you have to add the `mex` and `share/WB-Toolbox` to the Matlab path.
@@ -72,10 +81,10 @@ In order to use the WB-Toolbox in Matlab you have to add the `mex` and `share/WB
 ```
 
 You can also use (only once after the installation) the script `startup_wbitoolbox.m` that you can find in the `share/WB-Toolbox` subdirectory of the install folder to properly configure Matlab.
-**Note** This script configures Matlab to alwasy add the WB-Toolbox to the path. This assumes Matlab is always launched from the `userpath` folder.
+**Note:** This script configures Matlab to always add the WB-Toolbox to the path. This assumes Matlab is always launched from the `userpath` folder.
 
 - **Launching Matlab** By default, Matlab has different startup behaviours depending on the Operating Systems and how it is launched. For Windows and macOS (if launched in the Finder) Matlab starts in the `userpath` folder. If this is your common workflow you can skip the rest of this note. Instead, if you launch Matlab from the command line (Linux and macOS users), Matlab starts in the folder where the command is typed, and thus the `path.m` file generated in the previous phase is no longer loaded. You thus have two options:
-  -  create a Bash alias, such that Matlab is always launched in the `userpath`, e.g. 
+  -  create a Bash alias, such that Matlab is always launched in the `userpath`, e.g.
   ```
      alias matlab='cd ~/Documents/MATLAB && /path/to/matlab
   ```
@@ -90,75 +99,86 @@ You can also use (only once after the installation) the script `startup_wbitoolb
 
 - **Robots' configuration files** Each robot that can be used through the Toolbox has its own configuration file. WB-Toolbox uses the Yarp [`ResourceFinder`](http://www.yarp.it/yarp_resource_finder_tutorials.html). You should thus follow the related instruction to properly configure your installation (e.g. set the `YARP_DATA_DIRS` variable)
 
-### Troubleshooting
-- **Problems finding libraries and libstdc++.** In case Matlab has trouble finding a specific library, a workaround is to launch it preloading the variable `LD_PRELOAD` (or `DYLD_INSERT_LIBRARIES` on macOS) with the full path of the missing library. On Linux you might also have trouble with libstdc++.so since Matlab comes with its own. To use your system's libstdc++ you would need to launch Matlab something like (replace with your system's libstdc++ library):
+## Troubleshooting
+- **Problems finding libraries and libstdc++.** In case Matlab has trouble finding a specific library, a workaround is to launch it preloading the variable `LD_PRELOAD` (or `DYLD_INSERT_LIBRARIES` on macOS) with the full path of the missing library. On Linux you might also have trouble with `libstdc++.so` since Matlab comes with its own. To use your system's `libstdc++` you would need to launch Matlab something like (replace with your system's `libstdc++` library):
 
-`LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.19   matlab`
+`LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6 matlab`
 
 You could additionally create an alias to launch Matlab this way:
 
-`alias matlab_codyco="cd ~/Documents/MATLAB && LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6.0.19 matlab"`
+`alias matlab_codyco="cd ~/Documents/MATLAB && LD_PRELOAD=/usr/lib/x86_64-linux-gnu/libstdc++.so.6 matlab"`
 
-A more permanent and scalable solution can be found in the answer of [this issue](https://github.com/robotology/codyco-superbuild/issues/141#issuecomment-257892256)
+A more permanent and scalable solution can be found in https://github.com/robotology/codyco-superbuild/issues/141#issuecomment-257892256.
+
+- In case you compiled `YARP` in a directory different from the system default one and you are not using RPATH, you need to tell to MATLAB the location in which to find the shared libraries for `YARP`. If you launch MATLAB from command line, this task is already done for you by `bash` (if you edited `.bashrc`). If you launch MATLAB from the UI (e.g. on macOS by double clicking the application icon) you need to further add the variables in `${MATLAB_ROOT}/bin/.matlab7rc.sh` by first doing
 
-- In case you have compiled YARP in a directory different from the system default one and you are not using RPATH, you need to tell to MATLAB the location in which to find the shared libraries for YARP. If you launch MATLAB from command line, this task is already done for you by `bash` (if you edited `.bashrc`). If you launch MATLAB from the UI (e.g. on macOS by double clicking the application icon) you need to further add the variables in `${MATLAB_ROOT}/bin/.matlab7rc.sh` by first doing
 ```bash
     chmod +w .matlab7rc.sh
 ```
+
 Then looking for the variable `LDPATH_SUFFIX` and assign to every instance the contents of your `DYLD_LIBRARY_PATH`. Finally do:
+
 ```bash
     chmod -w .matlab7rc.sh
 ```
 
 The error message you get in this case might look something like:
+
 ```bash
 Library not loaded: libyarpwholeBodyinterface.0.0.1.dylib
 Referenced from:
 ${CODYCO_SUPERBUILD_DIR}/install/mex/robotState.mexmaci64
 ```
 
-### Using the Toolbox
+## Using the Toolbox
+
 The Toolbox assumes the following information / variables to be defined:
-##### Environment variables
+
+#### Environment variables
+
 If you launch Matlab from command line, it inherits the configuration from the `.bashrc` or `.bash_profile` file. If you launch Matlab directly from the GUI you should define this variables with the Matlab function `setenv`.
 
 - `YARP_ROBOT_NAME`
 - `YARP_DATA_DIRS`
 
-##### Matlab variables
-
-- `WBT_robotName`: if not defined the robot name defined in the `yarpWholeBodyInterface.ini` file is taken.
-- `WBT_modelName`: if not defined by default is `WBT_simulink`.
-- `WBT_wbiFilename`: the name of the Yarp WholeBodyInterface file, by default `yarpWholeBodyInterface.ini`.
-- `WBT_wbiList`: the name of the robot list to be used in the Toolbox. By default `ROBOT_TORQUE_CONTROL_JOINTS`.
+#### Creating a model
 
-**Creating a model**
 Before using or creating a new model keep in mind that WB-Toolbox is discrete in principle and your simulation should be discrete as well. By going to `Simulation > Configuration Parameters > Solver` you should change the solver options to `Fixed Step` and use a `discrete (no continuous states)` solver.
+r
+In order to start dragging and dropping blocks from the Toolbox, open the Simulink Library Browser and search for `Whole Body Toolbox` in the tree view.
+
+## Migrating
 
-To start dragging and dropping blocks from the Toolbox open Simulink and search for `Whole Body Toolbox` in the libraries tree.
+#### From WBI-Toolbox (1.0)
 
-### Migrating from WBI-Toolbox
-Please see [here](doc/Migration.md).
+Please see [here](doc/Migration_from_WBI-Toolbox_1.0.md).
+
+#### Migrating from WB-Toolbox 2.0
+
+Please see [here](doc/Migration_from_WB-Toolbox_2.0.md).
+
+## Modifying the Toolbox
 
-### Modifying the Toolbox
 If you want to modify the toolbox, please check developers documentation:
 - [Add a new C++ block](doc/dev/create_new_block.md)
 - [Tip and tricks on creating simulink blocks](doc/dev/sim_tricks.md)
 
-### Citing this work
+## Citing this work
+
 Please cite the following publication if you are using WB-Toolbox for your own research and/or robot controllers
 
 > Romano, F., Traversaro, S., Pucci, D., Del Prete, A., Eljaik, J., Nori, F. "A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems", 1st IEEE International Conference on Robotic Computing, 2017.
 
 Bibtex citation:
 ```
-@INPROCEEDINGS{RomanoWBI17, 
-author={F. Romano and S. Traversaro and D. Pucci and A. Del Prete and J. Eljaik and F. Nori}, 
-booktitle={2017 IEEE 1st International Conference on Robotic Computing}, 
-title={A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems}, 
-year={2017}, 
+@INPROCEEDINGS{RomanoWBI17,
+author={F. Romano and S. Traversaro and D. Pucci and A. Del Prete and J. Eljaik and F. Nori},
+booktitle={2017 IEEE 1st International Conference on Robotic Computing},
+title={A Whole-Body Software Abstraction layer for Control Design of free-floating Mechanical Systems},
+year={2017},
 }
 ```
 
 #### Tested OS
-macOS, Linux, Windows
+
+Linux, macOS, Windows.

From 47f3b5a83f8f47214df0aa8c75174cac382324fb Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 6 Dec 2017 15:47:13 +0000
Subject: [PATCH 79/92] Added Migration How-To from 2.0 to 3.0

Also renamed Migration.md
---
 doc/Migration_from_WB-Toolbox_2.0.md          | 82 +++++++++++++++++++
 ...n.md => Migration_from_WBI-Toolbox_1.0.md} |  6 +-
 2 files changed, 85 insertions(+), 3 deletions(-)
 create mode 100644 doc/Migration_from_WB-Toolbox_2.0.md
 rename doc/{Migration.md => Migration_from_WBI-Toolbox_1.0.md} (96%)

diff --git a/doc/Migration_from_WB-Toolbox_2.0.md b/doc/Migration_from_WB-Toolbox_2.0.md
new file mode 100644
index 000000000..b194665b9
--- /dev/null
+++ b/doc/Migration_from_WB-Toolbox_2.0.md
@@ -0,0 +1,82 @@
+# Migration from WB-Toolbox 2.0 to WB-Toolbox 3.0
+
+Most of the major changes delivered with the `3.0` version of the `WB-Toolbox` don't affect directly the end-user. Under the hood the toolbox had an important polishing, and the small manual intervention required by this new release match the new features which have been developed.
+
+You can read [Release Notes](https://github.com/robotology/WB-Toolbox/issues/65) for a detailed overview. Below are described only the steps required to port Simulink models to this new release.
+
+## New toolbox configuration
+
+The `WB-Toolbox 2.0` was based on top of [`yarpWholeBodyInterface`](https://github.com/robotology/yarp-wholebodyinterface), which configuration was stored in a `yarpWholeBodyInterface.ini` file. This file was retrieved by `ResourceFinder` and its information was then loaded into the toolbox.
+
+### Store the configuration in the Simulink model
+
+`WB-Toolbox 3.0` deprecated the support of `yarpWholeBodyInterface`, and for reducing the complexity and sparsity of the information storage it allows configuring a Simulink model from the model itself.
+
+The new _Configuration_ block allows inserting information such as **Robot Name**, **URDF Name**, **Controlled Joints**, ... directly from the block's mask.
+
+### Load the configuration from the Workspace
+
+Sometimes it might be useful loading the model's configuration directly from the Workspace. For this purpose, a new `WBToolbox.WBToolboxConfig` class has been developed. The _Configuration_ block needs to know only the name of the variable which refers to the object. Its data is then read before the simulation runs.
+
+This snippet of code shows an example of how to initialize a configuration object:
+
+```matlab
+# Initialize a config object
+WBTConfigRobot = WBToolbox.WBToolboxConfig;
+
+# Insert robot data
+WBTConfigRobot.RobotName = 'icubSim';
+WBTConfigRobot.UrdfFile = 'model.urdf';
+WBTConfigRobot.ControlledJoints = {...
+    'torso_pitch','torso_roll','torso_yaw',...
+    'r_shoulder_pitch','r_shoulder_roll','r_shoulder_yaw','r_elbow',...
+    'l_shoulder_pitch','l_shoulder_roll','l_shoulder_yaw','l_elbow'};
+WBTConfigRobot.ControlBoardsNames = {'torso','left_arm','right_arm'};
+WBTConfigRobot.LocalName = 'WBT';
+```
+
+To check if the data has been read correctly, it is displayed as read-only in the block's mask.
+
+Furthermore, a good sign for a valid configuration is the `WBTConfigRobot.ValidConfiguration` property.
+
+### Multi-robot support
+
+The scope of the introduction of the _Configuration_ block goes beyond the need of a simpler toolbox configuration. One of the biggest limitation of the `2.0` version is the support of [controlling only one robot per model](https://github.com/robotology/WB-Toolbox/issues/37).
+
+`WB-Toolbox 3.0` is now capable of reading / sending data from / to multiple robots. Multiple _Configuration_ blocks can be present in the same model attaining to the following rules:
+
+* In the same hierarchical level of a Simulink model, only one _Configuration_
+ block should be present. In other words, you should never see in the display more than one _Configuration_ block.
+ * _Configuration_ blocks put deeper in the hierarchy (e.g. in a Subsystem) override the previous ones.
+ 
+ There are a few pitfalls which are worth to be highlighted:
+ 
+ * It is legit having two Subsystems with different _Configuration_ blocks which point to the same robot. They can have for instance a different joint list and use different control boards. Although, despite reading information never creates problems, sending data to the robot in such scenario can be disastrous. In fact, consider the case these two subsystems share one link, and configure it in two different control modes (e.g. Position and Torque). Sending references to this link causes unpredictable effects.
+ * In line of theory it would be possible to have two subsystems in which the first one refers to a Gazebo model and the second one to a real robot. However, this case causes unpredictable behaviour for what concerns the synchronization. In fact, two different blocks for such aim are present in the toolbox: _Simulator Synchronizer_ and _Real Time Syncronizer_. They should be always used exclusively.
+
+## Other manual edits
+
+* All the _Get Estimate_ blocks need to be replaced by the new _Get Measurement_ block. 
+* All the hardcoded digital filters (e.g. for the joints velocities) have been removed. A new `Discrete Filter` block has been developed, and it should be manually added if the read raw signal (e.g. from the _Get Measurement_ block) requires filtering.
+* The `C++` class used by the _DoFs Converter_ changed. All the blocks in the `YARP To WBI` configuration need to be connected again.
+* The gravity vector is stored is the `WBToolboxConfig` class. If an alternative value is needed, set it globally directly in the configuration object or scope the block which needs it in a Subsystem with its own _Configuration_ block.
+* In order to set the low level PIDs, loading in the Workspace a `WBToolbox.WBTPIDConfig` object should be configured as follows:
+
+```matlab
+# Initialize an empty object
+pids = WBToolbox.WBTPIDConfig;
+
+# Insert data
+pids.addPID(WBToolbox.PID('l_elbow', WBToolbox.PID(1, 1, 0)));
+pids.addPID(WBToolbox.PID('l_wrist_pitch', WBToolbox.PID(1.5, 0, 0.1)));
+pids.addPID(WBToolbox.PID('r_shoulder_pitch', WBToolbox.PID(0.2, 0, 0)));
+pids.addPID(WBToolbox.PID('torso_roll', WBToolbox.PID(0.1, 0.1, 0)));
+```
+
+If some of the controlled joints are not specified, the PIDs are kept in their default values. 
+
+
+## Deprecations
+
+* _Inverse Kinematics_ and _Remote Inverse Kinematics_ have been temporary deprecated. They will see a major release in the coming months. If you need them please do not upgrade to the `3.0` version.
+* _Set Low Level PID_ block lost the capability of switching between multiple configurations. Since they were stored in an external file, this change is aligned to the simplification process chosen for for the configuration. 
\ No newline at end of file
diff --git a/doc/Migration.md b/doc/Migration_from_WBI-Toolbox_1.0.md
similarity index 96%
rename from doc/Migration.md
rename to doc/Migration_from_WBI-Toolbox_1.0.md
index b73a4590b..a89c8c6b7 100644
--- a/doc/Migration.md
+++ b/doc/Migration_from_WBI-Toolbox_1.0.md
@@ -1,4 +1,4 @@
-## Migration from WB**I**-Toolbox to WB-Toolbox 2.0
+## Migration from WBI-Toolbox to WB-Toolbox 2.0
 Given a simulink model with some WBI-Toolbox blocks inside, the general procedure is to **substitute each block with the corresponding one from WB-Toolbox 2.0**. However, there are some things the user should take care while doing this operation. This guide points out the main differences between the two toolboxes. For more information about the WBI-Toolbox, please have a look at the [WBI-Toolbox README](https://github.com/robotology-playground/WBI-Toolbox/blob/master/README.md).
 
 This guide follows the WBI and WB Toolbox blocks partitioning in Simulink library. It is divided in the following sections:
@@ -24,7 +24,7 @@ They have already meaningful default values. Nevertheless you should take a look
 
 The world-to-base homogeneous transformation matrix is a 4x4 matrix that maps position and orientation of a rigid body from an initial frame of reference to another.
 
-For back-compatibility, the transformation happending under the hood in the WBI-Toolbox can be obtained using forward kinematics blocks as in the following example: 
+For back-compatibility, the transformation happending under the hood in the WBI-Toolbox can be obtained using forward kinematics blocks as in the following example:
 
 ![](https://cloud.githubusercontent.com/assets/12396934/12293044/3337da3c-b9f1-11e5-959f-b40418b5469d.png)
 
@@ -43,7 +43,7 @@ It is divided into three subsections. The `Joint Limits` block is now moved into
 
 #### Dynamics
 - the `dJdq` blocks have been moved into **jacobians** subsection;
-- for mass matrix, generalized bias forces and centroidal momentum computation is now required to calculate explicitly the world-to-base homogeneous transformation matrix and the base velocity. Furthermore, the base frame pose and velocity and the joint configuration are now separate inputs. 
+- for mass matrix, generalized bias forces and centroidal momentum computation is now required to calculate explicitly the world-to-base homogeneous transformation matrix and the base velocity. Furthermore, the base frame pose and velocity and the joint configuration are now separate inputs.
 
 #### Jacobians
 There is now only one generic block for jacobians and one for `dJdq` calculation. The link with respect to which the Jacobian is computed is determined by its frame name as specified in the **URDF model**. As for the dynamics, the base pose and velocity and the joint position and velocity are required as input.

From edf4a58ce02c6fef01d667a89a48441744edbb94 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 9 Aug 2017 13:52:21 +0000
Subject: [PATCH 80/92] Included the support of a new DiscreteFilter Block

---
 toolbox/CMakeLists.txt         | 5 +++++
 toolbox/include/base/toolbox.h | 1 +
 toolbox/src/base/factory.cpp   | 7 +++++--
 3 files changed, 11 insertions(+), 2 deletions(-)

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index 62cf9590d..b89fdf5c6 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -93,6 +93,11 @@ if (WBT_USES_ICUB)
     #
     #     include_directories(SYSTEM ${iKin_INCLUDE_DIRS})
     # endif()
+    configure_block(BLOCK_NAME "Discrete Filter"
+        GROUP "Utilities"
+        LIST_PREFIX WBT
+        SOURCES src/DiscreteFilter.cpp
+        HEADERS include/DiscreteFilter.h)
 
     include_directories(SYSTEM ${ctrlLib_INCLUDE_DIRS})
 endif()
diff --git a/toolbox/include/base/toolbox.h b/toolbox/include/base/toolbox.h
index 14f5a3778..979eb6b93 100644
--- a/toolbox/include/base/toolbox.h
+++ b/toolbox/include/base/toolbox.h
@@ -19,6 +19,7 @@
 #include "SetLowLevelPID.h"
 #ifdef WBT_USES_ICUB
 #include "MinimumJerkTrajectoryGenerator.h"
+#include "DiscreteFilter.h"
 #endif
 #ifdef WBT_USES_IPOPT
 // #include "InverseKinematics.h"
diff --git a/toolbox/src/base/factory.cpp b/toolbox/src/base/factory.cpp
index ab7d9f9be..c78e4af68 100644
--- a/toolbox/src/base/factory.cpp
+++ b/toolbox/src/base/factory.cpp
@@ -40,8 +40,11 @@ Block* Block::instantiateBlockWithClassName(std::string blockClassName)
         block = new SetLowLevelPID();
     }
 #ifdef WBT_USES_ICUB
-    else if (blockClassName == MinimumJerkTrajectoryGenerator::ClassName) {
-        block = new MinimumJerkTrajectoryGenerator();
+    else if (blockClassName == wbt::MinimumJerkTrajectoryGenerator::ClassName) {
+        block = new wbt::MinimumJerkTrajectoryGenerator();
+    }
+    else if (blockClassName == wbt::DiscreteFilter::ClassName) {
+        block = new wbt::DiscreteFilter();
     }
 #endif
 #ifdef WBT_USES_IPOPT

From 73c1c4e7a35571018f21066cbfdeeda0a38150a2 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Thu, 10 Aug 2017 09:16:25 +0000
Subject: [PATCH 81/92] First working version of DiscreteFilter block with 1D
 I/O signal

---
 toolbox/include/DiscreteFilter.h |  44 ++++++
 toolbox/src/DiscreteFilter.cpp   | 230 +++++++++++++++++++++++++++++++
 2 files changed, 274 insertions(+)
 create mode 100644 toolbox/include/DiscreteFilter.h
 create mode 100644 toolbox/src/DiscreteFilter.cpp

diff --git a/toolbox/include/DiscreteFilter.h b/toolbox/include/DiscreteFilter.h
new file mode 100644
index 000000000..be47c7944
--- /dev/null
+++ b/toolbox/include/DiscreteFilter.h
@@ -0,0 +1,44 @@
+#include "Block.h"
+#include <string>
+
+#ifndef WBT_FILTER_H
+#define WBT_FILTER_H
+
+namespace wbt {
+    class DiscreteFilter;
+} // namespace wbt
+
+namespace iCub {
+    namespace ctrl {
+        class IFilter;
+    }
+} // namespace iCub
+
+namespace yarp {
+    namespace sig {
+        class Vector;
+    }
+} // namespace yarp
+
+class wbt::DiscreteFilter : public wbt::Block {
+private:
+    iCub::ctrl::IFilter* filter;
+    yarp::sig::Vector* num;
+    yarp::sig::Vector* den;
+
+    static void stringToYarpVector(const std::string s, yarp::sig::Vector* v);
+
+public:
+    static std::string ClassName;
+
+    DiscreteFilter();
+    ~DiscreteFilter() = default;
+
+    virtual unsigned numberOfParameters();
+    virtual bool configureSizeAndPorts(BlockInformation* blockInfo, wbt::Error* error);
+    virtual bool initialize(BlockInformation* blockInfo, wbt::Error* error);
+    virtual bool terminate(BlockInformation* blockInfo, wbt::Error* error);
+    virtual bool output(BlockInformation* blockInfo, wbt::Error* error);
+};
+
+#endif // WBT_FILTER_H
diff --git a/toolbox/src/DiscreteFilter.cpp b/toolbox/src/DiscreteFilter.cpp
new file mode 100644
index 000000000..9045446e5
--- /dev/null
+++ b/toolbox/src/DiscreteFilter.cpp
@@ -0,0 +1,230 @@
+#include "DiscreteFilter.h"
+#include "BlockInformation.h"
+#include "Error.h"
+#include "ForwardKinematics.h"
+#include "Signal.h"
+#include <algorithm>
+#include <cassert>
+#include <iCub/ctrl/filters.h>
+#include <sstream>
+#include <string>
+#include <yarp/sig/Vector.h>
+
+// Parameters
+#define PARAM_IDX_FLT_TYPE 1 // ::Filter type
+#define PARAM_IDX_NUMCOEFF 2 // ::Filter numerator coefficients
+#define PARAM_IDX_DENCOEFF 3 // ::Filter denominator coefficients
+#define PARAM_IDX_1LOWP_FC 4 // ::FirstOrderLowPassFilter cut frequency
+#define PARAM_IDX_1LOWP_TS 5 // ::FirstOrderLowPassFilter sampling time
+#define PARAM_IDX_MD_ORDER 6 // ::MedianFilter order
+// Inputs
+#define INPUT_IDX_SIGNAL 0
+// Outputs
+#define OUTPUT_IDX_SIGNAL 0
+// Other defines
+#define SIGNAL_DYNAMIC_SIZE -1
+
+using namespace wbt;
+
+std::string DiscreteFilter::ClassName = "DiscreteFilter";
+
+DiscreteFilter::DiscreteFilter() : filter(nullptr), num(nullptr), den(nullptr)
+{
+    num = new yarp::sig::Vector();
+    den = new yarp::sig::Vector();
+}
+
+unsigned DiscreteFilter::numberOfParameters()
+{
+    return 6;
+}
+
+bool DiscreteFilter::configureSizeAndPorts(BlockInformation* blockInfo, wbt::Error* error)
+{
+    // Memory allocation / Saving data not allowed here
+
+    // Specify I/O
+    // ===========
+
+    // INPUTS
+    // ------
+
+    // Number of input ports
+    int numberOfInputPorts = 1;
+    if (!blockInfo->setNumberOfInputPorts(numberOfInputPorts)) {
+        if (error) {
+            error->message = ClassName + " Failed to set input port number.";
+        }
+        return false;
+    }
+
+    // Input port sizes
+    blockInfo->setInputPortVectorSize(INPUT_IDX_SIGNAL, SIGNAL_DYNAMIC_SIZE);
+    blockInfo->setInputPortType(INPUT_IDX_SIGNAL, PortDataTypeDouble);
+
+    // OUTPUTS
+    // -------
+
+    // Number of output ports
+    int numberOfOutputPorts = 1;
+    if (!blockInfo->setNumberOfOuputPorts(numberOfOutputPorts)) {
+        if (error) {
+            error->message = ClassName + " Failed to set output port number.";
+        }
+        return false;
+    }
+
+    // Output port sizes
+    blockInfo->setOutputPortVectorSize(OUTPUT_IDX_SIGNAL, SIGNAL_DYNAMIC_SIZE);
+    blockInfo->setOutputPortType(OUTPUT_IDX_SIGNAL, PortDataTypeDouble);
+
+    return true;
+}
+
+bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
+{
+    // Handle the parameters
+    // =====================
+
+    // Variables for the filter parameters
+    std::string filter_type;
+    std::string num_coeff_str;
+    std::string den_coeff_str;
+    wbt::Data firstOrderLowPassFilter_fc;
+    wbt::Data firstOrderLowPassFilter_ts;
+    wbt::Data medianFilter_order;
+
+    // Get the scalar parameters
+    firstOrderLowPassFilter_fc = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1LOWP_FC);
+    firstOrderLowPassFilter_ts = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1LOWP_TS);
+    medianFilter_order         = blockInfo->getScalarParameterAtIndex(PARAM_IDX_MD_ORDER);
+
+    // Get the string parameter
+    if (!(blockInfo->getStringParameterAtIndex(PARAM_IDX_FLT_TYPE, filter_type)
+          && blockInfo->getStringParameterAtIndex(PARAM_IDX_NUMCOEFF, num_coeff_str)
+          && blockInfo->getStringParameterAtIndex(PARAM_IDX_DENCOEFF, den_coeff_str))) {
+        if (error) {
+            error->message = ClassName + " Failed to parse string parameters.";
+        }
+        return false;
+    }
+
+    // Convert the strings from the Matlab syntax ("[1.0 2 3.33]") to yarp::sig::Vector
+    stringToYarpVector(num_coeff_str, num);
+    stringToYarpVector(den_coeff_str, den);
+
+    // Create the filter object
+    // ========================
+
+    // Default
+    // -------
+    if (filter_type == "Default") {
+        if (num->length() == 0 || den->length() == 0) {
+            if (error) {
+                error->message = ClassName + " (Default) Wrong coefficients size";
+            }
+            return 1;
+        }
+        filter = new iCub::ctrl::Filter(*num, *den);
+    }
+    // FirstOrderLowPassFilter
+    // -----------------------
+    else if (filter_type == "FirstOrderLowPassFilter") {
+        if (firstOrderLowPassFilter_fc.floatData() == 0
+            || firstOrderLowPassFilter_ts.floatData() == 0) {
+            if (error) {
+                error->message = ClassName
+                                 + " (FirstOrderLowPassFilter) You need to "
+                                   "specify Fc and Ts";
+            }
+            return false;
+        }
+        filter = new iCub::ctrl::FirstOrderLowPassFilter(firstOrderLowPassFilter_fc.floatData(),
+                                                         firstOrderLowPassFilter_ts.floatData());
+    }
+    // MedianFilter
+    // ------------
+    else if (filter_type == "MedianFilter") {
+        if (medianFilter_order.int32Data() == 0) {
+            if (error) {
+                error->message = ClassName
+                                 + " (MedianFilter) You need to specify the "
+                                   "filter order.";
+            }
+            return false;
+        }
+        filter = new iCub::ctrl::MedianFilter(medianFilter_order.int32Data());
+    }
+    else {
+        if (error) error->message = ClassName + " Filter type not recognized.";
+        return false;
+    }
+
+    return true;
+}
+
+bool DiscreteFilter::terminate(BlockInformation* blockInfo, wbt::Error* error)
+{
+    if (filter) {
+        delete filter;
+        filter = nullptr;
+    }
+
+    if (num) {
+        delete num;
+        num = nullptr;
+    }
+
+    if (den) {
+        delete den;
+        den = nullptr;
+    }
+
+    return true;
+}
+
+bool DiscreteFilter::output(BlockInformation* blockInfo, wbt::Error* error)
+{
+    if (filter == nullptr) return false;
+
+    // Get the input signal
+    Signal inputSignal = blockInfo->getInputPortSignal(INPUT_IDX_SIGNAL);
+
+    unsigned index_element = 0;
+    yarp::sig::Vector inputSignalVector(1, inputSignal.get(index_element).doubleData());
+
+    // Filter the input signal
+    const yarp::sig::Vector& outputVector = filter->filt(inputSignalVector);
+
+    // Forward the filtered signal to the output port
+    Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_SIGNAL);
+    output.setBuffer(outputVector.data(), outputVector.length());
+
+    return true;
+}
+
+void DiscreteFilter::stringToYarpVector(const std::string str, yarp::sig::Vector* v)
+{
+    assert(v != nullptr);
+
+    std::string s = str;
+
+    // Lambda expression used to remove "[]," carachters
+    // TODO: what about removing everything but digits and "."?
+    auto lambda_remove_chars = [](const char& c) {
+        if ((c == '[') || (c == ']') || c == ',')
+            return true;
+        else
+            return false;
+    };
+
+    // Apply the lambda expression the input parameters
+    s.erase(remove_if(s.begin(), s.end(), lambda_remove_chars), s.end());
+
+    // Convert the cleaned string to a yarp vector of floats
+    std::istringstream sstrm(s);
+    float f;
+
+    while (sstrm >> f)
+        v->push_back(f);
+}

From 79c0c57118de4833b8c690d92f1dee7c56ee8b38 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Thu, 10 Aug 2017 12:57:46 +0000
Subject: [PATCH 82/92] DiscreteFilter: Multidimesional signal support

---
 toolbox/include/DiscreteFilter.h |  3 ++
 toolbox/src/DiscreteFilter.cpp   | 66 ++++++++++++++++++++++----------
 2 files changed, 49 insertions(+), 20 deletions(-)

diff --git a/toolbox/include/DiscreteFilter.h b/toolbox/include/DiscreteFilter.h
index be47c7944..234af3da9 100644
--- a/toolbox/include/DiscreteFilter.h
+++ b/toolbox/include/DiscreteFilter.h
@@ -1,5 +1,6 @@
 #include "Block.h"
 #include <string>
+#include <vector>
 
 #ifndef WBT_FILTER_H
 #define WBT_FILTER_H
@@ -22,9 +23,11 @@ namespace yarp {
 
 class wbt::DiscreteFilter : public wbt::Block {
 private:
+    bool firstRun;
     iCub::ctrl::IFilter* filter;
     yarp::sig::Vector* num;
     yarp::sig::Vector* den;
+    yarp::sig::Vector* inputSignalVector;
 
     static void stringToYarpVector(const std::string s, yarp::sig::Vector* v);
 
diff --git a/toolbox/src/DiscreteFilter.cpp b/toolbox/src/DiscreteFilter.cpp
index 9045446e5..fb1b1874a 100644
--- a/toolbox/src/DiscreteFilter.cpp
+++ b/toolbox/src/DiscreteFilter.cpp
@@ -25,13 +25,15 @@
 #define SIGNAL_DYNAMIC_SIZE -1
 
 using namespace wbt;
+using namespace iCub::ctrl;
+using namespace yarp::sig;
 
 std::string DiscreteFilter::ClassName = "DiscreteFilter";
 
-DiscreteFilter::DiscreteFilter() : filter(nullptr), num(nullptr), den(nullptr)
+DiscreteFilter::DiscreteFilter() : firstRun(true), filter(nullptr), inputSignalVector(nullptr)
 {
-    num = new yarp::sig::Vector();
-    den = new yarp::sig::Vector();
+    num = new Vector(0);
+    den = new Vector(0);
 }
 
 unsigned DiscreteFilter::numberOfParameters()
@@ -116,16 +118,16 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     // Create the filter object
     // ========================
 
-    // Default
+    // Generic
     // -------
-    if (filter_type == "Default") {
+    if (filter_type == "Generic") {
         if (num->length() == 0 || den->length() == 0) {
             if (error) {
-                error->message = ClassName + " (Default) Wrong coefficients size";
+                error->message = ClassName + " (Generic) Wrong coefficients size";
             }
             return 1;
         }
-        filter = new iCub::ctrl::Filter(*num, *den);
+        filter = new Filter(*num, *den);
     }
     // FirstOrderLowPassFilter
     // -----------------------
@@ -139,8 +141,8 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
             }
             return false;
         }
-        filter = new iCub::ctrl::FirstOrderLowPassFilter(firstOrderLowPassFilter_fc.floatData(),
-                                                         firstOrderLowPassFilter_ts.floatData());
+        filter = new FirstOrderLowPassFilter(firstOrderLowPassFilter_fc.floatData(),
+                                             firstOrderLowPassFilter_ts.floatData());
     }
     // MedianFilter
     // ------------
@@ -153,7 +155,7 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
             }
             return false;
         }
-        filter = new iCub::ctrl::MedianFilter(medianFilter_order.int32Data());
+        filter = new MedianFilter(medianFilter_order.int32Data());
     }
     else {
         if (error) error->message = ClassName + " Filter type not recognized.";
@@ -165,6 +167,9 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
 
 bool DiscreteFilter::terminate(BlockInformation* blockInfo, wbt::Error* error)
 {
+    // Deallocate all the memory
+    // -------------------------
+
     if (filter) {
         delete filter;
         filter = nullptr;
@@ -180,6 +185,11 @@ bool DiscreteFilter::terminate(BlockInformation* blockInfo, wbt::Error* error)
         den = nullptr;
     }
 
+    if (inputSignalVector) {
+        delete inputSignalVector;
+        inputSignalVector = nullptr;
+    }
+
     return true;
 }
 
@@ -187,23 +197,39 @@ bool DiscreteFilter::output(BlockInformation* blockInfo, wbt::Error* error)
 {
     if (filter == nullptr) return false;
 
-    // Get the input signal
-    Signal inputSignal = blockInfo->getInputPortSignal(INPUT_IDX_SIGNAL);
+    // Get the input and output signals
+    Signal inputSignal  = blockInfo->getInputPortSignal(INPUT_IDX_SIGNAL);
+    Signal outputSignal = blockInfo->getOutputPortSignal(OUTPUT_IDX_SIGNAL);
+
+    unsigned inputSignalWidth = blockInfo->getInputPortWidth(INPUT_IDX_SIGNAL);
+
+    // Allocate the memory for the input data
+    if (firstRun) {
+        // Allocate the input signal
+        inputSignalVector = new Vector(inputSignalWidth, 0.0);
 
-    unsigned index_element = 0;
-    yarp::sig::Vector inputSignalVector(1, inputSignal.get(index_element).doubleData());
+        // Initialize the filter. This is required because if the signal is not 1D,
+        // the default filter constructor initialize a wrongly sized y0
+        filter->init(Vector(inputSignalWidth));
+
+        firstRun = false;
+    }
+
+    // Copy the Signal to the data structure that the filter wants
+    for (unsigned i = 0; i < inputSignalWidth; ++i) {
+        (*inputSignalVector)[i] = inputSignal.get(i).doubleData();
+    }
 
-    // Filter the input signal
-    const yarp::sig::Vector& outputVector = filter->filt(inputSignalVector);
+    // Filter the current component of the input signal
+    const Vector& outputVector = filter->filt(*inputSignalVector);
 
-    // Forward the filtered signal to the output port
-    Signal output = blockInfo->getOutputPortSignal(OUTPUT_IDX_SIGNAL);
-    output.setBuffer(outputVector.data(), outputVector.length());
+    // Forward the filtered signals to the output port
+    outputSignal.setBuffer(outputVector.data(), outputVector.length());
 
     return true;
 }
 
-void DiscreteFilter::stringToYarpVector(const std::string str, yarp::sig::Vector* v)
+void DiscreteFilter::stringToYarpVector(const std::string str, Vector* v)
 {
     assert(v != nullptr);
 

From a49d7b9ee497181eade148d73b05f7025b13cb85 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 11 Aug 2017 07:07:55 +0000
Subject: [PATCH 83/92] Updated library

WBToolboxLibrary.mdl: R2012A
WBToolboxLibrary.slx: R2014B
WBToolboxLibrary_repository: R2016B
---
 toolbox/WBToolboxLibrary.mdl            | 4378 ++++++++++++++++
 toolbox/WBToolboxLibrary.slx            |  Bin 0 -> 536459 bytes
 toolbox/WBToolboxLibrary_repository.mdl | 6100 +++++++++++++++++++++++
 3 files changed, 10478 insertions(+)
 create mode 100644 toolbox/WBToolboxLibrary.mdl
 create mode 100644 toolbox/WBToolboxLibrary.slx
 create mode 100644 toolbox/WBToolboxLibrary_repository.mdl

diff --git a/toolbox/WBToolboxLibrary.mdl b/toolbox/WBToolboxLibrary.mdl
new file mode 100644
index 000000000..9d0e733f1
--- /dev/null
+++ b/toolbox/WBToolboxLibrary.mdl
@@ -0,0 +1,4378 @@
+Library {
+  Name			  "WBToolboxLibrary"
+  Version		  7.9
+  LibraryType		  "BlockLibrary"
+  SavedCharacterEncoding  "US-ASCII"
+  ScopeRefreshTime	  0.035000
+  OverrideScopeRefreshTime on
+  DisableAllScopes	  off
+  FPTRunName		  "Run 1"
+  MaxMDLFileLineLength	  120
+  Created		  "Thu Feb 06 02:21:39 2014"
+  Creator		  "jorhabib"
+  UpdateHistory		  "UpdateHistoryNever"
+  ModifiedByFormat	  "%<Auto>"
+  LastModifiedBy	  "icub"
+  ModifiedDateFormat	  "%<Auto>"
+  LastModifiedDate	  "Fri Aug 11 07:02:44 2017"
+  RTWModifiedTimeStamp	  424335764
+  ModelVersionFormat	  "1.%<AutoIncrement:383>"
+  ConfigurationManager	  "none"
+  SampleTimeColors	  off
+  SampleTimeAnnotations	  off
+  LibraryLinkDisplay	  "disabled"
+  WideLines		  off
+  ShowLineDimensions	  off
+  ShowPortDataTypes	  off
+  ShowDesignRanges	  off
+  ShowLoopsOnError	  on
+  IgnoreBidirectionalLines off
+  ShowStorageClass	  off
+  ShowTestPointIcons	  on
+  ShowSignalResolutionIcons on
+  ShowViewerIcons	  on
+  SortedOrder		  off
+  ExecutionContextIcon	  off
+  ShowLinearizationAnnotations on
+  BlockNameDataTip	  off
+  BlockParametersDataTip  off
+  BlockDescriptionStringDataTip	off
+  ToolBar		  on
+  StatusBar		  on
+  BrowserShowLibraryLinks off
+  BrowserLookUnderMasks	  off
+  SimulationMode	  "normal"
+  LinearizationMsg	  "none"
+  Profile		  off
+  ParamWorkspaceSource	  "MATLABWorkspace"
+  RecordCoverage	  off
+  CovSaveName		  "covdata"
+  CovMetricSettings	  "dw"
+  CovNameIncrementing	  off
+  CovHtmlReporting	  on
+  CovForceBlockReductionOff on
+  CovSaveCumulativeToWorkspaceVar on
+  CovSaveSingleToWorkspaceVar on
+  CovCumulativeReport	  off
+  CovReportOnPause	  on
+  CovModelRefEnable	  "Off"
+  CovExternalEMLEnable	  off
+  ExtModeBatchMode	  off
+  ExtModeEnableFloating	  on
+  ExtModeTrigType	  "manual"
+  ExtModeTrigMode	  "normal"
+  ExtModeTrigPort	  "1"
+  ExtModeTrigElement	  "any"
+  ExtModeTrigDuration	  1000
+  ExtModeTrigDurationFloating "auto"
+  ExtModeTrigHoldOff	  0
+  ExtModeTrigDelay	  0
+  ExtModeTrigDirection	  "rising"
+  ExtModeTrigLevel	  0
+  ExtModeArchiveMode	  "off"
+  ExtModeAutoIncOneShot	  off
+  ExtModeIncDirWhenArm	  off
+  ExtModeAddSuffixToVar	  off
+  ExtModeWriteAllDataToWs off
+  ExtModeArmWhenConnect	  on
+  ExtModeSkipDownloadWhenConnect off
+  ExtModeLogAll		  on
+  ExtModeAutoUpdateStatusClock on
+  ShowModelReferenceBlockVersion off
+  ShowModelReferenceBlockIO off
+  Array {
+    Type		    "Handle"
+    Dimension		    1
+    Simulink.ConfigSet {
+      $ObjectID		      7
+      Version		      "1.12.0"
+      Array {
+	Type			"Handle"
+	Dimension		9
+	Simulink.SolverCC {
+	  $ObjectID		  8
+	  Version		  "1.12.0"
+	  StartTime		  "0.0"
+	  StopTime		  "10.0"
+	  AbsTol		  "auto"
+	  FixedStep		  "auto"
+	  InitialStep		  "auto"
+	  MaxNumMinSteps	  "-1"
+	  MaxOrder		  5
+	  ZcThreshold		  "auto"
+	  ConsecutiveZCsStepRelTol "10*128*eps"
+	  MaxConsecutiveZCs	  "1000"
+	  ExtrapolationOrder	  4
+	  NumberNewtonIterations  1
+	  MaxStep		  "auto"
+	  MinStep		  "auto"
+	  MaxConsecutiveMinStep	  "1"
+	  RelTol		  "1e-3"
+	  SolverMode		  "Auto"
+	  EnableConcurrentExecution off
+	  ConcurrentTasks	  off
+	  Solver		  "ode45"
+	  SolverName		  "ode45"
+	  SolverJacobianMethodControl "auto"
+	  ShapePreserveControl	  "DisableAll"
+	  ZeroCrossControl	  "UseLocalSettings"
+	  ZeroCrossAlgorithm	  "Nonadaptive"
+	  AlgebraicLoopSolver	  "TrustRegion"
+	  SolverResetMethod	  "Fast"
+	  PositivePriorityOrder	  off
+	  AutoInsertRateTranBlk	  off
+	  SampleTimeConstraint	  "Unconstrained"
+	  InsertRTBMode		  "Whenever possible"
+	}
+	Simulink.DataIOCC {
+	  $ObjectID		  9
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+      ForegroundColor	      "white"
+      DropShadow	      on
+      RequestExecContextInheritance off
+      Variant		      off
+      MaskDisplay	      "image(imread('utilities.png'))"
+      MaskIconFrame	      on
+      MaskIconOpaque	      on
+      MaskIconRotate	      "none"
+      MaskPortRotate	      "default"
+      MaskIconUnits	      "autoscale"
+      System {
+	Name			"Utilities"
+	Location		[173, 232, 1453, 953]
+	Open			off
+	ModelBrowserVisibility	off
+	ModelBrowserWidth	200
+	ScreenColor		"white"
+	PaperOrientation	"landscape"
+	PaperPositionMode	"auto"
+	PaperType		"usletter"
+	PaperUnits		"inches"
+	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+	TiledPageScale		1
+	ShowPageBoundaries	off
+	ZoomFactor		"166"
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "DampPinv"
+	  SID			  "104"
+	  Ports			  [2, 1]
+	  Position		  [435, 153, 505, 197]
+	  ZOrder		  -1
+	  BackgroundColor	  "[0.848000, 0.128048, 0.320035]"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  MaskPromptString	  "Tolerance"
+	  MaskStyleString	  "edit"
+	  MaskVariables		  "tol=@1;"
+	  MaskTunableValueString  "on"
+	  MaskEnableString	  "on"
+	  MaskVisibilityString	  "on"
+	  MaskToolTipString	  "on"
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  MaskValueString	  "1e-4"
+	  System {
+	    Name		    "DampPinv"
+	    Location		    [0, 29, 1280, 744]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "100"
+	    Block {
+	      BlockType		      Inport
+	      Name		      "mat"
+	      SID		      "105"
+	      Position		      [50, 53, 80, 67]
+	      ZOrder		      -1
+	      IconDisplay	      "Port number"
+	    }
+	    Block {
+	      BlockType		      Inport
+	      Name		      "sigma"
+	      SID		      "106"
+	      Position		      [50, 93, 80, 107]
+	      ZOrder		      -2
+	      Port		      "2"
+	      IconDisplay	      "Port number"
+	    }
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Damped Pseudo Inverse"
+	      SID		      "107"
+	      Ports		      [2, 1]
+	      Position		      [105, 39, 200, 121]
+	      ZOrder		      -4
+	      LibraryVersion	      "1.32"
+	      ErrorFcn		      "Stateflow.Translate.translate"
+	      PermitHierarchicalResolution "ParametersOnly"
+	      TreatAsAtomicUnit	      on
+	      RequestExecContextInheritance off
+	      SFBlockType	      "MATLAB Function"
+	      Variant		      off
+	      MaskType		      "Stateflow"
+	      MaskDescription	      "Embedded MATLAB block"
+	      MaskSelfModifiable      on
+	      MaskDisplay	      "bgColor = Simulink.Root.ColorString2Rgb(get_param(gcbh, 'BackgroundColor')); image(imread('p"
+	      "rivate/eml_membrane_16.png','png','BackgroundColor',bgColor(1:3)),'center'); disp([10 10 'fcn']);"
+	      MaskIconFrame	      on
+	      MaskIconOpaque	      off
+	      MaskIconRotate	      "none"
+	      MaskPortRotate	      "default"
+	      MaskIconUnits	      "normalized"
+	      System {
+		Name			"Damped Pseudo Inverse"
+		Location		[12, 45, 1279, 3773]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"100"
+		SIDHighWatermark	"1772"
+		Block {
+		  BlockType		  Inport
+		  Name			  "mat"
+		  SID			  "107::1"
+		  Position		  [20, 101, 40, 119]
+		  ZOrder		  -1
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "sigma"
+		  SID			  "107::25"
+		  Position		  [20, 136, 40, 154]
+		  ZOrder		  11
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Demux
+		  Name			  " Demux "
+		  SID			  "107::1618"
+		  Ports			  [1, 1]
+		  Position		  [270, 230, 320, 270]
+		  ZOrder		  98
+		  Outputs		  "1"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  " SFunction "
+		  SID			  "107::1617"
+		  Tag			  "Stateflow S-Function WBToolboxLibrary 6"
+		  Ports			  [2, 2]
+		  Position		  [180, 100, 230, 160]
+		  ZOrder		  97
+		  FunctionName		  "sf_sfun"
+		  PortCounts		  "[2 2]"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		  Port {
+		    PortNumber		    2
+		    Name		    "DPinv"
+		    RTWStorageClass	    "Auto"
+		    DataLoggingNameMode	    "SignalName"
+		  }
+		}
+		Block {
+		  BlockType		  Terminator
+		  Name			  " Terminator "
+		  SID			  "107::1619"
+		  Position		  [460, 241, 480, 259]
+		  ZOrder		  99
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "DPinv"
+		  SID			  "107::5"
+		  Position		  [460, 101, 480, 119]
+		  ZOrder		  -6
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  SrcBlock		  "mat"
+		  SrcPort		  1
+		  Points		  [120, 0]
+		  DstBlock		  " SFunction "
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "sigma"
+		  SrcPort		  1
+		  DstBlock		  " SFunction "
+		  DstPort		  2
+		}
+		Line {
+		  Name			  "DPinv"
+		  Labels		  [0, 0]
+		  SrcBlock		  " SFunction "
+		  SrcPort		  2
+		  DstBlock		  "DPinv"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  " Demux "
+		  SrcPort		  1
+		  DstBlock		  " Terminator "
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  " SFunction "
+		  SrcPort		  1
+		  DstBlock		  " Demux "
+		  DstPort		  1
+		}
+	      }
+	      RTWSystemCode	      "Auto"
+	      MinAlgLoopOccurrences   off
+	      PropExecContextOutsideSubsystem off
+	      FunctionWithSeparateData off
+	      Opaque		      off
+	      MaskHideContents	      off
+	    }
+	    Block {
+	      BlockType		      Outport
+	      Name		      "DPinv"
+	      SID		      "108"
+	      Position		      [225, 73, 255, 87]
+	      ZOrder		      -5
+	      IconDisplay	      "Port number"
+	    }
+	    Line {
+	      SrcBlock		      "sigma"
+	      SrcPort		      1
+	      DstBlock		      "Damped Pseudo Inverse"
+	      DstPort		      2
+	    }
+	    Line {
+	      SrcBlock		      "Damped Pseudo Inverse"
+	      SrcPort		      1
+	      DstBlock		      "DPinv"
+	      DstPort		      1
+	    }
+	    Line {
+	      SrcBlock		      "mat"
+	      SrcPort		      1
+	      DstBlock		      "Damped Pseudo Inverse"
+	      DstPort		      1
+	    }
+	  }
+	  RTWSystemCode		  "Auto"
+	  MinAlgLoopOccurrences	  off
+	  PropExecContextOutsideSubsystem off
+	  FunctionWithSeparateData off
+	  Opaque		  off
+	  MaskHideContents	  off
+	}
+	Block {
+	  BlockType		  Reference
+	  Name			  "DiscreteFilter"
+	  SID			  "1772"
+	  Ports			  [1, 1]
+	  Position		  [440, 260, 500, 290]
+	  ZOrder		  83
+	  BackgroundColor	  "yellow"
+	  LibraryVersion	  "1.386"
+	  SourceBlock		  "WBToolboxLibrary/Utilities/DiscreteFilter"
+	  SourceType		  "Discrete Filter"
+	  filterType		  "Generic"
+	  numCoeffs		  "[0]"
+	  denCoeffs		  "[0]"
+	  Fc			  "0"
+	  Ts			  "0"
+	  orderMedianFilter	  "0"
+	}
+	Block {
+	  BlockType		  S-Function
+	  Name			  "DoFs converter"
+	  SID			  "1771"
+	  Ports			  [1, 5]
+	  Position		  [240, 241, 385, 309]
+	  ZOrder		  81
+	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
+	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
+	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend\n"
+	  FunctionName		  "WBToolbox"
+	  Parameters		  "'YARPWBIConverter',robotName,localName,wbiFile,wbiList,yarp2WBIOption"
+	  SFunctionDeploymentMode off
+	  EnableBusSupport	  off
+	  MaskType		  "DoFs converter"
+	  MaskDescription	  "This block converts from a DoFs serialization to a YARP serialization or viceversa depending on "
+	  "its configuration.\nThe DoFs configuration is automatically currently taken from the WBI list option.\nThe robot na"
+	  "me is taken from the environment variable YARP_ROBOT_NAME.\n\nParameters:\n\n- Conversion direction: specify if you"
+	  " want to convert from YARP to the current DoFs serialization or viceversa.\n\nWBI parameters:\n\n- Robot Port Name:"
+	  " Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name s"
+	  "pecified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the por"
+	  "ts opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of"
+	  " the Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+	  MaskPromptString	  "Conversion Direction|Robot Port Name|Model Name|WBI filename|WBI list name"
+	  MaskStyleString	  "popup(From YARP to WBI|From WBI to YARP),edit,edit,edit,edit"
+	  MaskVariables		  "yarp2WBIOption=@1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
+	  MaskTunableValueString  "on,on,on,on,on"
+	  MaskCallbackString	  "||||"
+	  MaskEnableString	  "on,on,on,on,on"
+	  MaskVisibilityString	  "on,on,on,on,on"
+	  MaskToolTipString	  "on,on,on,on,on"
+	  MaskDisplay		  "robotName = getenv('YARP_ROBOT_NAME');\n\ncurrentSelection = get_param(gcb,'yarp2WBIoption');\n\nif"
+	  " strcmp(currentSelection,'From YARP to WBI')\n    direction = 'YARP -> DoFs';\nelse\n    direction = 'DoFs -> YARP'"
+	  ";\nend\n\nfprintf('%s\\n\\n%s', robotName, direction);"
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  MaskValueString	  "From YARP to WBI|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
+	  MaskTabNameString	  "Block Parameters,WBI Parameters,WBI Parameters,WBI Parameters,WBI Parameters"
+	}
+	Block {
+	  BlockType		  S-Function
+	  Name			  "Minimum Jerk Trajectory Generator"
+	  SID			  "1747"
+	  Ports			  [1, 3]
+	  Position		  [335, 73, 490, 127]
+	  ZOrder		  78
+	  FunctionName		  "WBToolbox"
+	  Parameters		  "'MinimumJerkTrajectoryGenerator',sampleTime, settlingTime, firstDerivatives, secondDerivatives, expl"
+	  "icitInitialValue, externalSettlingTime,resetOnSettlingTime"
+	  SFunctionDeploymentMode off
+	  EnableBusSupport	  off
+	  MaskType		  "Minimum Jerk Trajectory Generator"
+	  MaskDescription	  "This block wraps the minJerkTrajGen class from iCub::ctrl::minJerkTrajGen.\n\nThe Minimum Jerk T"
+	  "rajectory Generator is approximated using a \n3rd order LTI dynamical system \n(for more details see [1]). \nPositi"
+	  "on, velocity and acceleration trajectories are computed.\n The main advantage with respect to the standard polynomi"
+	  "al \nform is that if the reference value yd changes \nthere is no need to recompute the filter coefficients.\n\n[1]"
+	  " Pattacini, U.; Nori, F.; Natale, L.; Metta, G.; Sandini, G., \"An experimental evaluation of a novel minimum-jerk "
+	  "cartesian controller for humanoid robots,\" in Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ International C"
+	  "onference on , vol., no., pp.1668-1674, 18-22 Oct. 2010\ndoi: 10.1109/IROS.2010.5650851\nURL: http://ieeexplore.iee"
+	  "e.org/stamp/stamp.jsp?tp=&arnumber=5650851&isnumber=5648787"
+	  MaskPromptString	  "External Settling Time|Settling Time|Sample Time|Reset on Settling Time Changes|Output First De"
+	  "rivative|Output Second Derivative|Explicit Initial Value"
+	  MaskStyleString	  "checkbox,edit,edit,checkbox,checkbox,checkbox,checkbox"
+	  MaskVariables		  "externalSettlingTime=@1;settlingTime=@2;sampleTime=@3;resetOnSettlingTime=@4;firstDerivatives=@5;"
+	  "secondDerivatives=@6;explicitInitialValue=@7;"
+	  MaskTunableValueString  "on,on,on,on,on,on,on"
+	  MaskCallbackString	  "externalSettlingTime = get_param(gcb, 'externalSettlingTime');\nvisibility = get_param(gcb, '"
+	  "MaskVisibilities');\nif(strcmp(externalSettlingTime, 'on'))\n    visibility{2} = 'off';\n    visibility{4} = 'on';\n"
+	  "else\n    visibility{2} = 'on';\n    visibility{4} = 'off';\nend\nset_param(gcb, 'MaskVisibilities',visibility);\nc"
+	  "lear externalSettlingTime||||||"
+	  MaskEnableString	  "on,on,on,on,on,on,on"
+	  MaskVisibilityString	  "on,on,on,on,on,on,off"
+	  MaskToolTipString	  "on,on,on,on,on,on,on"
+	  MaskDisplay		  "firstDer = get_param(gcb, 'firstDerivatives');\nsecondDer = get_param(gcb, 'secondDerivatives');\ni"
+	  "nitialValues = get_param(gcb, 'explicitInitialValue');\nexternalSettlingTimeParam = get_param(gcb, 'externalSettlin"
+	  "gTime');\n\n%Inputs\nportIndex = 2;\nport_label('input', 1, 'Reference')\nif(strcmp(initialValues, 'on'))\n    port"
+	  "_label('input', portIndex, 'Initial Value')\n    portIndex = portIndex + 1;\nend\n\nif(strcmp(externalSettlingTimeP"
+	  "aram, 'on'))\n    port_label('input', portIndex, 'Settling Time')\n    portIndex = portIndex + 1;\nend\n\n%Outputs\n"
+	  "port_label('output', 1, 'Signal')\nsecondDerPortIndex = 2;\nif(strcmp(firstDer, 'on'))\n    port_label('output', 2,"
+	  " 'First Derivative')\n    secondDerPortIndex = secondDerPortIndex + 1;\nend\nif(strcmp(secondDer, 'on'))\n    port_"
+	  "label('output', secondDerPortIndex, 'Second Derivative')\nend\n\n\n"
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  MaskValueString	  "off|3|0.01|off|on|on|off"
+	  MaskTabNameString	  "Trajectory Parameters,Trajectory Parameters,Trajectory Parameters,Trajectory Parameters,Input/"
+	  "Output,Input/Output,Input/Output"
+	}
+	Block {
+	  BlockType		  S-Function
+	  Name			  "Real Time Synchronizer"
+	  SID			  "1657"
+	  Ports			  []
+	  Position		  [155, 14, 280, 51]
+	  ZOrder		  23
+	  ForegroundColor	  "white"
+	  BackgroundColor	  "gray"
+	  ShowName		  off
+	  FunctionName		  "WBToolbox"
+	  Parameters		  "'RealTimeSynchronizer',period"
+	  SFunctionDeploymentMode off
+	  EnableBusSupport	  off
+	  MaskType		  "Real Time Synchronizer"
+	  MaskDescription	  "This block slows down the simulation trying to match the period specified \nas parameter (in sec"
+	  "onds).\nThe bigger the period the more probable \nis that Simulink can remain synched with it.\n"
+	  MaskPromptString	  "Controller Period (in seconds)"
+	  MaskStyleString	  "edit"
+	  MaskVariables		  "period=@1;"
+	  MaskTunableValueString  "on"
+	  MaskEnableString	  "on"
+	  MaskVisibilityString	  "on"
+	  MaskToolTipString	  "on"
+	  MaskDisplay		  "disp('Real Time Synchronizer')"
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  MaskValueString	  "0.01"
+	}
+	Block {
+	  BlockType		  S-Function
+	  Name			  "Simulator Synchronizer"
+	  SID			  "1658"
+	  Ports			  []
+	  Position		  [335, 14, 465, 51]
+	  ZOrder		  24
+	  ForegroundColor	  "[0.490196, 0.000000, 0.000000]"
+	  ShowName		  off
+	  FunctionName		  "WBToolbox"
+	  Parameters		  "'SimulatorSynchronizer',period, serverPortName, clientPortName"
+	  SFunctionDeploymentMode off
+	  EnableBusSupport	  off
+	  MaskType		  "Simulator Synchronizer"
+	  MaskDescription	  "This block synchronizes with the external simulation on a simulator \n(only Gazebo is supported "
+	  "at the moment).\n\n"
+	  MaskPromptString	  "Controller Period (in seconds)|Server Port Name|Client Port Name"
+	  MaskStyleString	  "edit,edit,edit"
+	  MaskVariables		  "period=@1;serverPortName=@2;clientPortName=@3;"
+	  MaskTunableValueString  "on,on,on"
+	  MaskCallbackString	  "||"
+	  MaskEnableString	  "on,on,on"
+	  MaskVisibilityString	  "on,on,on"
+	  MaskToolTipString	  "on,on,on"
+	  MaskDisplay		  "disp('Simulator Synchronizer')"
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  MaskValueString	  "0.01|'/clock/rpc'|'/WBT_synchronizer/rpc:o'"
+	}
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "TruncPinv"
+	  SID			  "109"
+	  Ports			  [2, 1]
+	  Position		  [335, 153, 405, 197]
+	  ZOrder		  -3
+	  BackgroundColor	  "[0.534601, 0.470279, 1.000000]"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  MaskPromptString	  "Tolerance"
+	  MaskStyleString	  "edit"
+	  MaskVariables		  "tol=@1;"
+	  MaskTunableValueString  "on"
+	  MaskEnableString	  "on"
+	  MaskVisibilityString	  "on"
+	  MaskToolTipString	  "on"
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  MaskValueString	  "1e-4"
+	  System {
+	    Name		    "TruncPinv"
+	    Location		    [0, 29, 1280, 744]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "100"
+	    Block {
+	      BlockType		      Inport
+	      Name		      "S"
+	      SID		      "110"
+	      Position		      [50, 53, 80, 67]
+	      ZOrder		      -1
+	      IconDisplay	      "Port number"
+	    }
+	    Block {
+	      BlockType		      Inport
+	      Name		      "tol"
+	      SID		      "111"
+	      Position		      [50, 93, 80, 107]
+	      ZOrder		      -2
+	      Port		      "2"
+	      IconDisplay	      "Port number"
+	    }
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Truncated PseudoInverse"
+	      SID		      "112"
+	      Ports		      [2, 1]
+	      Position		      [105, 39, 200, 121]
+	      ZOrder		      -4
+	      LibraryVersion	      "1.32"
+	      ErrorFcn		      "Stateflow.Translate.translate"
+	      PermitHierarchicalResolution "ParametersOnly"
+	      TreatAsAtomicUnit	      on
+	      RequestExecContextInheritance off
+	      SFBlockType	      "MATLAB Function"
+	      Variant		      off
+	      MaskType		      "Stateflow"
+	      MaskDescription	      "Embedded MATLAB block"
+	      MaskSelfModifiable      on
+	      MaskDisplay	      "bgColor = Simulink.Root.ColorString2Rgb(get_param(gcbh, 'BackgroundColor')); image(imread('p"
+	      "rivate/eml_membrane_16.png','png','BackgroundColor',bgColor(1:3)),'center'); disp([10 10 'fcn']);"
+	      MaskIconFrame	      on
+	      MaskIconOpaque	      off
+	      MaskIconRotate	      "none"
+	      MaskPortRotate	      "default"
+	      MaskIconUnits	      "normalized"
+	      System {
+		Name			"Truncated PseudoInverse"
+		Location		[12, 45, 1279, 3773]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"100"
+		SIDHighWatermark	"1772"
+		Block {
+		  BlockType		  Inport
+		  Name			  "mat"
+		  SID			  "112::1"
+		  Position		  [20, 101, 40, 119]
+		  ZOrder		  -1
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "tol"
+		  SID			  "112::25"
+		  Position		  [20, 136, 40, 154]
+		  ZOrder		  11
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Demux
+		  Name			  " Demux "
+		  SID			  "112::1609"
+		  Ports			  [1, 1]
+		  Position		  [270, 230, 320, 270]
+		  ZOrder		  98
+		  Outputs		  "1"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  " SFunction "
+		  SID			  "112::1608"
+		  Tag			  "Stateflow S-Function WBToolboxLibrary 7"
+		  Ports			  [2, 2]
+		  Position		  [180, 100, 230, 160]
+		  ZOrder		  97
+		  FunctionName		  "sf_sfun"
+		  PortCounts		  "[2 2]"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		  Port {
+		    PortNumber		    2
+		    Name		    "TPinv"
+		    RTWStorageClass	    "Auto"
+		    DataLoggingNameMode	    "SignalName"
+		  }
+		}
+		Block {
+		  BlockType		  Terminator
+		  Name			  " Terminator "
+		  SID			  "112::1610"
+		  Position		  [460, 241, 480, 259]
+		  ZOrder		  99
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "TPinv"
+		  SID			  "112::5"
+		  Position		  [460, 101, 480, 119]
+		  ZOrder		  -6
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  SrcBlock		  "mat"
+		  SrcPort		  1
+		  Points		  [120, 0]
+		  DstBlock		  " SFunction "
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "tol"
+		  SrcPort		  1
+		  DstBlock		  " SFunction "
+		  DstPort		  2
+		}
+		Line {
+		  Name			  "TPinv"
+		  Labels		  [0, 0]
+		  SrcBlock		  " SFunction "
+		  SrcPort		  2
+		  DstBlock		  "TPinv"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  " Demux "
+		  SrcPort		  1
+		  DstBlock		  " Terminator "
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  " SFunction "
+		  SrcPort		  1
+		  DstBlock		  " Demux "
+		  DstPort		  1
+		}
+	      }
+	      RTWSystemCode	      "Auto"
+	      MinAlgLoopOccurrences   off
+	      PropExecContextOutsideSubsystem off
+	      FunctionWithSeparateData off
+	      Opaque		      off
+	      MaskHideContents	      off
+	    }
+	    Block {
+	      BlockType		      Outport
+	      Name		      "Tpinv"
+	      SID		      "113"
+	      Position		      [225, 73, 255, 87]
+	      ZOrder		      -5
+	      IconDisplay	      "Port number"
+	    }
+	    Line {
+	      SrcBlock		      "S"
+	      SrcPort		      1
+	      DstBlock		      "Truncated PseudoInverse"
+	      DstPort		      1
+	    }
+	    Line {
+	      SrcBlock		      "Truncated PseudoInverse"
+	      SrcPort		      1
+	      DstBlock		      "Tpinv"
+	      DstPort		      1
+	    }
+	    Line {
+	      SrcBlock		      "tol"
+	      SrcPort		      1
+	      DstBlock		      "Truncated PseudoInverse"
+	      DstPort		      2
+	    }
+	  }
+	  RTWSystemCode		  "Auto"
+	  MinAlgLoopOccurrences	  off
+	  PropExecContextOutsideSubsystem off
+	  FunctionWithSeparateData off
+	  Opaque		  off
+	  MaskHideContents	  off
+	}
+	Block {
+	  BlockType		  S-Function
+	  Name			  "Yarp Read"
+	  SID			  "1632"
+	  Ports			  [0, 2]
+	  Position		  [105, 74, 165, 121]
+	  ZOrder		  22
+	  ForegroundColor	  "[0.490196, 0.000000, 0.000000]"
+	  FunctionName		  "WBToolbox"
+	  Parameters		  "'YarpRead',portName,signalSize,blocking,timestamp,autoconnect,errorOnConnection"
+	  SFunctionDeploymentMode off
+	  EnableBusSupport	  off
+	  MaskType		  "YARP Read"
+	  MaskDescription	  "This block behaves as the command 'yarp read'. \nBy default it has the option 'Autoconnect' acti"
+	  "ve, which means that the user \ncan only specify the name of the port ('Source Port Name') from which readings are "
+	  "desired,\nalong with the size of the expected data (e.g. 3 when reading the torso state).\nWhen the user unchecks '"
+	  "Autoconnect' 'Opened Port Name' field shows up \ncorresponding to the name of the port the block will create \nbut "
+	  "won't connect to anything. \nAt this point the output will be always zero, until the user connects it\nto some othe"
+	  "r port from command line by issuing 'yarp connect [from] [dest]'.\nIn this case an additional output, called 'signa"
+	  "l' will be added which will output\n1 if the port has received at least one data, or 0 otherwise.\n"
+	  MaskPromptString	  "Source Port Name|Port Size|Blocking Read|Read Timestamp|Autoconnect|Error on missing connection"
+	  MaskStyleString	  "edit,edit,checkbox,checkbox,checkbox,checkbox"
+	  MaskVariables		  "portName=@1;signalSize=@2;blocking=@3;timestamp=@4;autoconnect=@5;errorOnConnection=@6;"
+	  MaskTunableValueString  "on,on,on,on,on,on"
+	  MaskCallbackString	  "||||autoconnect_val = get_param(gcb, 'Autoconnect');\nprompt_string = get_param(gcb, 'MaskPro"
+	  "mpts');\nif(strcmp(autoconnect_val, 'on'))\n    prompt_string{1} = 'Source Port Name';\n    set_param(gcb, 'MaskVis"
+	  "ibilities',{'on';'on';'on';'on';'on';'on'});\nelse\n    prompt_string{1} = 'Opened Port Name';\n    set_param(gcb, "
+	  "'MaskVisibilities',{'on';'on';'on';'on';'on';'off'});\nend\nset_param(gcb, 'MaskPrompts', prompt_string);\nclear au"
+	  "toconnect_val prompt_string|"
+	  MaskEnableString	  "on,on,on,on,on,on"
+	  MaskVisibilityString	  "on,on,on,on,on,on"
+	  MaskToolTipString	  "on,on,on,on,on,on"
+	  MaskSelfModifiable	  on
+	  MaskDisplay		  "port_label('output', 1, 'signal');\nportNumber = 1;\nif (timestamp)\n    portNumber = portNumber + "
+	  "1;\n    port_label('output', portNumber, 'timestamp');\nend\n\nif (~autoconnect)\n    portNumber = portNumber + 1;\n"
+	  "    port_label('output', portNumber, 'status');\nend\n\n"
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  MaskValueString	  "'/portname'|1|off|on|on|on"
+	}
+	Block {
+	  BlockType		  S-Function
+	  Name			  "Yarp Write"
+	  SID			  "1659"
+	  Ports			  [1]
+	  Position		  [230, 76, 290, 124]
+	  ZOrder		  27
+	  ForegroundColor	  "[0.490196, 0.000000, 0.000000]"
+	  FunctionName		  "WBToolbox"
+	  Parameters		  "'YarpWrite',portName,autoconnect,errorOnConnection"
+	  SFunctionDeploymentMode off
+	  EnableBusSupport	  off
+	  MaskType		  "YARP Write"
+	  MaskDescription	  "This block behaves as the command 'yarp write'. \n\nBy default this block opens a port names as "
+	  "the \"Opened Port Name\" parameter\nand stream the input signal to that port.\nIf the option \"Autoconnect\" is spe"
+	  "cified, the first parameter become the\nname of the target port to which the data will be stramed, \ne.g. like \"ya"
+	  "rp write ... /destinationPort\"\n"
+	  MaskPromptString	  "Opened Port Name|Autoconnect|Error on missing connection"
+	  MaskStyleString	  "edit,checkbox,checkbox"
+	  MaskVariables		  "portName=@1;autoconnect=@2;errorOnConnection=@3;"
+	  MaskTunableValueString  "on,on,on"
+	  MaskCallbackString	  "|autoconnect_val = get_param(gcb, 'Autoconnect');\nprompt_string = get_param(gcb, 'MaskPrompt"
+	  "s');\nif(strcmp(autoconnect_val, 'on'))\n    prompt_string{1} = 'Destination Port Name';\n    set_param(gcb, 'MaskV"
+	  "isibilities',{'on';'on';'on'});\nelse\n    prompt_string{1} = 'Opened Port Name';\n    set_param(gcb, 'MaskVisibili"
+	  "ties',{'on';'on';'off'});\nend\nset_param(gcb, 'MaskPrompts', prompt_string);\nclear autoconnect_val prompt_string|"
+	  MaskEnableString	  "on,on,on"
+	  MaskVisibilityString	  "on,on,off"
+	  MaskToolTipString	  "on,on,on"
+	  MaskSelfModifiable	  on
+	  MaskDisplay		  "disp('Yarp Write')"
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  MaskValueString	  "'/portname'|off|on"
+	}
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "errors"
+	  SID			  "714"
+	  Ports			  [2, 2]
+	  Position		  [200, 153, 260, 197]
+	  ZOrder		  -9
+	  BackgroundColor	  "[0.300000, 0.580000, 1.000000]"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  MaskType		  "Errors"
+	  MaskDescription	  "Computes two kinds of errors. The first is just the difference between x\nand y while the second"
+	  " is the ratio (x-y)/y."
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  System {
+	    Name		    "errors"
+	    Location		    [0, 29, 1280, 744]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "100"
+	    Block {
+	      BlockType		      Inport
+	      Name		      "x"
+	      SID		      "715"
+	      Position		      [30, 28, 60, 42]
+	      ZOrder		      -1
+	      IconDisplay	      "Port number"
+	    }
+	    Block {
+	      BlockType		      Inport
+	      Name		      "y"
+	      SID		      "716"
+	      Position		      [25, 103, 55, 117]
+	      ZOrder		      -2
+	      Port		      "2"
+	      IconDisplay	      "Port number"
+	    }
+	    Block {
+	      BlockType		      Sum
+	      Name		      "Add"
+	      SID		      "717"
+	      Ports		      [2, 1]
+	      Position		      [95, 27, 125, 58]
+	      ZOrder		      -3
+	      Inputs		      "+-"
+	      InputSameDT	      off
+	      OutDataTypeStr	      "Inherit: Inherit via internal rule"
+	      SaturateOnIntegerOverflow	off
+	    }
+	    Block {
+	      BlockType		      Product
+	      Name		      "Divide"
+	      SID		      "718"
+	      Ports		      [2, 1]
+	      Position		      [165, 37, 195, 68]
+	      ZOrder		      -4
+	      Inputs		      "*/"
+	      InputSameDT	      off
+	      OutDataTypeStr	      "Inherit: Inherit via internal rule"
+	      RndMeth		      "Floor"
+	      SaturateOnIntegerOverflow	off
+	    }
+	    Block {
+	      BlockType		      Outport
+	      Name		      "x-y"
+	      SID		      "719"
+	      Position		      [225, 13, 255, 27]
+	      ZOrder		      -5
+	      IconDisplay	      "Port number"
+	    }
+	    Block {
+	      BlockType		      Outport
+	      Name		      "(x-y)./y"
+	      SID		      "720"
+	      Position		      [220, 48, 250, 62]
+	      ZOrder		      -6
+	      Port		      "2"
+	      IconDisplay	      "Port number"
+	    }
+	    Line {
+	      SrcBlock		      "Add"
+	      SrcPort		      1
+	      Points		      [10, 0]
+	      Branch {
+		DstBlock		"Divide"
+		DstPort			1
+	      }
+	      Branch {
+		Points			[0, -25]
+		DstBlock		"x-y"
+		DstPort			1
+	      }
+	    }
+	    Line {
+	      SrcBlock		      "x"
+	      SrcPort		      1
+	      DstBlock		      "Add"
+	      DstPort		      1
+	    }
+	    Line {
+	      SrcBlock		      "y"
+	      SrcPort		      1
+	      Points		      [15, 0]
+	      Branch {
+		Points			[0, -60]
+		DstBlock		"Add"
+		DstPort			2
+	      }
+	      Branch {
+		Points			[60, 0; 0, -50]
+		DstBlock		"Divide"
+		DstPort			2
+	      }
+	    }
+	    Line {
+	      SrcBlock		      "Divide"
+	      SrcPort		      1
+	      DstBlock		      "(x-y)./y"
+	      DstPort		      1
+	    }
+	  }
+	  RTWSystemCode		  "Auto"
+	  MinAlgLoopOccurrences	  off
+	  PropExecContextOutsideSubsystem off
+	  FunctionWithSeparateData off
+	  Opaque		  off
+	  MaskHideContents	  off
+	}
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "holder\n"
+	  SID			  "1296"
+	  Ports			  [1, 1]
+	  Position		  [105, 152, 165, 198]
+	  ZOrder		  14
+	  BackgroundColor	  "[0.537255, 0.721569, 1.000000]"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  MaskType		  "Holder"
+	  MaskDescription	  "This block holds the first input value during the simulation."
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  System {
+	    Name		    "holder\n"
+	    Location		    [12, 45, 1340, 980]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "100"
+	    Block {
+	      BlockType		      Inport
+	      Name		      "s"
+	      SID		      "1297"
+	      Position		      [145, 43, 175, 57]
+	      ZOrder		      13
+	      IconDisplay	      "Port number"
+	    }
+	    Block {
+	      BlockType		      Clock
+	      Name		      "Clock"
+	      SID		      "1298"
+	      Position		      [45, 65, 65, 85]
+	      ZOrder		      11
+	    }
+	    Block {
+	      BlockType		      Reference
+	      Name		      "Compare\nTo Constant"
+	      SID		      "1299"
+	      Ports		      [1, 1]
+	      Position		      [90, 60, 120, 90]
+	      ZOrder		      10
+	      LibraryVersion	      "1.388"
+	      SourceBlock	      "simulink/Logic and Bit\nOperations/Compare\nTo Constant"
+	      SourceType	      "Compare To Constant"
+	      relop		      "=="
+	      const		      "0"
+	      OutDataTypeStr	      "boolean"
+	      ZeroCross		      on
+	    }
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "MATLAB Function"
+	      SID		      "1300"
+	      Ports		      [2, 1]
+	      Position		      [235, 37, 305, 88]
+	      ZOrder		      15
+	      LibraryVersion	      "1.32"
+	      ErrorFcn		      "Stateflow.Translate.translate"
+	      PermitHierarchicalResolution "ParametersOnly"
+	      TreatAsAtomicUnit	      on
+	      RequestExecContextInheritance off
+	      SFBlockType	      "MATLAB Function"
+	      Variant		      off
+	      MaskType		      "Stateflow"
+	      MaskDescription	      "Embedded MATLAB block"
+	      MaskSelfModifiable      on
+	      MaskDisplay	      "bgColor = Simulink.Root.ColorString2Rgb(get_param(gcbh, 'BackgroundColor')); image(imread('p"
+	      "rivate/eml_membrane_16.png','png','BackgroundColor',bgColor(1:3)),'center'); disp([10 10 'fcn']);"
+	      MaskIconFrame	      on
+	      MaskIconOpaque	      off
+	      MaskIconRotate	      "none"
+	      MaskPortRotate	      "default"
+	      MaskIconUnits	      "normalized"
+	      System {
+		Name			"MATLAB Function"
+		Location		[12, 45, 1135, 3068]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"100"
+		SIDHighWatermark	"1772"
+		Block {
+		  BlockType		  Inport
+		  Name			  "s"
+		  SID			  "1300::24"
+		  Position		  [20, 101, 40, 119]
+		  ZOrder		  10
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "unused"
+		  SID			  "1300::26"
+		  Position		  [20, 136, 40, 154]
+		  ZOrder		  12
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Demux
+		  Name			  " Demux "
+		  SID			  "1300::1609"
+		  Ports			  [1, 1]
+		  Position		  [270, 230, 320, 270]
+		  ZOrder		  86
+		  Outputs		  "1"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  " SFunction "
+		  SID			  "1300::1608"
+		  Tag			  "Stateflow S-Function WBToolboxLibrary 1"
+		  Ports			  [2, 2]
+		  Position		  [180, 100, 230, 160]
+		  ZOrder		  85
+		  FunctionName		  "sf_sfun"
+		  PortCounts		  "[2 2]"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		  Port {
+		    PortNumber		    2
+		    Name		    "s0"
+		    RTWStorageClass	    "Auto"
+		    DataLoggingNameMode	    "SignalName"
+		  }
+		}
+		Block {
+		  BlockType		  Terminator
+		  Name			  " Terminator "
+		  SID			  "1300::1610"
+		  Position		  [460, 241, 480, 259]
+		  ZOrder		  87
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "s0"
+		  SID			  "1300::25"
+		  Position		  [460, 101, 480, 119]
+		  ZOrder		  11
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  SrcBlock		  "s"
+		  SrcPort		  1
+		  Points		  [120, 0]
+		  DstBlock		  " SFunction "
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "unused"
+		  SrcPort		  1
+		  DstBlock		  " SFunction "
+		  DstPort		  2
+		}
+		Line {
+		  Name			  "s0"
+		  Labels		  [0, 0]
+		  SrcBlock		  " SFunction "
+		  SrcPort		  2
+		  DstBlock		  "s0"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  " Demux "
+		  SrcPort		  1
+		  DstBlock		  " Terminator "
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  " SFunction "
+		  SrcPort		  1
+		  DstBlock		  " Demux "
+		  DstPort		  1
+		}
+	      }
+	      RTWSystemCode	      "Auto"
+	      MinAlgLoopOccurrences   off
+	      PropExecContextOutsideSubsystem off
+	      FunctionWithSeparateData off
+	      Opaque		      off
+	      MaskHideContents	      off
+	    }
+	    Block {
+	      BlockType		      Outport
+	      Name		      "s(0)"
+	      SID		      "1301"
+	      Position		      [330, 58, 360, 72]
+	      ZOrder		      14
+	      IconDisplay	      "Port number"
+	    }
+	    Line {
+	      SrcBlock		      "Clock"
+	      SrcPort		      1
+	      DstBlock		      "Compare\nTo Constant"
+	      DstPort		      1
+	    }
+	    Line {
+	      SrcBlock		      "MATLAB Function"
+	      SrcPort		      1
+	      DstBlock		      "s(0)"
+	      DstPort		      1
+	    }
+	    Line {
+	      SrcBlock		      "s"
+	      SrcPort		      1
+	      DstBlock		      "MATLAB Function"
+	      DstPort		      1
+	    }
+	    Line {
+	      SrcBlock		      "Compare\nTo Constant"
+	      SrcPort		      1
+	      DstBlock		      "MATLAB Function"
+	      DstPort		      2
+	    }
+	  }
+	  RTWSystemCode		  "Auto"
+	  MinAlgLoopOccurrences	  off
+	  PropExecContextOutsideSubsystem off
+	  FunctionWithSeparateData off
+	  Opaque		  off
+	  MaskHideContents	  off
+	}
+      }
+      RTWSystemCode	      "Auto"
+      MinAlgLoopOccurrences   off
+      PropExecContextOutsideSubsystem off
+      FunctionWithSeparateData off
+      Opaque		      off
+      MaskHideContents	      off
+    }
+    Block {
+      BlockType		      SubSystem
+      Name		      "wholeBodyActuators"
+      SID		      "224"
+      Ports		      []
+      Position		      [250, 16, 348, 113]
+      ZOrder		      -17
+      ForegroundColor	      "white"
+      DropShadow	      on
+      RequestExecContextInheritance off
+      Variant		      off
+      MaskDisplay	      "image(imread('wholeBodyActuators.png'),'center')"
+      MaskIconFrame	      on
+      MaskIconOpaque	      on
+      MaskIconRotate	      "none"
+      MaskPortRotate	      "default"
+      MaskIconUnits	      "autoscale"
+      System {
+	Name			"wholeBodyActuators"
+	Location		[425, 373, 1725, 1134]
+	Open			off
+	ModelBrowserVisibility	off
+	ModelBrowserWidth	200
+	ScreenColor		"white"
+	PaperOrientation	"landscape"
+	PaperPositionMode	"auto"
+	PaperType		"usletter"
+	PaperUnits		"inches"
+	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+	TiledPageScale		1
+	ShowPageBoundaries	off
+	ZoomFactor		"667"
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Set LowLevel PIDs"
+	  SID			  "1752"
+	  Ports			  []
+	  Position		  [745, 230, 820, 280]
+	  ZOrder		  41
+	  BackgroundColor	  "[0.827500, 0.576500, 0.603900]"
+	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
+	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
+	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  MaskType		  "Set Low Level PIDs"
+	  MaskDescription	  "This block sets the low level PID values for the robot actuators.\n\nIf only one gain file is sp"
+	  "ecified, those gains are loaded at startup.\nOtherwise an additional port to this block is added which accept an in"
+	  "teger\nrepresenting the index in the list of gains to be loaded (also at runtime)\n\nAssuming DoFs is the number of"
+	  " degrees of freedom of the robot,\nParameters:\n- PID Parameter: String specifying either a file containing the PID"
+	  "s for the\n                 low level control, or a list of files (in yarp Bottle format).\n\n- Robot Port Name: Na"
+	  "me of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name spec"
+	  "ified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports "
+	  "opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of th"
+	  "e Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+	  MaskPromptString	  "PID parameter|PID Type|Robot Port Name|Model Name|WBI filename|WBI list name"
+	  MaskStyleString	  "edit,popup(Position|Torque),edit,edit,edit,edit"
+	  MaskVariables		  "pidParameters=@1;pidType=&2;robotName=@3;localName=@4;wbiFile=@5;wbiList=@6;"
+	  MaskTunableValueString  "off,on,off,off,off,off"
+	  MaskCallbackString	  "|% Get the mask parameter values. This is a cell\n%   array of strings.\nmaskStr = get_param("
+	  "gcb,'pidType');\nif strcmp(maskStr, 'Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0"
+	  "]');\nelseif strcmp(maskStr, 'Position Direct')\n    set_param(gcb,'BackgroundColor', '[0.3922, 0.7882, 0.3451, 1.0"
+	  "]');\nelseif strcmp(maskStr, 'Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\ne"
+	  "lseif strcmp(maskStr, 'Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nend\nclear"
+	  "  maskStr||||"
+	  MaskEnableString	  "on,on,on,on,on,on"
+	  MaskVisibilityString	  "on,on,on,on,on,on"
+	  MaskToolTipString	  "on,on,on,on,on,on"
+	  MaskDisplay		  "pidType = get_param(gcb,'pidType');\ndescription = sprintf('Set Low Level\\n%s PIDs', pidType);\ndi"
+	  "sp(description);\n"
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  MaskValueString	  "''|Torque|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
+	  MaskTabNameString	  "Block parameters,Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
+	  System {
+	    Name		    "Set LowLevel PIDs"
+	    Location		    [0, 29, 1280, 744]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "1000"
+	    Block {
+	      BlockType		      S-Function
+	      Name		      "S-Function"
+	      SID		      "1753"
+	      Ports		      []
+	      Position		      [125, 39, 185, 71]
+	      ZOrder		      19
+	      FunctionName	      "WBToolbox"
+	      Parameters	      "'SetLowLevelPID',robotName,localName,wbiFile,wbiList,pidParameters,pidType"
+	      SFunctionDeploymentMode off
+	      EnableBusSupport	      off
+	    }
+	  }
+	  RTWSystemCode		  "Auto"
+	  MinAlgLoopOccurrences	  off
+	  PropExecContextOutsideSubsystem off
+	  FunctionWithSeparateData off
+	  Opaque		  off
+	  MaskHideContents	  off
+	}
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Set References"
+	  SID			  "1767"
+	  Ports			  [1]
+	  Position		  [645, 230, 720, 280]
+	  ZOrder		  43
+	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
+	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
+	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
+	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  MaskType		  "Set References"
+	  MaskDescription	  "This block sets the references for the robot actuators.\nThe type of control mode is specified a"
+	  "s a parameter in the block.\n\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Reference"
+	  "s: Vector of size DoFs, representing the references to be sent \n                to the robot controlled joints.\n\n"
+	  "Parameters:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name of the p"
+	  "orts opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in th"
+	  "e \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by t"
+	  "he underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Bod"
+	  "y Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+	  MaskPromptString	  "Control Mode|Control Type|Controlled Joint List|Robot Port Name|Model Name|WBI filename|WBI lis"
+	  "t name"
+	  MaskStyleString	  "popup(Position|Position Direct|Velocity|Torque|Open Loop),popup(Full|Sublist),edit,edit,edit,edi"
+	  "t,edit"
+	  MaskVariables		  "controlType=&1;fullOrSubControl=@2;controlledJoints=@3;robotName=@4;localName=@5;wbiFile=@6;wbiLi"
+	  "st=@7;"
+	  MaskTunableValueString  "on,on,on,off,off,off,off"
+	  MaskCallbackString	  "% Get the mask parameter values. This is a cell\n%   array of strings.\nmaskStr = get_param(g"
+	  "cb,'controlType');\nif strcmp(maskStr, 'Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, "
+	  "1.0]');\nelseif strcmp(maskStr, 'Position Direct')\n    set_param(gcb,'BackgroundColor', '[0.3922, 0.7882, 0.3451, "
+	  "1.0]');\nelseif strcmp(maskStr, 'Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');"
+	  "\nelseif strcmp(maskStr, 'Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nelseif "
+	  "strcmp(maskStr, 'Open Loop')\n    set_param(gcb,'BackgroundColor', '[0.98, 0.98, 0.98, 1.0]');\nend\nclear  maskStr"
+	  "|subOrFull = get_param(gcb, 'fullOrSubControl');\nif(strcmp(subOrFull, 'Sublist'))\n    set_param(gcb, 'MaskVisibil"
+	  "ities',{'on';'on';'on';'on';'on';'on';'on'});\nelse\n    set_param(gcb, 'MaskVisibilities',{'on';'on';'off';'on';'o"
+	  "n';'on';'on'});\nend\nclear subOrFull |||||"
+	  MaskEnableString	  "on,on,on,on,on,on,on"
+	  MaskVisibilityString	  "on,on,off,on,on,on,on"
+	  MaskToolTipString	  "on,on,on,on,on,on,on"
+	  MaskDisplay		  "disp(get_param(gcb,'controlType'))\n%port_label('input',1,'References')"
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  MaskValueString	  "Position|Full|''|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
+	  MaskTabNameString	  "Block parameters,Block parameters,Block parameters,WBI parameters,WBI parameters,WBI parameter"
+	  "s,WBI parameters"
+	  System {
+	    Name		    "Set References"
+	    Location		    [535, 41, 1280, 744]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "521"
+	    Block {
+	      BlockType		      Inport
+	      Name		      "References"
+	      SID		      "1768"
+	      Position		      [55, 48, 85, 62]
+	      ZOrder		      24
+	      IconDisplay	      "Port number"
+	    }
+	    Block {
+	      BlockType		      S-Function
+	      Name		      "S-Function"
+	      SID		      "1769"
+	      Ports		      [1]
+	      Position		      [125, 39, 185, 71]
+	      ZOrder		      19
+	      FunctionName	      "WBToolbox"
+	      Parameters	      "'SetReferences',robotName,localName,wbiFile,wbiList,controlType,fullOrSubControl,controlledJo"
+	      "ints"
+	      SFunctionDeploymentMode off
+	      EnableBusSupport	      off
+	    }
+	    Line {
+	      SrcBlock		      "References"
+	      SrcPort		      1
+	      DstBlock		      "S-Function"
+	      DstPort		      1
+	    }
+	  }
+	  RTWSystemCode		  "Auto"
+	  MinAlgLoopOccurrences	  off
+	  PropExecContextOutsideSubsystem off
+	  FunctionWithSeparateData off
+	  Opaque		  off
+	  MaskHideContents	  off
+	}
+      }
+      RTWSystemCode	      "Auto"
+      MinAlgLoopOccurrences   off
+      PropExecContextOutsideSubsystem off
+      FunctionWithSeparateData off
+      Opaque		      off
+      MaskHideContents	      off
+    }
+    Block {
+      BlockType		      SubSystem
+      Name		      "wholeBodyModel"
+      SID		      "209"
+      Ports		      []
+      Position		      [133, 16, 231, 113]
+      ZOrder		      -3
+      ForegroundColor	      "white"
+      DropShadow	      on
+      RequestExecContextInheritance off
+      Variant		      off
+      MaskDisplay	      "image(imread('wholeBodyModel.png'),'center')"
+      MaskIconFrame	      on
+      MaskIconOpaque	      on
+      MaskIconRotate	      "none"
+      MaskPortRotate	      "default"
+      MaskIconUnits	      "autoscale"
+      System {
+	Name			"wholeBodyModel"
+	Location		[425, 373, 1725, 1134]
+	Open			off
+	ModelBrowserVisibility	off
+	ModelBrowserWidth	200
+	ScreenColor		"white"
+	PaperOrientation	"landscape"
+	PaperPositionMode	"auto"
+	PaperType		"usletter"
+	PaperUnits		"inches"
+	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+	TiledPageScale		1
+	ShowPageBoundaries	off
+	ZoomFactor		"309"
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Dynamics"
+	  SID			  "369"
+	  Ports			  []
+	  Position		  [364, 21, 471, 128]
+	  ZOrder		  -1
+	  DropShadow		  on
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  MaskDisplay		  "image(imread('Dynamics.png'))"
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  System {
+	    Name		    "Dynamics"
+	    Location		    [425, 373, 1725, 1134]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "219"
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Centroidal Momentum"
+	      SID		      "1694"
+	      Ports		      [4, 1]
+	      Position		      [495, 101, 680, 164]
+	      ZOrder		      72
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      MaskType		      "Centroidal Momentum"
+	      MaskDescription	      "This block computed the 6 element centroidal momentum, as defined in:\n\"Centroidal dyna"
+	      "mics of a humanoid robot\" - DE Orin, A Goswami, SH Lee - \nAutonomous Robots 35 (2-3), 161-176\n\nAssuming DoF"
+	      "s is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenou"
+	      "s transformation between\n             the base frame and the world frame.\n- Joint configuration: Vector of si"
+	      "ze DoFs, representing the configuration \n                       of the joints.\n- Base velocity: Vector of siz"
+	      "e 6 representing the linear and angular velocity\n                 of the base frame.\n- Joints velocity: Vecto"
+	      "r of size DoFs, representing the velocity \n                   of the joints.\n\nOutput:\n- Centroidal Momentum"
+	      ": 6-element vector containg the centroidal momentum \n                (3 value for linear momentum and 3 for an"
+	      "gular momentum)\n\nParameters:\n- Robot Port Name: Name of the ports opened by the robot. (e.g. icub).\n       "
+	      "            Set an empty string ('') to use the name specified in the \n                   Whole Body Interface"
+	      " configuration file.\n- Model Name: Prefix name of the ports opened by the underlying Whole Body Interface.\n- "
+	      "WBI filename: name of the file containing the configuration of the Whole Body Interface\n- WBI List Name: name "
+	      "of the list of joints used to configure the Whole Body Interface\n"
+	      MaskPromptString	      "Robot Port Name|Model Name|WBI filename|WBI list name"
+	      MaskStyleString	      "edit,edit,edit,edit"
+	      MaskVariables	      "robotName=@1;localName=@2;wbiFile=@3;wbiList=@4;"
+	      MaskTunableValueString  "off,off,off,off"
+	      MaskCallbackString      "|||"
+	      MaskEnableString	      "on,on,on,on"
+	      MaskVisibilityString    "on,on,on,on"
+	      MaskToolTipString	      "on,on,on,on"
+	      MaskIconFrame	      on
+	      MaskIconOpaque	      on
+	      MaskIconRotate	      "none"
+	      MaskPortRotate	      "default"
+	      MaskIconUnits	      "autoscale"
+	      MaskValueString	      "WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
+	      System {
+		Name			"Centroidal Momentum"
+		Location		[0, 23, 1280, 744]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"248"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base Pose"
+		  SID			  "1695"
+		  Position		  [20, 18, 50, 32]
+		  ZOrder		  22
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joint configuration"
+		  SID			  "1696"
+		  Position		  [20, 53, 50, 67]
+		  ZOrder		  24
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base velocity"
+		  SID			  "1697"
+		  Position		  [20, 88, 50, 102]
+		  ZOrder		  26
+		  Port			  "3"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joints velocity"
+		  SID			  "1698"
+		  Position		  [20, 123, 50, 137]
+		  ZOrder		  27
+		  Port			  "4"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1699"
+		  Ports			  [4, 1]
+		  Position		  [180, 11, 255, 144]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'CentroidalMomentum',robotName,localName,wbiFile,wbiList"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Centroidal Momentum"
+		  SID			  "1700"
+		  Position		  [315, 73, 345, 87]
+		  ZOrder		  25
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  DstBlock		  "Centroidal Momentum"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "Base Pose"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "Joint configuration"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  2
+		}
+		Line {
+		  SrcBlock		  "Base velocity"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  3
+		}
+		Line {
+		  SrcBlock		  "Joints velocity"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  4
+		}
+	      }
+	      RTWSystemCode	      "Auto"
+	      MinAlgLoopOccurrences   off
+	      PropExecContextOutsideSubsystem off
+	      FunctionWithSeparateData off
+	      Opaque		      off
+	      MaskHideContents	      off
+	    }
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Get Bias Forces"
+	      SID		      "1724"
+	      Ports		      [4, 1]
+	      Position		      [400, 202, 540, 303]
+	      ZOrder		      73
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      MaskType		      "Get Generalized Bias Forces"
+	      MaskDescription	      "This block retrieves the generalied bias forces of the robot.\n\nParameter:\n- Explicit "
+	      "Gravity. If True, an additional port (explicit Gravity) is added.\n                    Otherwise the vector [0;"
+	      " 0; -9.81] is used.\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 "
+	      "matrix representing the homogenous transformation between\n            the base frame and the world frame.\n- J"
+	      "oint configuration: Vector of size DoFs, representing the configuration \n                    of the joints.\n-"
+	      " Base velocity: Vector of size 6 representing the linear and angular velocity\n                 of the base fra"
+	      "me.\n- Joints velocity: Vector of size DoFs, representing the velocity of the joints.\n\nOutput:\n- Bias Forces"
+	      ": a Dofs + 6 vector representing the generalized bias forces\n            of the robot\n\nParameters:\n- Robot "
+	      "Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to "
+	      "use the name specified in the                    \n                    Whole Body Interface configuration file."
+	      "\n- Model Name: Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name o"
+	      "f the file containing the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joint"
+	      "s used to configure the Whole Body Interface\n"
+	      MaskPromptString	      "Robot Port Name|Model Name|WBI filename|WBI list name|Explicit Gravity"
+	      MaskStyleString	      "edit,edit,edit,edit,checkbox"
+	      MaskVariables	      "robotName=@1;localName=@2;wbiFile=@3;wbiList=@4;explicitGravity=@5;"
+	      MaskTunableValueString  "off,off,off,off,on"
+	      MaskCallbackString      "||||"
+	      MaskEnableString	      "on,on,on,on,on"
+	      MaskVisibilityString    "on,on,on,on,on"
+	      MaskToolTipString	      "on,on,on,on,on"
+	      MaskInitialization      "gravityInput = find_system(gcb, ...\n'LookUnderMasks', 'on', ...\n'FollowLinks', 'on',"
+	      " ...\n'Name', 'Gravity');\n\nif explicitGravity\n    if isempty(gravityInput)\n        Simulink.Block.eval([gcb"
+	      ",'/S-Function']);\n        add_block('built-in/Inport',[gcb,'/Gravity']);\n        add_line(gcb','Gravity/1','S"
+	      "-Function/7', 'autorouting','on');\n    end\nelse\n    if ~isempty(gravityInput)\n        delete_line(gcb','Gra"
+	      "vity/1','S-Function/7');\n        delete_block(gravityInput);\n        Simulink.Block.eval([gcb,'/S-Function'])"
+	      ";\n    end\nend\n"
+	      MaskSelfModifiable      on
+	      MaskIconFrame	      on
+	      MaskIconOpaque	      on
+	      MaskIconRotate	      "none"
+	      MaskPortRotate	      "default"
+	      MaskIconUnits	      "autoscale"
+	      MaskValueString	      "WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList|off"
+	      System {
+		Name			"Get Bias Forces"
+		Location		[354, 32, 1634, 747]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"255"
+		SIDHighWatermark	"1748"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base Pose"
+		  SID			  "1724:1725"
+		  Position		  [35, 38, 65, 52]
+		  ZOrder		  22
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joint configuration"
+		  SID			  "1724:1726"
+		  Position		  [35, 68, 65, 82]
+		  ZOrder		  24
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base velocity"
+		  SID			  "1724:1727"
+		  Position		  [35, 98, 65, 112]
+		  ZOrder		  26
+		  Port			  "3"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joints velocity"
+		  SID			  "1724:1728"
+		  Position		  [35, 128, 65, 142]
+		  ZOrder		  27
+		  Port			  "4"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Constant
+		  Name			  "Constant"
+		  SID			  "1724:1742"
+		  Position		  [20, 157, 75, 173]
+		  ZOrder		  30
+		  ShowName		  off
+		  Value			  "zeros(6,1)"
+		}
+		Block {
+		  BlockType		  Gain
+		  Name			  "Gain"
+		  SID			  "1724:1743"
+		  Position		  [135, 180, 165, 210]
+		  ZOrder		  31
+		  ShowName		  off
+		  Gain			  "0"
+		  ParamDataTypeStr	  "Inherit: Inherit via internal rule"
+		  OutDataTypeStr	  "Inherit: Inherit via internal rule"
+		  SaturateOnIntegerOverflow off
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1724:1731"
+		  Ports			  [6, 1]
+		  Position		  [205, 24, 265, 216]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Bias Forces"
+		  SID			  "1724:1732"
+		  Position		  [325, 113, 355, 127]
+		  ZOrder		  25
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  DstBlock		  "Bias Forces"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "Base Pose"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "Joint configuration"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  2
+		}
+		Line {
+		  SrcBlock		  "Base velocity"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  3
+		}
+		Line {
+		  SrcBlock		  "Joints velocity"
+		  SrcPort		  1
+		  Points		  [44, 0]
+		  Branch {
+		    Points		    [0, 60]
+		    DstBlock		    "Gain"
+		    DstPort		    1
+		  }
+		  Branch {
+		    DstBlock		    "S-Function"
+		    DstPort		    4
+		  }
+		}
+		Line {
+		  SrcBlock		  "Constant"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  5
+		}
+		Line {
+		  SrcBlock		  "Gain"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  6
+		}
+	      }
+	      RTWSystemCode	      "Auto"
+	      MinAlgLoopOccurrences   off
+	      PropExecContextOutsideSubsystem off
+	      FunctionWithSeparateData off
+	      Opaque		      off
+	      MaskHideContents	      off
+	    }
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Get Gravity Forces"
+	      SID		      "1733"
+	      Ports		      [2, 1]
+	      Position		      [605, 200, 745, 300]
+	      ZOrder		      74
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      MaskType		      "Gravity bias"
+	      MaskDescription	      "This block compute the generalized bias forces due to the gravity\n\nParameter:\n- Expli"
+	      "cit Gravity. If True, an additional port (explicit Gravity) is added.\n                    Otherwise the vector"
+	      " [0; 0; -9.81] is used.\n\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose"
+	      ": 4x4 matrix representing the homogenous transformation between\n             the base frame and the world fram"
+	      "e.\n- Joint configuration: Vector of size DoFs, representing the configuration \n                       of the "
+	      "joints.\n\nOutput:\n- Gravity: a Dofs + 6 vector representing the torques due to the gravity.\n\nParameters:\n-"
+	      " Robot Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ("
+	      "'') to use the name specified in the \n                   Whole Body Interface configuration file.\n- Model Nam"
+	      "e: Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file co"
+	      "ntaining the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to con"
+	      "figure the Whole Body Interface\n"
+	      MaskPromptString	      "Robot Port Name|Model Name|WBI filename|WBI list name|Explicit Gravity"
+	      MaskStyleString	      "edit,edit,edit,edit,checkbox"
+	      MaskVariables	      "robotName=@1;localName=@2;wbiFile=@3;wbiList=@4;explicitGravity=@5;"
+	      MaskTunableValueString  "off,off,off,off,on"
+	      MaskCallbackString      "||||"
+	      MaskEnableString	      "on,on,on,on,on"
+	      MaskVisibilityString    "on,on,on,on,on"
+	      MaskToolTipString	      "on,on,on,on,on"
+	      MaskInitialization      "gravityInput = find_system(gcb, ...\n'LookUnderMasks', 'on', ...\n'FollowLinks', 'on',"
+	      " ...\n'Name', 'Gravity');\n\nif explicitGravity\n    if isempty(gravityInput)\n        Simulink.Block.eval([gcb"
+	      ",'/S-Function']);\n        add_block('built-in/Inport',[gcb,'/Gravity']);\n        add_line(gcb','Gravity/1','S"
+	      "-Function/7', 'autorouting','on');\n    end\nelse\n    if ~isempty(gravityInput)\n        delete_line(gcb','Gra"
+	      "vity/1','S-Function/7');\n        delete_block(gravityInput);\n        Simulink.Block.eval([gcb,'/S-Function'])"
+	      ";\n    end\nend\n"
+	      MaskSelfModifiable      on
+	      MaskIconFrame	      on
+	      MaskIconOpaque	      on
+	      MaskIconRotate	      "none"
+	      MaskPortRotate	      "default"
+	      MaskIconUnits	      "autoscale"
+	      MaskValueString	      "WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList|off"
+	      System {
+		Name			"Get Gravity Forces"
+		Location		[354, 32, 1634, 747]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"255"
+		SIDHighWatermark	"1748"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base Pose"
+		  SID			  "1733:1734"
+		  Position		  [10, 38, 40, 52]
+		  ZOrder		  22
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joint configuration"
+		  SID			  "1733:1735"
+		  Position		  [10, 68, 40, 82]
+		  ZOrder		  24
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Constant
+		  Name			  "Constant"
+		  SID			  "1733:1744"
+		  Position		  [0, 97, 55, 113]
+		  ZOrder		  32
+		  ShowName		  off
+		  Value			  "zeros(6,1)"
+		}
+		Block {
+		  BlockType		  Gain
+		  Name			  "Gain"
+		  SID			  "1733:1745"
+		  Position		  [100, 120, 130, 150]
+		  ZOrder		  33
+		  ShowName		  off
+		  Gain			  "0"
+		  ParamDataTypeStr	  "Inherit: Inherit via internal rule"
+		  OutDataTypeStr	  "Inherit: Inherit via internal rule"
+		  SaturateOnIntegerOverflow off
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1733:1740"
+		  Ports			  [6, 1]
+		  Position		  [180, 24, 240, 216]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Gravity Torques"
+		  SID			  "1733:1741"
+		  Position		  [300, 113, 330, 127]
+		  ZOrder		  25
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  DstBlock		  "Gravity Torques"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "Base Pose"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "Joint configuration"
+		  SrcPort		  1
+		  Points		  [41, 0]
+		  Branch {
+		    Points		    [0, 60]
+		    DstBlock		    "Gain"
+		    DstPort		    1
+		  }
+		  Branch {
+		    DstBlock		    "S-Function"
+		    DstPort		    2
+		  }
+		}
+		Line {
+		  SrcBlock		  "Constant"
+		  SrcPort		  1
+		  Points		  [4, 0]
+		  Branch {
+		    Points		    [0, 60]
+		    DstBlock		    "S-Function"
+		    DstPort		    5
+		  }
+		  Branch {
+		    DstBlock		    "S-Function"
+		    DstPort		    3
+		  }
+		}
+		Line {
+		  SrcBlock		  "Gain"
+		  SrcPort		  1
+		  Points		  [13, 0]
+		  Branch {
+		    Points		    [0, 60]
+		    DstBlock		    "S-Function"
+		    DstPort		    6
+		  }
+		  Branch {
+		    DstBlock		    "S-Function"
+		    DstPort		    4
+		  }
+		}
+	      }
+	      RTWSystemCode	      "Auto"
+	      MinAlgLoopOccurrences   off
+	      PropExecContextOutsideSubsystem off
+	      FunctionWithSeparateData off
+	      Opaque		      off
+	      MaskHideContents	      off
+	    }
+	    Block {
+	      BlockType		      S-Function
+	      Name		      "Inverse Dynamics"
+	      SID		      "1748"
+	      Ports		      [6, 1]
+	      Position		      [190, 199, 355, 331]
+	      ZOrder		      75
+	      FunctionName	      "WBToolbox"
+	      Parameters	      "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
+	      SFunctionDeploymentMode off
+	      EnableBusSupport	      off
+	      MaskType		      "Inverse Dynamics"
+	      MaskDescription	      "This block compute the inverse dynamics of the robot.\n\nParameter:\n- Explicit Gravity."
+	      " If True, an additional port (explicit Gravity) is added.\n                    Otherwise the vector [0; 0; -9.8"
+	      "1] is used.\n\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix"
+	      " representing the homogenous transformation between\n             the base frame and the world frame.\n- Joint "
+	      "configuration: Vector of size DoFs, representing the configuration \n                       of the joints.\n- B"
+	      "ase velocity: Vector of size 6 representing the linear and angular velocity\n                 of the base frame"
+	      ".\n- Joints velocity: Vector of size DoFs, representing the velocity \n                   of the joints.\n- Bas"
+	      "e acceleration: Vector of size 6 representing the linear and angular acceleration\n                 of the base"
+	      " frame.\n- Joints acceleration: Vector of size DoFs, representing the acceleration \n                   of the "
+	      "joints.\n- Gravity: Vector of size 3, denoting the acceleration vector w.r.t. the world frame.\n\n\nOutput:\n- "
+	      "Torques: a Dofs + 6 vector representing the corresponding torques required\n           to achive the desired ac"
+	      "celerations given the robot state\n\nParameters:\n- Robot Port Name: Name of the ports opened by the robot. (e."
+	      "g. icub).\n                   Set an empty string ('') to use the name specified in the \n                   Wh"
+	      "ole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underlying Whole B"
+	      "ody Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interface\n- WB"
+	      "I List Name: name of the list of joints used to configure the Whole Body Interface\n"
+	      MaskPromptString	      "Robot Port Name|Model Name|WBI filename|WBI list name|Explicit Gravity"
+	      MaskStyleString	      "edit,edit,edit,edit,checkbox"
+	      MaskVariables	      "robotName=@1;localName=@2;wbiFile=@3;wbiList=@4;explicitGravity=@5;"
+	      MaskTunableValueString  "on,on,on,on,on"
+	      MaskCallbackString      "||||"
+	      MaskEnableString	      "on,on,on,on,on"
+	      MaskVisibilityString    "on,on,on,on,on"
+	      MaskToolTipString	      "on,on,on,on,on"
+	      MaskDisplay	      "port_label('output', 1, 'Torques')\n\nport_label('input', 1, 'Base pose')\nport_label('input"
+	      "', 2, 'Joints configuration')\nport_label('input', 3, 'Base velocity')\nport_label('input', 4, 'Joints velocity"
+	      "')\nport_label('input', 5, 'Base acceleration')\nport_label('input', 6, 'Joints acceleration')\n\n\ngravity = g"
+	      "et_param(gcb, 'explicitGravity');\nif(strcmp(gravity, 'on'))\n    port_label('input', 7, 'Gravity')\nend\n"
+	      MaskIconFrame	      on
+	      MaskIconOpaque	      on
+	      MaskIconRotate	      "none"
+	      MaskPortRotate	      "default"
+	      MaskIconUnits	      "autoscale"
+	      MaskValueString	      "WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList|off"
+	    }
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Mass Matrix"
+	      SID		      "1633"
+	      Ports		      [2, 1]
+	      Position		      [250, 104, 390, 171]
+	      ZOrder		      32
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      MaskType		      "Mass Matrix"
+	      MaskDescription	      "This block retrieves the robot mass matrix.\n\nAssuming DoFs is the number of degrees of"
+	      " freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between\n   "
+	      "          the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the con"
+	      "figuration \n                       of the joints.\n\nOutput:\n- Mass Matrix: a (Dofs + 6) x (Dofs + 6) matrix "
+	      "representing the mass matrix \n               of the robot\n\nParameters:\n- Robot Port Name: Name of the ports"
+	      " opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in th"
+	      "e \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened "
+	      "by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the W"
+	      "hole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+	      MaskPromptString	      "Robot Port Name|Model Name|WBI filename|WBI list name"
+	      MaskStyleString	      "edit,edit,edit,edit"
+	      MaskVariables	      "robotName=@1;localName=@2;wbiFile=@3;wbiList=@4;"
+	      MaskTunableValueString  "off,off,off,off"
+	      MaskCallbackString      "|||"
+	      MaskEnableString	      "on,on,on,on"
+	      MaskVisibilityString    "on,on,on,on"
+	      MaskToolTipString	      "on,on,on,on"
+	      MaskIconFrame	      on
+	      MaskIconOpaque	      on
+	      MaskIconRotate	      "none"
+	      MaskPortRotate	      "default"
+	      MaskIconUnits	      "autoscale"
+	      MaskValueString	      "WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
+	      System {
+		Name			"Mass Matrix"
+		Location		[589, 68, 1869, 783]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"248"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base Pose"
+		  SID			  "1634"
+		  Position		  [20, 23, 50, 37]
+		  ZOrder		  22
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joint configuration"
+		  SID			  "1635"
+		  Position		  [20, 63, 50, 77]
+		  ZOrder		  24
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1636"
+		  Ports			  [2, 1]
+		  Position		  [125, 37, 185, 68]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'MassMatrix',robotName,localName,wbiFile,wbiList"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Mass Matrix"
+		  SID			  "1637"
+		  Position		  [245, 48, 275, 62]
+		  ZOrder		  25
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  DstBlock		  "Mass Matrix"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "Base Pose"
+		  SrcPort		  1
+		  Points		  [36, 0; 0, 15]
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "Joint configuration"
+		  SrcPort		  1
+		  Points		  [33, 0; 0, -10]
+		  DstBlock		  "S-Function"
+		  DstPort		  2
+		}
+	      }
+	      RTWSystemCode	      "Auto"
+	      MinAlgLoopOccurrences   off
+	      PropExecContextOutsideSubsystem off
+	      FunctionWithSeparateData off
+	      Opaque		      off
+	      MaskHideContents	      off
+	    }
+	  }
+	  RTWSystemCode		  "Auto"
+	  MinAlgLoopOccurrences	  off
+	  PropExecContextOutsideSubsystem off
+	  FunctionWithSeparateData off
+	  Opaque		  off
+	  MaskHideContents	  off
+	}
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Jacobians"
+	  SID			  "202"
+	  Ports			  []
+	  Position		  [217, 20, 324, 127]
+	  ZOrder		  -3
+	  DropShadow		  on
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  MaskDisplay		  "image(imread('jacobian.png'))"
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  System {
+	    Name		    "Jacobians"
+	    Location		    [425, 373, 1725, 1134]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "322"
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "DotJ Nu"
+	      SID		      "1683"
+	      Ports		      [4, 1]
+	      Position		      [590, 170, 755, 265]
+	      ZOrder		      67
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      MaskType		      "DotJ Nu"
+	      MaskDescription	      "This block computes the product between the time derivative of the\n         Jacobian of"
+	      " the specified frame and the state (base and joints)\n        velocity vector.\n\nAssuming DoFs is the number o"
+	      "f degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation "
+	      "between\n             the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, repr"
+	      "esenting the configuration \n                       of the joints.\n- Base velocity: Vector of size 6 represent"
+	      "ing the linear and angular velocity\n                 of the base frame.\n- Joints velocity: Vector of size DoF"
+	      "s, representing the velocity \n                   of the joints.\n\nOutput:\n- dotJ nu: a 6-d vector representi"
+	      "ng the product between the time derivative of the\n         Jacobian of the specified frame and the state veloc"
+	      "ity vector\n\nParameters:\n- Frame name: the name of the frame. It should be specified in the URDF model.\n\n- "
+	      "Robot Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('"
+	      "') to use the name specified in the \n                   Whole Body Interface configuration file.\n- Model Name"
+	      ": Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file con"
+	      "taining the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to conf"
+	      "igure the Whole Body Interface\n"
+	      MaskPromptString	      "Frame name|Robot Port Name|Model Name|WBI filename|WBI list name"
+	      MaskStyleString	      "edit,edit,edit,edit,edit"
+	      MaskVariables	      "frameName=@1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
+	      MaskTunableValueString  "on,off,off,off,off"
+	      MaskCallbackString      "||||"
+	      MaskEnableString	      "on,on,on,on,on"
+	      MaskVisibilityString    "on,on,on,on,on"
+	      MaskToolTipString	      "on,on,on,on,on"
+	      MaskDisplay	      "escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('dot J_{',"
+	      "escapedFrameName,'} \\nu'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\np"
+	      "ort_label('input', 2, 'Joint configuration')\nport_label('input', 3, 'Base velocity')\nport_label('input', 4, '"
+	      "Joint velocity')\n\nclear escapedFrameName;"
+	      MaskIconFrame	      on
+	      MaskIconOpaque	      on
+	      MaskIconRotate	      "none"
+	      MaskPortRotate	      "default"
+	      MaskIconUnits	      "autoscale"
+	      MaskValueString	      "'frame'|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
+	      MaskTabNameString	      "Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
+	      System {
+		Name			"DotJ Nu"
+		Location		[0, 29, 1280, 744]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"391"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base Pose"
+		  SID			  "1684"
+		  Position		  [20, 13, 50, 27]
+		  ZOrder		  22
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joint configuration"
+		  SID			  "1685"
+		  Position		  [20, 43, 50, 57]
+		  ZOrder		  24
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base velocity"
+		  SID			  "1686"
+		  Position		  [20, 73, 50, 87]
+		  ZOrder		  26
+		  Port			  "3"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joints velocity"
+		  SID			  "1687"
+		  Position		  [20, 103, 50, 117]
+		  ZOrder		  27
+		  Port			  "4"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1688"
+		  Ports			  [4, 1]
+		  Position		  [125, 4, 190, 126]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'DotJNu',robotName,localName,wbiFile,wbiList,frameName"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "dotJ dotnu"
+		  SID			  "1689"
+		  Position		  [245, 43, 275, 57]
+		  ZOrder		  25
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  SrcBlock		  "Joint configuration"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  2
+		}
+		Line {
+		  SrcBlock		  "Base Pose"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  Points		  [20, 0; 0, -15]
+		  DstBlock		  "dotJ dotnu"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "Base velocity"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  3
+		}
+		Line {
+		  SrcBlock		  "Joints velocity"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  4
+		}
+	      }
+	      RTWSystemCode	      "Auto"
+	      MinAlgLoopOccurrences   off
+	      PropExecContextOutsideSubsystem off
+	      FunctionWithSeparateData off
+	      Opaque		      off
+	      MaskHideContents	      off
+	    }
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Jacobian"
+	      SID		      "1663"
+	      Ports		      [2, 1]
+	      Position		      [380, 190, 540, 245]
+	      ZOrder		      39
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      MaskType		      "Jacobian"
+	      MaskDescription	      "This block retrieves the Jacobian of the specified frame.\n\nAssuming DoFs is the number"
+	      " of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformatio"
+	      "n between\n             the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, re"
+	      "presenting the configuration \n                       of the joints.\n\nOutput:\n- Jacobian: a 6x6+dofs matrix "
+	      "representing the Jacobian of\n             the specified frame written in the world frame.\n\nParameters:\n- Fr"
+	      "ame name: the name of the frame. It should be specified in the URDF model.\n\n- Robot Port Name: Name of the po"
+	      "rts opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in"
+	      " the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports open"
+	      "ed by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of th"
+	      "e Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+	      MaskPromptString	      "Frame name|Robot Port Name|Model Name|WBI filename|WBI list name"
+	      MaskStyleString	      "edit,edit,edit,edit,edit"
+	      MaskVariables	      "frameName=@1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
+	      MaskTunableValueString  "on,off,off,off,off"
+	      MaskCallbackString      "||||"
+	      MaskEnableString	      "on,on,on,on,on"
+	      MaskVisibilityString    "on,on,on,on,on"
+	      MaskToolTipString	      "on,on,on,on,on"
+	      MaskDisplay	      "escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('{}^{world"
+	      "} J_{',escapedFrameName,'}'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\n"
+	      "port_label('input', 2, 'Joint configuration')\n\nclear escapedFrameName;"
+	      MaskIconFrame	      on
+	      MaskIconOpaque	      on
+	      MaskIconRotate	      "none"
+	      MaskPortRotate	      "default"
+	      MaskIconUnits	      "autoscale"
+	      MaskValueString	      "'frame'|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
+	      MaskTabNameString	      "Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
+	      System {
+		Name			"Jacobian"
+		Location		[208, 105, 1008, 627]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"237"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base Pose"
+		  SID			  "1664"
+		  Position		  [20, 23, 50, 37]
+		  ZOrder		  22
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joint configuration"
+		  SID			  "1665"
+		  Position		  [20, 63, 50, 77]
+		  ZOrder		  24
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1666"
+		  Ports			  [2, 1]
+		  Position		  [125, 37, 185, 68]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'Jacobian',robotName,localName,wbiFile,wbiList,frameName"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Forward Kinematics"
+		  SID			  "1667"
+		  Position		  [245, 48, 275, 62]
+		  ZOrder		  25
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  DstBlock		  "Forward Kinematics"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "Base Pose"
+		  SrcPort		  1
+		  Points		  [36, 0; 0, 15]
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "Joint configuration"
+		  SrcPort		  1
+		  Points		  [33, 0; 0, -10]
+		  DstBlock		  "S-Function"
+		  DstPort		  2
+		}
+	      }
+	      RTWSystemCode	      "Auto"
+	      MinAlgLoopOccurrences   off
+	      PropExecContextOutsideSubsystem off
+	      FunctionWithSeparateData off
+	      Opaque		      off
+	      MaskHideContents	      off
+	    }
+	  }
+	  RTWSystemCode		  "Auto"
+	  MinAlgLoopOccurrences	  off
+	  PropExecContextOutsideSubsystem off
+	  FunctionWithSeparateData off
+	  Opaque		  off
+	  MaskHideContents	  off
+	}
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Kinematics"
+	  SID			  "176"
+	  Ports			  []
+	  Position		  [70, 20, 177, 127]
+	  ZOrder		  -17
+	  DropShadow		  on
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  MaskDisplay		  "image(imread('forwardKinematics.png'))"
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  System {
+	    Name		    "Kinematics"
+	    Location		    [425, 373, 1725, 1134]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "326"
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Forward Kinematics"
+	      SID		      "1647"
+	      Ports		      [2, 1]
+	      Position		      [350, 103, 500, 167]
+	      ZOrder		      34
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      MaskType		      "Forward Kinematics"
+	      MaskDescription	      "This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is "
+	      "the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous tra"
+	      "nsformation between\n             the the base frame and the world frame.\n- Joint configuration: Vector of siz"
+	      "e DoFs, representing the configuration \n                       of the joints.\n\nOutput:\n- Forward Kinematics"
+	      ": a 4x4 matrix representing the homogenous transformation between\n             the specified frame and the wor"
+	      "ld frame.\n\nParameters:\n- Frame name: the name of the frame. It should be specified in the URDF model.\n\n- R"
+	      "obot Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string (''"
+	      ") to use the name specified in the \n                   Whole Body Interface configuration file.\n- Model Name:"
+	      " Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file cont"
+	      "aining the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to confi"
+	      "gure the Whole Body Interface\n"
+	      MaskPromptString	      "Frame name|Robot Port Name|Model Name|WBI filename|WBI list name"
+	      MaskStyleString	      "edit,edit,edit,edit,edit"
+	      MaskVariables	      "frameName=@1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
+	      MaskTunableValueString  "on,off,off,off,off"
+	      MaskCallbackString      "||||"
+	      MaskEnableString	      "on,on,on,on,on"
+	      MaskVisibilityString    "on,on,on,on,on"
+	      MaskToolTipString	      "on,on,on,on,on"
+	      MaskDisplay	      "escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('{}^{world"
+	      "} H_{',escapedFrameName,'}'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\n"
+	      "port_label('input', 2, 'Joint configuration')\n\nclear escapedFrameName;"
+	      MaskIconFrame	      on
+	      MaskIconOpaque	      on
+	      MaskIconRotate	      "none"
+	      MaskPortRotate	      "default"
+	      MaskIconUnits	      "autoscale"
+	      MaskValueString	      "'frame'|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
+	      MaskTabNameString	      "Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
+	      System {
+		Name			"Forward Kinematics"
+		Location		[0, 29, 1280, 744]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"391"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base Pose"
+		  SID			  "1648"
+		  Position		  [20, 23, 50, 37]
+		  ZOrder		  22
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joint configuration"
+		  SID			  "1649"
+		  Position		  [20, 63, 50, 77]
+		  ZOrder		  24
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1650"
+		  Ports			  [2, 1]
+		  Position		  [125, 37, 185, 68]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'ForwardKinematics',robotName,localName,wbiFile,wbiList,frameName"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Forward Kinematics"
+		  SID			  "1651"
+		  Position		  [245, 48, 275, 62]
+		  ZOrder		  25
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  DstBlock		  "Forward Kinematics"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "Base Pose"
+		  SrcPort		  1
+		  Points		  [36, 0; 0, 15]
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "Joint configuration"
+		  SrcPort		  1
+		  Points		  [33, 0; 0, -10]
+		  DstBlock		  "S-Function"
+		  DstPort		  2
+		}
+	      }
+	      RTWSystemCode	      "Auto"
+	      MinAlgLoopOccurrences   off
+	      PropExecContextOutsideSubsystem off
+	      FunctionWithSeparateData off
+	      Opaque		      off
+	      MaskHideContents	      off
+	    }
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Inverse Kinematics"
+	      SID		      "1754"
+	      Ports		      [3, 2]
+	      Position		      [350, 198, 525, 262]
+	      ZOrder		      35
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      MaskType		      "Forward Kinematics"
+	      MaskDescription	      "This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is "
+	      "the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous tra"
+	      "nsformation between\n             the the base frame and the world frame.\n- Joint configuration: Vector of siz"
+	      "e DoFs, representing the configuration \n                       of the joints.\n\nOutput:\n- Forward Kinematics"
+	      ": a 4x4 matrix representing the homogenous transformation between\n             the specified frame and the wor"
+	      "ld frame.\n\nParameters:\n- Frame name: the name of the frame. It should be specified in the URDF model.\n\n- R"
+	      "obot Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string (''"
+	      ") to use the name specified in the \n                   Whole Body Interface configuration file.\n- Model Name:"
+	      " Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file cont"
+	      "aining the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to confi"
+	      "gure the Whole Body Interface\n"
+	      MaskPromptString	      "Base Frame|End Effector frame|Optimization Option|Robot Port Name|Model Name|WBI filena"
+	      "me|WBI list name"
+	      MaskStyleString	      "edit,edit,popup(Full Constraint (Position and Orientation)|Position only constraint),edi"
+	      "t,edit,edit,edit"
+	      MaskVariables	      "baseFrame=@1;endEffFrame=@2;optOption=@3;robotName=@4;localName=@5;wbiFile=@6;wbiList=@7;"
+	      MaskTunableValueString  "on,on,on,off,off,off,off"
+	      MaskCallbackString      "||||||"
+	      MaskEnableString	      "on,on,on,on,on,on,on"
+	      MaskVisibilityString    "on,on,on,on,on,on,on"
+	      MaskToolTipString	      "on,on,on,on,on,on,on"
+	      MaskDisplay	      "escapedBaseFrameName = strrep(baseFrame, '_', '\\_');\nescapedEndEffFrameName = strrep(endEf"
+	      "fFrame, '_', '\\_');\n\n%port_label('output', 1, strcat('{}^{world} H_{',escapedFrameName,'}'), 'texmode','on')"
+	      "\n\n%port_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\n%port_label('input', 2, 'Joint configuratio"
+	      "n')\n\n%clear escapedFrameName;\n\n\n% if strcmp(robotPart, 'left')\n%     prefix = 'l';\n% else\n%     prefix "
+	      "= 'r';\n% end\n% \nport_label('input', 1, strcat('{}^{',escapedBaseFrameName,'} H_{',escapedEndEffFrameName,'}^"
+	      "d'), 'texmode','on');\n\nport_label('input', 2, '{}^{world} H_{base}', 'texmode','on')\nport_label('input', 3, "
+	      "'q_j', 'texmode','on');\n% \n% \nport_label('output', 1, '{}^{world} H_{base}^d', 'texmode','on')\nport_label('"
+	      "output', 2, 'q_j^d', 'texmode','on');\n\n"
+	      MaskIconFrame	      on
+	      MaskIconOpaque	      on
+	      MaskIconRotate	      "none"
+	      MaskPortRotate	      "default"
+	      MaskIconUnits	      "autoscale"
+	      MaskValueString	      "'root_link'|'l_sole'|Full Constraint (Position and Orientation)|WBT_robotName|WBT_modelN"
+	      "ame|WBT_wbiFilename|WBT_wbiList"
+	      MaskTabNameString	      "Block parameters,Block parameters,Block parameters,WBI parameters,WBI parameters,WBI p"
+	      "arameters,WBI parameters"
+	      System {
+		Name			"Inverse Kinematics"
+		Location		[0, 23, 1280, 744]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"312"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Desired frame pose"
+		  SID			  "1759"
+		  Position		  [10, 13, 40, 27]
+		  ZOrder		  26
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Current Base Pose"
+		  SID			  "1755"
+		  Position		  [10, 43, 40, 57]
+		  ZOrder		  22
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Current Joint configuration"
+		  SID			  "1756"
+		  Position		  [10, 73, 40, 87]
+		  ZOrder		  24
+		  Port			  "3"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1757"
+		  Ports			  [3, 2]
+		  Position		  [145, 4, 225, 96]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'InverseKinematics',robotName,localName,wbiFile,wbiList,baseFrame, endEffFrame,optOption"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Desired Base Pose"
+		  SID			  "1758"
+		  Position		  [280, 23, 310, 37]
+		  ZOrder		  25
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Desired Joint Configuration"
+		  SID			  "1760"
+		  Position		  [280, 68, 310, 82]
+		  ZOrder		  27
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  DstBlock		  "Desired Base Pose"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "Current Base Pose"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  2
+		}
+		Line {
+		  SrcBlock		  "Current Joint configuration"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  3
+		}
+		Line {
+		  SrcBlock		  "Desired frame pose"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "S-Function"
+		  SrcPort		  2
+		  DstBlock		  "Desired Joint Configuration"
+		  DstPort		  1
+		}
+	      }
+	      RTWSystemCode	      "Auto"
+	      MinAlgLoopOccurrences   off
+	      PropExecContextOutsideSubsystem off
+	      FunctionWithSeparateData off
+	      Opaque		      off
+	      MaskHideContents	      off
+	    }
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Remote Inverse Kinematics"
+	      SID		      "1761"
+	      Ports		      [2, 1]
+	      Position		      [560, 105, 720, 165]
+	      ZOrder		      66
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      MaskType		      "Forward Kinematics"
+	      MaskDescription	      "This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is "
+	      "the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous tra"
+	      "nsformation between\n             the the base frame and the world frame.\n- Joint configuration: Vector of siz"
+	      "e DoFs, representing the configuration \n                       of the joints.\n\nOutput:\n- Forward Kinematics"
+	      ": a 4x4 matrix representing the homogenous transformation between\n             the specified frame and the wor"
+	      "ld frame.\n\nParameters:\n- Frame name: the name of the frame. It should be specified in the URDF model.\n\n- R"
+	      "obot Port Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string (''"
+	      ") to use the name specified in the \n                   Whole Body Interface configuration file.\n- Model Name:"
+	      " Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file cont"
+	      "aining the configuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to confi"
+	      "gure the Whole Body Interface\n"
+	      MaskPromptString	      "Solver Name|#Dofs|Optimization Option"
+	      MaskStyleString	      "edit,edit,popup(Full Constraint (Position and Orientation)|Position only constraint)"
+	      MaskVariables	      "solverName=@1;dofs=@2;optOption=@3;"
+	      MaskTunableValueString  "on,off,on"
+	      MaskCallbackString      "||"
+	      MaskEnableString	      "on,on,on"
+	      MaskVisibilityString    "on,on,on"
+	      MaskToolTipString	      "on,on,on"
+	      MaskDisplay	      "disp(solverName)\n\n\n\n% escapedBaseFrameName = strrep(baseFrame, '_', '\\_');\n% escapedEn"
+	      "dEffFrameName = strrep(endEffFrame, '_', '\\_');\n% \n% %port_label('output', 1, strcat('{}^{world} H_{',escape"
+	      "dFrameName,'}'), 'texmode','on')\n% \n% %port_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\n% %port"
+	      "_label('input', 2, 'Joint configuration')\n% \n% %clear escapedFrameName;\n% \n% \n% % if strcmp(robotPart, 'le"
+	      "ft')\n% %     prefix = 'l';\n% % else\n% %     prefix = 'r';\n% % end\n% % \n\nport_label('input', 1, 'H^d', 't"
+	      "exmode','on');\n% port_label('input', 1, strcat('{}^{',escapedBaseFrameName,'} H_{',escapedEndEffFrameName,'}^d"
+	      "'), 'texmode','on');\n% \n% port_label('input', 2, '{}^{world} H_{base}', 'texmode','on')\nport_label('input', "
+	      "2, 'q_j(0)', 'texmode','on');\n% % \n% % \n% port_label('output', 1, '{}^{world} H_{base}^d', 'texmode','on')\n"
+	      "port_label('output', 1, 'q_j^d', 'texmode','on');\n\n"
+	      MaskIconFrame	      on
+	      MaskIconOpaque	      on
+	      MaskIconRotate	      "none"
+	      MaskPortRotate	      "default"
+	      MaskIconUnits	      "autoscale"
+	      MaskValueString	      "'/cartesianSolver'|12|Full Constraint (Position and Orientation)"
+	      MaskTabNameString	      "Block parameters,Block parameters,Block parameters"
+	      System {
+		Name			"Remote Inverse Kinematics"
+		Location		[853, 51, 2214, 1013]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"375"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Desired frame pose"
+		  SID			  "1762"
+		  Position		  [10, 23, 40, 37]
+		  ZOrder		  26
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Current Joint configuration"
+		  SID			  "1763"
+		  Position		  [10, 68, 40, 82]
+		  ZOrder		  24
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1764"
+		  Ports			  [2, 1]
+		  Position		  [145, 6, 225, 99]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'RemoteInverseKinematics',solverName, dofs, optOption"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Desired Joint Configuration"
+		  SID			  "1765"
+		  Position		  [285, 48, 315, 62]
+		  ZOrder		  27
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  DstBlock		  "Desired Joint Configuration"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "Desired frame pose"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  SrcBlock		  "Current Joint configuration"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  2
+		}
+	      }
+	      RTWSystemCode	      "Auto"
+	      MinAlgLoopOccurrences   off
+	      PropExecContextOutsideSubsystem off
+	      FunctionWithSeparateData off
+	      Opaque		      off
+	      MaskHideContents	      off
+	    }
+	  }
+	  RTWSystemCode		  "Auto"
+	  MinAlgLoopOccurrences	  off
+	  PropExecContextOutsideSubsystem off
+	  FunctionWithSeparateData off
+	  Opaque		  off
+	  MaskHideContents	  off
+	}
+      }
+      RTWSystemCode	      "Auto"
+      MinAlgLoopOccurrences   off
+      PropExecContextOutsideSubsystem off
+      FunctionWithSeparateData off
+      Opaque		      off
+      MaskHideContents	      off
+    }
+    Block {
+      BlockType		      SubSystem
+      Name		      "wholeBodyStates"
+      SID		      "206"
+      Ports		      []
+      Position		      [16, 17, 114, 114]
+      ZOrder		      -4
+      ForegroundColor	      "white"
+      DropShadow	      on
+      RequestExecContextInheritance off
+      Variant		      off
+      MaskDisplay	      "image(imread('wholeBodyStates.png'),'center');"
+      MaskIconFrame	      on
+      MaskIconOpaque	      on
+      MaskIconRotate	      "none"
+      MaskPortRotate	      "default"
+      MaskIconUnits	      "autoscale"
+      System {
+	Name			"wholeBodyStates"
+	Location		[425, 373, 1725, 1134]
+	Open			off
+	ModelBrowserVisibility	off
+	ModelBrowserWidth	200
+	ScreenColor		"white"
+	PaperOrientation	"landscape"
+	PaperPositionMode	"auto"
+	PaperType		"usletter"
+	PaperUnits		"inches"
+	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+	TiledPageScale		1
+	ShowPageBoundaries	off
+	ZoomFactor		"576"
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Get Estimate"
+	  SID			  "1671"
+	  Ports			  [0, 1]
+	  Position		  [360, 212, 440, 248]
+	  ZOrder		  53
+	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
+	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
+	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
+	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  MaskType		  "Get Estimate"
+	  MaskDescription	  "This block get the estimate of the specified type\n\nAssuming DoFs is the number of degrees of f"
+	  "reedom of the robot,\nOutput:\n- References: Vector of size DoFs, representing the estimate requested.\n\nParameter"
+	  "s:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name of the ports open"
+	  "ed by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n     "
+	  "              Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underl"
+	  "ying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interfa"
+	  "ce\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+	  MaskPromptString	  "Estimate Type|Robot Port Name|Model Name|WBI filename|WBI list name"
+	  MaskStyleString	  "popup(Joints Position|Joints Velocity|Joints Acceleration|Joints Torque),edit,edit,edit,edit"
+	  MaskVariables		  "estimateType=&1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
+	  MaskTunableValueString  "on,off,off,off,off"
+	  MaskCallbackString	  "% Get the mask parameter values. This is a cell\n%   array of strings.\n\nmaskStr = get_param"
+	  "(gcb,'estimateType');\nif strcmp(maskStr, 'Joints Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510"
+	  ", 0.6706, 1.0]');\nelseif strcmp(maskStr, 'Joints Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745"
+	  ", 1.0000, 1.0]');\nelseif strcmp(maskStr, 'Joints Acceleration')\n    set_param(gcb,'BackgroundColor', '[0.9255, 0."
+	  "8706, 0.1333, 1.0]');\nelseif strcmp(maskStr, 'Joints Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.57"
+	  "65, 0.6039, 1.0]');\nend\nclear  maskStr||||"
+	  MaskEnableString	  "on,on,on,on,on"
+	  MaskVisibilityString	  "on,on,on,on,on"
+	  MaskToolTipString	  "on,on,on,on,on"
+	  MaskDisplay		  "%disp(get_param(gcb,'estimateType'))\nport_label('output',1,get_param(gcb,'estimateType'))"
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  MaskValueString	  "Joints Position|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
+	  MaskTabNameString	  "Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
+	  System {
+	    Name		    "Get Estimate"
+	    Location		    [653, 318, 2086, 1271]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "1000"
+	    Block {
+	      BlockType		      S-Function
+	      Name		      "S-Function"
+	      SID		      "1672"
+	      Ports		      [0, 1]
+	      Position		      [125, 39, 185, 71]
+	      ZOrder		      19
+	      FunctionName	      "WBToolbox"
+	      Parameters	      "'GetEstimate',robotName,localName,wbiFile,wbiList,estimateType"
+	      SFunctionDeploymentMode off
+	      EnableBusSupport	      off
+	    }
+	    Block {
+	      BlockType		      Outport
+	      Name		      "Estimate"
+	      SID		      "1673"
+	      Position		      [210, 48, 240, 62]
+	      ZOrder		      25
+	      IconDisplay	      "Port number"
+	    }
+	    Line {
+	      SrcBlock		      "S-Function"
+	      SrcPort		      1
+	      DstBlock		      "Estimate"
+	      DstPort		      1
+	    }
+	  }
+	  RTWSystemCode		  "Auto"
+	  MinAlgLoopOccurrences	  off
+	  PropExecContextOutsideSubsystem off
+	  FunctionWithSeparateData off
+	  Opaque		  off
+	  MaskHideContents	  off
+	}
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Get Limits"
+	  SID			  "1690"
+	  Ports			  [0, 2]
+	  Position		  [475, 211, 570, 249]
+	  ZOrder		  68
+	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
+	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
+	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
+	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  MaskType		  "Get Estimate"
+	  MaskDescription	  "This block get the estimate of the specified type\n\nAssuming DoFs is the number of degrees of f"
+	  "reedom of the robot,\nOutput:\n- References: Vector of size DoFs, representing the estimate requested.\n\nParameter"
+	  "s:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name of the ports open"
+	  "ed by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n     "
+	  "              Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underl"
+	  "ying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interfa"
+	  "ce\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+	  MaskPromptString	  "Limits Type|Robot Port Name|Model Name|WBI filename|WBI list name"
+	  MaskStyleString	  "popup(Position),edit,edit,edit,edit"
+	  MaskVariables		  "limitsType=&1;robotName=@2;localName=@3;wbiFile=@4;wbiList=@5;"
+	  MaskTunableValueString  "on,off,off,off,off"
+	  MaskCallbackString	  "% Get the mask parameter values. This is a cell\n%   array of strings.\n\nmaskStr = get_param"
+	  "(gcb,'limitsType');\nif strcmp(maskStr, 'Joints Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, "
+	  "0.6706, 1.0]');\nelseif strcmp(maskStr, 'Joints Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, "
+	  "1.0000, 1.0]');\nelseif strcmp(maskStr, 'Joints Acceleration')\n    set_param(gcb,'BackgroundColor', '[0.9255, 0.87"
+	  "06, 0.1333, 1.0]');\nelseif strcmp(maskStr, 'Joints Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765"
+	  ", 0.6039, 1.0]');\nend\nclear  maskStr||||"
+	  MaskEnableString	  "on,on,on,on,on"
+	  MaskVisibilityString	  "on,on,on,on,on"
+	  MaskToolTipString	  "on,on,on,on,on"
+	  MaskDisplay		  "disp(get_param(gcb,'limitsType'))\nport_label('output',1,'Min')\nport_label('output',2,'Max')"
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  MaskValueString	  "Position|WBT_robotName|WBT_modelName|WBT_wbiFilename|WBT_wbiList"
+	  MaskTabNameString	  "Block parameters,WBI parameters,WBI parameters,WBI parameters,WBI parameters"
+	  System {
+	    Name		    "Get Limits"
+	    Location		    [0, 23, 1280, 744]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "411"
+	    Block {
+	      BlockType		      S-Function
+	      Name		      "S-Function"
+	      SID		      "1691"
+	      Ports		      [0, 2]
+	      Position		      [115, 33, 175, 102]
+	      ZOrder		      19
+	      FunctionName	      "WBToolbox"
+	      Parameters	      "'GetLimits',robotName,localName,wbiFile,wbiList,limitsType"
+	      SFunctionDeploymentMode off
+	      EnableBusSupport	      off
+	    }
+	    Block {
+	      BlockType		      Outport
+	      Name		      "Min"
+	      SID		      "1692"
+	      Position		      [220, 43, 250, 57]
+	      ZOrder		      25
+	      IconDisplay	      "Port number"
+	    }
+	    Block {
+	      BlockType		      Outport
+	      Name		      "Max"
+	      SID		      "1693"
+	      Position		      [220, 78, 250, 92]
+	      ZOrder		      26
+	      Port		      "2"
+	      IconDisplay	      "Port number"
+	    }
+	    Line {
+	      SrcBlock		      "S-Function"
+	      SrcPort		      1
+	      DstBlock		      "Min"
+	      DstPort		      1
+	    }
+	    Line {
+	      SrcBlock		      "S-Function"
+	      SrcPort		      2
+	      DstBlock		      "Max"
+	      DstPort		      1
+	    }
+	  }
+	  RTWSystemCode		  "Auto"
+	  MinAlgLoopOccurrences	  off
+	  PropExecContextOutsideSubsystem off
+	  FunctionWithSeparateData off
+	  Opaque		  off
+	  MaskHideContents	  off
+	}
+      }
+      RTWSystemCode	      "Auto"
+      MinAlgLoopOccurrences   off
+      PropExecContextOutsideSubsystem off
+      FunctionWithSeparateData off
+      Opaque		      off
+      MaskHideContents	      off
+    }
+    Annotation {
+      SID		      "1213"
+      Name		      "WHOLE BODY TOOLBOX"
+      Position		      [244, 157]
+      ForegroundColor	      "white"
+      BackgroundColor	      "black"
+      FontName		      "Sans Serif"
+      FontSize		      12
+    }
+    Annotation {
+      SID		      "1214"
+      Name		      "Copyright  2013-2016 iCub Facility Department, Istituto Italiano di Tecnologia\nThis software was s"
+      "upported by the FP7 EU Project CoDyCO (No. 600716 ICT 2011.2.1 Cognitive Systems and Robotics (b))\nhttp://www.c"
+      "odyco.eu"
+      Position		      [241, 194]
+      ForegroundColor	      "white"
+      BackgroundColor	      "black"
+      FontSize		      5
+    }
+  }
+}
+#Finite State Machines
+#
+#   Stateflow 80000010
+#
+#
+Stateflow {
+  machine {
+    id			    1
+    name		    "WBToolboxLibrary"
+    created		    "06-Feb-2014 11:51:26"
+    isLibrary		    1
+    sfVersion		    76014001.0004
+    firstTarget		    26
+  }
+  chart {
+    id			    2
+    machine		    1
+    name		    "Utilities/holder\n/MATLAB Function"
+    windowPosition	    [1152 -205 -179 985]
+    viewLimits		    [0 156.75 0 153.75]
+    screen		    [1 1 3046 1050 1.25]
+    treeNode		    [0 3 0 0]
+    viewObj		    2
+    toolbarMode		    LIBRARY_TOOLBAR
+    ssIdHighWaterMark	    9
+    decomposition	    CLUSTER_CHART
+    type		    EML_CHART
+    chartFileNumber	    1
+    disableImplicitCasting  1
+    eml {
+      name		      "fcn"
+    }
+    firstData		    4
+    firstTransition	    8
+    firstJunction	    7
+  }
+  state {
+    id			    3
+    labelString		    "eML_blk_kernel()"
+    position		    [18 64.5 118 66]
+    fontSize		    12
+    chart		    2
+    treeNode		    [2 0 0 0]
+    superState		    SUBCHART
+    subviewer		    2
+    ssIdNumber		    1
+    type		    FUNC_STATE
+    decomposition	    CLUSTER_STATE
+    eml {
+      isEML		      1
+      script		      "function s0 = fcn(s, ~)\npersistent state\n%#codegen\n\nif isempty(state)\n    state = s;\nend\n\n"
+      "s0 = state;"
+      editorLayout	      "100 M4x1[10 5 700 500]"
+    }
+  }
+  data {
+    id			    4
+    ssIdNumber		    7
+    name		    "s"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+	isSigned		1
+	wordLength		"16"
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_INHERITED
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [2 0 5]
+  }
+  data {
+    id			    5
+    ssIdNumber		    8
+    name		    "s0"
+    scope		    OUTPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+	isSigned		1
+	wordLength		"16"
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_NO
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [2 4 6]
+  }
+  data {
+    id			    6
+    ssIdNumber		    9
+    name		    "unused"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+	isSigned		1
+	wordLength		"16"
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_INHERITED
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [2 5 0]
+  }
+  junction {
+    id			    7
+    position		    [23.5747 49.5747 7]
+    chart		    2
+    subviewer		    2
+    ssIdNumber		    3
+    type		    CONNECTIVE_JUNCTION
+    linkNode		    [2 0 0]
+  }
+  transition {
+    id			    8
+    labelString		    "{eML_blk_kernel();}"
+    labelPosition	    [76.125 85.875 102.544 14.964]
+    fontSize		    12
+    src {
+      intersection	      [0 0 1 0 23.5747 14.625 0 0]
+    }
+    dst {
+      id		      7
+      intersection	      [1 0 -1 0 23.5747 42.5747 0 0]
+    }
+    midPoint		    [23.5747 24.9468]
+    chart		    2
+    dataLimits		    [21.175 25.975 14.625 42.575]
+    subviewer		    2
+    drawStyle		    SMART
+    slide {
+      sticky		      BOTH_STICK
+    }
+    executionOrder	    1
+    ssIdNumber		    2
+    linkNode		    [2 0 0]
+  }
+  instance {
+    id			    9
+    machine		    1
+    name		    "Utilities/holder\n/MATLAB Function"
+    chart		    2
+  }
+  chart {
+    id			    10
+    machine		    1
+    name		    "Utilities/DampPinv/Damped Pseudo Inverse"
+    windowPosition	    [699 -205 167 985]
+    viewLimits		    [0 156.75 0 153.75]
+    screen		    [1 1 3046 1050 1.25]
+    treeNode		    [0 11 0 0]
+    viewObj		    10
+    toolbarMode		    LIBRARY_TOOLBAR
+    ssIdHighWaterMark	    8
+    decomposition	    CLUSTER_CHART
+    type		    EML_CHART
+    chartFileNumber	    6
+    disableImplicitCasting  1
+    eml {
+      name		      "fcn"
+    }
+    firstData		    12
+    firstTransition	    16
+    firstJunction	    15
+  }
+  state {
+    id			    11
+    labelString		    "eML_blk_kernel()"
+    position		    [18 64.5 118 66]
+    fontSize		    12
+    chart		    10
+    treeNode		    [10 0 0 0]
+    superState		    SUBCHART
+    subviewer		    10
+    ssIdNumber		    1
+    type		    FUNC_STATE
+    decomposition	    CLUSTER_STATE
+    eml {
+      isEML		      1
+      script		      "function DPinv  = fcn(mat,sigma)\n% Economody size svd of mat\n[U,S,V] = svd(mat,'econ');\n% Damp"
+      "ed version of S with sigma\nS(S>sigma)=S(S>sigma)./((S(S>sigma)).^2+sigma^2);\n% Damped pseudoinverse\nDPinv = V"
+      "*pinv(S)*U';"
+      editorLayout	      "100 M4x1[10 5 700 500]"
+    }
+  }
+  data {
+    id			    12
+    ssIdNumber		    4
+    name		    "mat"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+      }
+      complexity	      SF_COMPLEX_INHERITED
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [10 0 13]
+  }
+  data {
+    id			    13
+    ssIdNumber		    5
+    name		    "DPinv"
+    scope		    OUTPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_NO
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [10 12 14]
+  }
+  data {
+    id			    14
+    ssIdNumber		    8
+    name		    "sigma"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+	isSigned		1
+	wordLength		"16"
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_INHERITED
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [10 13 0]
+  }
+  junction {
+    id			    15
+    position		    [23.5747 49.5747 7]
+    chart		    10
+    subviewer		    10
+    ssIdNumber		    3
+    type		    CONNECTIVE_JUNCTION
+    linkNode		    [10 0 0]
+  }
+  transition {
+    id			    16
+    labelString		    "{eML_blk_kernel();}"
+    labelPosition	    [80.125 91.875 102.544 14.964]
+    fontSize		    12
+    src {
+      intersection	      [0 0 1 0 23.5747 14.625 0 0]
+    }
+    dst {
+      id		      15
+      intersection	      [1 0 -1 0 23.5747 42.5747 0 0]
+    }
+    midPoint		    [23.5747 24.9468]
+    chart		    10
+    dataLimits		    [21.175 25.975 14.625 42.575]
+    subviewer		    10
+    drawStyle		    SMART
+    slide {
+      sticky		      BOTH_STICK
+    }
+    executionOrder	    1
+    ssIdNumber		    2
+    linkNode		    [10 0 0]
+  }
+  instance {
+    id			    17
+    machine		    1
+    name		    "Utilities/DampPinv/Damped Pseudo Inverse"
+    chart		    10
+  }
+  chart {
+    id			    18
+    machine		    1
+    name		    "Utilities/TruncPinv/Truncated PseudoInverse"
+    windowPosition	    [649 -205 167 985]
+    viewLimits		    [0 156.75 0 153.75]
+    screen		    [1 1 3046 1050 1.25]
+    treeNode		    [0 19 0 0]
+    viewObj		    18
+    toolbarMode		    LIBRARY_TOOLBAR
+    ssIdHighWaterMark	    8
+    decomposition	    CLUSTER_CHART
+    type		    EML_CHART
+    chartFileNumber	    7
+    disableImplicitCasting  1
+    eml {
+      name		      "fcn"
+    }
+    firstData		    20
+    firstTransition	    24
+    firstJunction	    23
+  }
+  state {
+    id			    19
+    labelString		    "eML_blk_kernel()"
+    position		    [18 64.5 118 66]
+    fontSize		    12
+    chart		    18
+    treeNode		    [18 0 0 0]
+    superState		    SUBCHART
+    subviewer		    18
+    ssIdNumber		    1
+    type		    FUNC_STATE
+    decomposition	    CLUSTER_STATE
+    eml {
+      isEML		      1
+      script		      "function TPinv  = fcn(mat,tol)\n%#codegen\n[U,S,V] = svd(mat,'econ');\n% Setting to zero value\n%"
+      " Setting to 1/S(i,i) singular values greater than tol\n S(S>tol)=1./S(S>tol);\n TPinv = V*pinv(S)*U';"
+      editorLayout	      "100 M4x1[10 5 700 500]"
+    }
+  }
+  data {
+    id			    20
+    ssIdNumber		    4
+    name		    "mat"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+      }
+      complexity	      SF_COMPLEX_INHERITED
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [18 0 21]
+  }
+  data {
+    id			    21
+    ssIdNumber		    5
+    name		    "TPinv"
+    scope		    OUTPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_NO
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [18 20 22]
+  }
+  data {
+    id			    22
+    ssIdNumber		    8
+    name		    "tol"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+	isSigned		1
+	wordLength		"16"
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_INHERITED
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [18 21 0]
+  }
+  junction {
+    id			    23
+    position		    [23.5747 49.5747 7]
+    chart		    18
+    subviewer		    18
+    ssIdNumber		    3
+    type		    CONNECTIVE_JUNCTION
+    linkNode		    [18 0 0]
+  }
+  transition {
+    id			    24
+    labelString		    "{eML_blk_kernel();}"
+    labelPosition	    [80.125 91.875 102.544 14.964]
+    fontSize		    12
+    src {
+      intersection	      [0 0 1 0 23.5747 14.625 0 0]
+    }
+    dst {
+      id		      23
+      intersection	      [1 0 -1 0 23.5747 42.5747 0 0]
+    }
+    midPoint		    [23.5747 24.9468]
+    chart		    18
+    dataLimits		    [21.175 25.975 14.625 42.575]
+    subviewer		    18
+    drawStyle		    SMART
+    slide {
+      sticky		      BOTH_STICK
+    }
+    executionOrder	    1
+    ssIdNumber		    2
+    linkNode		    [18 0 0]
+  }
+  instance {
+    id			    25
+    machine		    1
+    name		    "Utilities/TruncPinv/Truncated PseudoInverse"
+    chart		    18
+  }
+  target {
+    id			    26
+    machine		    1
+    name		    "sfun"
+    description		    "Default Simulink S-Function Target."
+    linkNode		    [1 0 0]
+  }
+}
diff --git a/toolbox/WBToolboxLibrary.slx b/toolbox/WBToolboxLibrary.slx
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diff --git a/toolbox/WBToolboxLibrary_repository.mdl b/toolbox/WBToolboxLibrary_repository.mdl
new file mode 100644
index 000000000..5bc9551fe
--- /dev/null
+++ b/toolbox/WBToolboxLibrary_repository.mdl
@@ -0,0 +1,6100 @@
+Library {
+  Name			  "WBToolboxLibrary_repository"
+  Version		  8.8
+  SavedCharacterEncoding  "US-ASCII"
+  LogicAnalyzerGraphicalSettings ""
+  LogicAnalyzerPlugin	  "on"
+  LogicAnalyzerSignalOrdering ""
+  DiagnosticSuppressor	  "on"
+  SuppressorTable	  "22 serialization::archive 11 0 3 0 0 0 11 0"
+  LibraryType		  "BlockLibrary"
+  ScopeRefreshTime	  0.035000
+  OverrideScopeRefreshTime on
+  DisableAllScopes	  off
+  FPTRunName		  "Run 1"
+  MaxMDLFileLineLength	  120
+  LastSavedArchitecture	  "glnxa64"
+  Object {
+    $PropName		    "BdWindowsInfo"
+    $ObjectID		    1
+    $ClassName		    "Simulink.BDWindowsInfo"
+    Object {
+      $PropName		      "WindowsInfo"
+      $ObjectID		      2
+      $ClassName	      "Simulink.WindowInfo"
+      IsActive		      [1]
+      Location		      [173.0, 232.0, 1280.0, 721.0]
+      Object {
+	$PropName		"ModelBrowserInfo"
+	$ObjectID		3
+	$ClassName		"Simulink.ModelBrowserInfo"
+	Visible			[0]
+	DockPosition		"Left"
+	Width			[50]
+	Height			[50]
+	Filter			[9]
+      }
+      Object {
+	$PropName		"ExplorerBarInfo"
+	$ObjectID		4
+	$ClassName		"Simulink.ExplorerBarInfo"
+	Visible			[1]
+      }
+      Object {
+	$PropName		"EditorsInfo"
+	$ObjectID		5
+	$ClassName		"Simulink.EditorInfo"
+	IsActive		[1]
+	ViewObjType		"SimulinkSubsys"
+	LoadSaveID		"192"
+	Extents			[1226.0, 537.0]
+	ZoomFactor		[1.66]
+	Offset			[0.0, 0.0]
+      }
+      Object {
+	$PropName		"DockComponentsInfo"
+	$ObjectID		6
+	$ClassName		"Simulink.DockComponentInfo"
+	Type			"GLUE2:PropertyInspector"
+	ID			"Property Inspector"
+	Visible			[0]
+	CreateCallback		""
+	UserData		""
+	Floating		[0]
+	DockPosition		"Right"
+	Width			[640]
+	Height			[480]
+      }
+      WindowState	      "AAAA/wAAAAD9AAAAAgAAAAAAAAC9AAAB+PwCAAAAA/sAAAAWAEQAbwBjAGsAVwBpAGQAZwBlAHQAMwEAAAAxAAAB+AAAA"
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+      "////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA/////wEAAAE7/////wAAAAAAAAAA/"
+      "////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA"
+    }
+  }
+  Created		  "Thu Feb 06 02:21:39 2014"
+  Creator		  "jorhabib"
+  UpdateHistory		  "UpdateHistoryNever"
+  ModifiedByFormat	  "%<Auto>"
+  LastModifiedBy	  "icub"
+  ModifiedDateFormat	  "%<Auto>"
+  LastModifiedDate	  "Fri Aug 11 06:58:36 2017"
+  RTWModifiedTimeStamp	  424335513
+  ModelVersionFormat	  "1.%<AutoIncrement:382>"
+  ConfigurationManager	  "none"
+  SampleTimeColors	  off
+  SampleTimeAnnotations	  off
+  LibraryLinkDisplay	  "disabled"
+  WideLines		  off
+  ShowLineDimensions	  off
+  ShowPortDataTypes	  off
+  ShowEditTimeErrors	  on
+  ShowEditTimeWarnings	  on
+  ShowEditTimeAdvisorChecks off
+  ShowPortUnits		  off
+  ShowDesignRanges	  off
+  ShowLoopsOnError	  on
+  IgnoreBidirectionalLines off
+  ShowStorageClass	  off
+  ShowTestPointIcons	  on
+  ShowSignalResolutionIcons on
+  ShowViewerIcons	  on
+  SortedOrder		  off
+  VariantCondition	  off
+  ExecutionContextIcon	  off
+  ShowLinearizationAnnotations on
+  ShowVisualizeInsertedRTB on
+  ShowMarkup		  on
+  BlockNameDataTip	  off
+  BlockParametersDataTip  off
+  BlockDescriptionStringDataTip	off
+  ToolBar		  on
+  StatusBar		  on
+  BrowserShowLibraryLinks off
+  FunctionConnectors	  off
+  BrowserLookUnderMasks	  off
+  SimulationMode	  "normal"
+  PauseTimes		  "5"
+  NumberOfSteps		  1
+  SnapshotBufferSize	  10
+  SnapshotInterval	  10
+  NumberOfLastSnapshots	  0
+  LinearizationMsg	  "none"
+  Profile		  off
+  ParamWorkspaceSource	  "MATLABWorkspace"
+  ExtModeBatchMode	  off
+  ExtModeEnableFloating	  on
+  ExtModeTrigType	  "manual"
+  ExtModeTrigMode	  "normal"
+  ExtModeTrigPort	  "1"
+  ExtModeTrigElement	  "any"
+  ExtModeTrigDuration	  1000
+  ExtModeTrigDurationFloating "auto"
+  ExtModeTrigHoldOff	  0
+  ExtModeTrigDelay	  0
+  ExtModeTrigDirection	  "rising"
+  ExtModeTrigLevel	  0
+  ExtModeArchiveMode	  "off"
+  ExtModeAutoIncOneShot	  off
+  ExtModeIncDirWhenArm	  off
+  ExtModeAddSuffixToVar	  off
+  ExtModeWriteAllDataToWs off
+  ExtModeArmWhenConnect	  on
+  ExtModeSkipDownloadWhenConnect off
+  ExtModeLogAll		  on
+  ExtModeAutoUpdateStatusClock on
+  ShowModelReferenceBlockVersion off
+  ShowModelReferenceBlockIO off
+  Array {
+    Type		    "Handle"
+    Dimension		    1
+    Simulink.ConfigSet {
+      $ObjectID		      7
+      Version		      "1.16.5"
+      DisabledProps	      []
+      Description	      ""
+      Array {
+	Type			"Handle"
+	Dimension		10
+	Simulink.SolverCC {
+	  $ObjectID		  8
+	  Version		  "1.16.5"
+	  DisabledProps		  []
+	  Description		  ""
+	  StartTime		  "0.0"
+	  StopTime		  "10.0"
+	  AbsTol		  "auto"
+	  FixedStep		  "auto"
+	  InitialStep		  "auto"
+	  MaxNumMinSteps	  "-1"
+	  MaxOrder		  5
+	  ZcThreshold		  "auto"
+	  ConsecutiveZCsStepRelTol "10*128*eps"
+	  MaxConsecutiveZCs	  "1000"
+	  ExtrapolationOrder	  4
+	  NumberNewtonIterations  1
+	  MaxStep		  "auto"
+	  MinStep		  "auto"
+	  MaxConsecutiveMinStep	  "1"
+	  RelTol		  "1e-3"
+	  EnableMultiTasking	  on
+	  EnableConcurrentExecution off
+	  ConcurrentTasks	  off
+	  Solver		  "ode45"
+	  SolverName		  "ode45"
+	  SolverJacobianMethodControl "auto"
+	  ShapePreserveControl	  "DisableAll"
+	  ZeroCrossControl	  "UseLocalSettings"
+	  ZeroCrossAlgorithm	  "Nonadaptive"
+	  AlgebraicLoopSolver	  "TrustRegion"
+	  SolverInfoToggleStatus  off
+	  IsAutoAppliedInSIP	  off
+	  SolverResetMethod	  "Fast"
+	  PositivePriorityOrder	  off
+	  AutoInsertRateTranBlk	  off
+	  SampleTimeConstraint	  "Unconstrained"
+	  InsertRTBMode		  "Whenever possible"
+	  SampleTimeProperty	  []
+	}
+	Simulink.DataIOCC {
+	  $ObjectID		  9
+	  Version		  "1.16.5"
+	  DisabledProps		  []
+	  Description		  ""
+	  Decimation		  "1"
+	  ExternalInput		  "[t, u]"
+	  FinalStateName	  "xFinal"
+	  InitialState		  "xInitial"
+	  LimitDataPoints	  on
+	  MaxDataPoints		  "1000"
+	  LoadExternalInput	  off
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+    DropShadow		    off
+    FontName		    "Helvetica"
+    FontSize		    10
+    FontWeight		    "normal"
+    FontAngle		    "normal"
+    UseDisplayTextAsClickCallback off
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+    FontSize		    9
+    FontWeight		    "normal"
+    FontAngle		    "normal"
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+    SelfModifiable	    "off"
+    IconFrame		    "on"
+    IconOpaque		    "opaque"
+    RunInitForIconRedraw    "off"
+    IconRotate		    "none"
+    PortRotate		    "default"
+    IconUnits		    "autoscale"
+  }
+  MaskParameterDefaults {
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+      OutputWhenDisabled      "held"
+      InitialOutput	      "[]"
+    }
+    Block {
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+      OutMax		      "[]"
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+      SaturateOnIntegerOverflow	on
+      SampleTime	      "-1"
+    }
+    Block {
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+    Block {
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+		    Name		    "DPinv"
+		    RTWStorageClass	    "Auto"
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+	  }
+	}
+	Block {
+	  BlockType		  Reference
+	  Name			  "DiscreteFilter"
+	  SID			  "1772"
+	  Ports			  [1, 1]
+	  Position		  [440, 260, 500, 290]
+	  ZOrder		  83
+	  BackgroundColor	  "yellow"
+	  LibraryVersion	  "1.386"
+	  SourceBlock		  "WBToolboxLibrary/Utilities/DiscreteFilter"
+	  SourceType		  "Discrete Filter"
+	  filterType		  "Generic"
+	  numCoeffs		  "[0]"
+	  denCoeffs		  "[0]"
+	  Fc			  "0"
+	  Ts			  "0"
+	  orderMedianFilter	  "0"
+	}
+	Block {
+	  BlockType		  S-Function
+	  Name			  "DoFs converter"
+	  SID			  "1771"
+	  Ports			  [1, 5]
+	  Position		  [240, 241, 385, 309]
+	  ZOrder		  81
+	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
+	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
+	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend\n"
+	  FunctionName		  "WBToolbox"
+	  Parameters		  "'YARPWBIConverter',robotName,localName,wbiFile,wbiList,yarp2WBIOption"
+	  SFunctionDeploymentMode off
+	  EnableBusSupport	  off
+	  SFcnIsStateOwnerBlock	  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    23
+	    $ClassName		    "Simulink.Mask"
+	    Type		    "DoFs converter"
+	    Description		    "This block converts from a DoFs serialization to a YARP serialization or viceversa depending on"
+	    " its configuration.\nThe DoFs configuration is automatically currently taken from the WBI list option.\nThe robot"
+	    " name is taken from the environment variable YARP_ROBOT_NAME.\n\nParameters:\n\n- Conversion direction: specify i"
+	    "f you want to convert from YARP to the current DoFs serialization or viceversa.\n\nWBI parameters:\n\n- Robot Por"
+	    "t Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use t"
+	    "he name specified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name"
+	    " of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the con"
+	    "figuration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole B"
+	    "ody Interface\n"
+	    Display		    "robotName = getenv('YARP_ROBOT_NAME');\n\ncurrentSelection = get_param(gcb,'yarp2WBIoption');\n\nif"
+	    " strcmp(currentSelection,'From YARP to WBI')\n    direction = 'YARP -> DoFs';\nelse\n    direction = 'DoFs -> YAR"
+	    "P';\nend\n\nfprintf('%s\\n\\n%s', robotName, direction);"
+	    Array {
+	      Type		      "Simulink.MaskParameter"
+	      Dimension		      5
+	      Object {
+		$ObjectID		24
+		Type			"popup"
+		Array {
+		  Type			  "Cell"
+		  Dimension		  2
+		  Cell			  "From YARP to WBI"
+		  Cell			  "From WBI to YARP"
+		  PropName		  "TypeOptions"
+		}
+		Name			"yarp2WBIOption"
+		Prompt			"Conversion Direction"
+		Value			"From YARP to WBI"
+	      }
+	      Object {
+		$ObjectID		25
+		Type			"edit"
+		Name			"robotName"
+		Prompt			"Robot Port Name"
+		Value			"WBT_robotName"
+	      }
+	      Object {
+		$ObjectID		26
+		Type			"edit"
+		Name			"localName"
+		Prompt			"Model Name"
+		Value			"WBT_modelName"
+	      }
+	      Object {
+		$ObjectID		27
+		Type			"edit"
+		Name			"wbiFile"
+		Prompt			"WBI filename"
+		Value			"WBT_wbiFilename"
+	      }
+	      Object {
+		$ObjectID		28
+		Type			"edit"
+		Name			"wbiList"
+		Prompt			"WBI list name"
+		Value			"WBT_wbiList"
+	      }
+	      PropName		      "Parameters"
+	    }
+	    Array {
+	      Type		      "Simulink.dialog.Group"
+	      Dimension		      2
+	      Object {
+		$ObjectID		29
+		Prompt			"%<MaskType>"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  30
+		  $ClassName		  "Simulink.dialog.Text"
+		  Prompt		  "%<MaskDescription>"
+		  Name			  "DescTextVar"
+		}
+		Name			"DescGroupVar"
+	      }
+	      Object {
+		$ObjectID		31
+		Prompt			"Simulink:studio:ToolBarParametersMenu"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  32
+		  $ClassName		  "Simulink.dialog.TabContainer"
+		  Array {
+		    Type		    "Simulink.dialog.Tab"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    33
+		    Prompt		    "Block Parameters"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    34
+		    $ClassName		    "Simulink.dialog.parameter.Popup"
+		    Name		    "yarp2WBIOption"
+		    }
+		    Name		    "Container4"
+		    }
+		    Object {
+		    $ObjectID		    35
+		    Prompt		    "WBI Parameters"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Edit"
+		    Dimension		    4
+		    Object {
+		    $ObjectID		    36
+		    Name		    "robotName"
+		    }
+		    Object {
+		    $ObjectID		    37
+		    Name		    "localName"
+		    }
+		    Object {
+		    $ObjectID		    38
+		    Name		    "wbiFile"
+		    }
+		    Object {
+		    $ObjectID		    39
+		    Name		    "wbiList"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container7"
+		    }
+		    PropName		    "DialogControls"
+		  }
+		  Name			  "Container3"
+		}
+		Name			"ParameterGroupVar"
+	      }
+	      PropName		      "DialogControls"
+	    }
+	  }
+	}
+	Block {
+	  BlockType		  S-Function
+	  Name			  "Minimum Jerk Trajectory Generator"
+	  SID			  "1747"
+	  Ports			  [1, 3]
+	  Position		  [335, 73, 490, 127]
+	  ZOrder		  78
+	  FunctionName		  "WBToolbox"
+	  Parameters		  "'MinimumJerkTrajectoryGenerator',sampleTime, settlingTime, firstDerivatives, secondDerivatives, expl"
+	  "icitInitialValue, externalSettlingTime,resetOnSettlingTime"
+	  SFunctionDeploymentMode off
+	  EnableBusSupport	  off
+	  SFcnIsStateOwnerBlock	  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    40
+	    $ClassName		    "Simulink.Mask"
+	    Type		    "Minimum Jerk Trajectory Generator"
+	    Description		    "This block wraps the minJerkTrajGen class from iCub::ctrl::minJerkTrajGen.\n\nThe Minimum Jerk "
+	    "Trajectory Generator is approximated using a \n3rd order LTI dynamical system \n(for more details see [1]). \nPos"
+	    "ition, velocity and acceleration trajectories are computed.\n The main advantage with respect to the standard pol"
+	    "ynomial \nform is that if the reference value yd changes \nthere is no need to recompute the filter coefficients."
+	    "\n\n[1] Pattacini, U.; Nori, F.; Natale, L.; Metta, G.; Sandini, G., \"An experimental evaluation of a novel mini"
+	    "mum-jerk cartesian controller for humanoid robots,\" in Intelligent Robots and Systems (IROS), 2010 IEEE/RSJ Inte"
+	    "rnational Conference on , vol., no., pp.1668-1674, 18-22 Oct. 2010\ndoi: 10.1109/IROS.2010.5650851\nURL: http://i"
+	    "eeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=5650851&isnumber=5648787"
+	    Display		    "firstDer = get_param(gcb, 'firstDerivatives');\nsecondDer = get_param(gcb, 'secondDerivatives');\ni"
+	    "nitialValues = get_param(gcb, 'explicitInitialValue');\nexternalSettlingTimeParam = get_param(gcb, 'externalSettl"
+	    "ingTime');\n\n%Inputs\nportIndex = 2;\nport_label('input', 1, 'Reference')\nif(strcmp(initialValues, 'on'))\n    "
+	    "port_label('input', portIndex, 'Initial Value')\n    portIndex = portIndex + 1;\nend\n\nif(strcmp(externalSettlin"
+	    "gTimeParam, 'on'))\n    port_label('input', portIndex, 'Settling Time')\n    portIndex = portIndex + 1;\nend\n\n%"
+	    "Outputs\nport_label('output', 1, 'Signal')\nsecondDerPortIndex = 2;\nif(strcmp(firstDer, 'on'))\n    port_label('"
+	    "output', 2, 'First Derivative')\n    secondDerPortIndex = secondDerPortIndex + 1;\nend\nif(strcmp(secondDer, 'on'"
+	    "))\n    port_label('output', secondDerPortIndex, 'Second Derivative')\nend\n\n\n"
+	    Array {
+	      Type		      "Simulink.MaskParameter"
+	      Dimension		      7
+	      Object {
+		$ObjectID		41
+		Type			"checkbox"
+		Name			"externalSettlingTime"
+		Prompt			"External Settling Time"
+		Value			"off"
+		Callback		"externalSettlingTime = get_param(gcb, 'externalSettlingTime');\nvisibility = get_param(gcb, 'MaskVisibili"
+		"ties');\nif(strcmp(externalSettlingTime, 'on'))\n    visibility{2} = 'off';\n    visibility{4} = 'on';\nelse\n    vi"
+		"sibility{2} = 'on';\n    visibility{4} = 'off';\nend\nset_param(gcb, 'MaskVisibilities',visibility);\nclear external"
+		"SettlingTime"
+	      }
+	      Object {
+		$ObjectID		42
+		Type			"edit"
+		Name			"settlingTime"
+		Prompt			"Settling Time"
+		Value			"3"
+	      }
+	      Object {
+		$ObjectID		43
+		Type			"edit"
+		Name			"sampleTime"
+		Prompt			"Sample Time"
+		Value			"0.01"
+	      }
+	      Object {
+		$ObjectID		44
+		Type			"checkbox"
+		Name			"resetOnSettlingTime"
+		Prompt			"Reset on Settling Time Changes"
+		Value			"off"
+	      }
+	      Object {
+		$ObjectID		45
+		Type			"checkbox"
+		Name			"firstDerivatives"
+		Prompt			"Output First Derivative"
+		Value			"on"
+	      }
+	      Object {
+		$ObjectID		46
+		Type			"checkbox"
+		Name			"secondDerivatives"
+		Prompt			"Output Second Derivative"
+		Value			"on"
+	      }
+	      Object {
+		$ObjectID		47
+		Type			"checkbox"
+		Name			"explicitInitialValue"
+		Prompt			"Explicit Initial Value"
+		Value			"off"
+		Visible			"off"
+	      }
+	      PropName		      "Parameters"
+	    }
+	    Array {
+	      Type		      "Simulink.dialog.Group"
+	      Dimension		      2
+	      Object {
+		$ObjectID		48
+		Prompt			"%<MaskType>"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  49
+		  $ClassName		  "Simulink.dialog.Text"
+		  Prompt		  "%<MaskDescription>"
+		  Name			  "DescTextVar"
+		}
+		Name			"DescGroupVar"
+	      }
+	      Object {
+		$ObjectID		50
+		Prompt			"Simulink:studio:ToolBarParametersMenu"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  51
+		  $ClassName		  "Simulink.dialog.TabContainer"
+		  Array {
+		    Type		    "Simulink.dialog.Tab"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    52
+		    Prompt		    "Trajectory Parameters"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Control"
+		    Dimension		    4
+		    Object {
+		    $ObjectID		    53
+		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
+		    Name		    "externalSettlingTime"
+		    }
+		    Object {
+		    $ObjectID		    54
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "settlingTime"
+		    }
+		    Object {
+		    $ObjectID		    55
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "sampleTime"
+		    }
+		    Object {
+		    $ObjectID		    56
+		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
+		    Name		    "resetOnSettlingTime"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Tab1"
+		    }
+		    Object {
+		    $ObjectID		    57
+		    Prompt		    "Input/Output"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.CheckBox"
+		    Dimension		    3
+		    Object {
+		    $ObjectID		    58
+		    Name		    "firstDerivatives"
+		    }
+		    Object {
+		    $ObjectID		    59
+		    Name		    "secondDerivatives"
+		    }
+		    Object {
+		    $ObjectID		    60
+		    Name		    "explicitInitialValue"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Tab2"
+		    }
+		    PropName		    "DialogControls"
+		  }
+		  Name			  "Container3"
+		}
+		Name			"ParameterGroupVar"
+	      }
+	      PropName		      "DialogControls"
+	    }
+	  }
+	}
+	Block {
+	  BlockType		  S-Function
+	  Name			  "Real Time Synchronizer"
+	  SID			  "1657"
+	  Ports			  []
+	  Position		  [155, 14, 280, 51]
+	  ZOrder		  23
+	  ForegroundColor	  "white"
+	  BackgroundColor	  "gray"
+	  ShowName		  off
+	  FunctionName		  "WBToolbox"
+	  Parameters		  "'RealTimeSynchronizer',period"
+	  SFunctionDeploymentMode off
+	  EnableBusSupport	  off
+	  SFcnIsStateOwnerBlock	  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    61
+	    $ClassName		    "Simulink.Mask"
+	    Type		    "Real Time Synchronizer"
+	    Description		    "This block slows down the simulation trying to match the period specified \nas parameter (in se"
+	    "conds).\nThe bigger the period the more probable \nis that Simulink can remain synched with it.\n"
+	    Display		    "disp('Real Time Synchronizer')"
+	    Object {
+	      $PropName		      "Parameters"
+	      $ObjectID		      62
+	      $ClassName	      "Simulink.MaskParameter"
+	      Type		      "edit"
+	      Name		      "period"
+	      Prompt		      "Controller Period (in seconds)"
+	      Value		      "0.01"
+	    }
+	  }
+	}
+	Block {
+	  BlockType		  S-Function
+	  Name			  "Simulator Synchronizer"
+	  SID			  "1658"
+	  Ports			  []
+	  Position		  [335, 14, 465, 51]
+	  ZOrder		  24
+	  ForegroundColor	  "[0.490196, 0.000000, 0.000000]"
+	  ShowName		  off
+	  FunctionName		  "WBToolbox"
+	  Parameters		  "'SimulatorSynchronizer',period, serverPortName, clientPortName"
+	  SFunctionDeploymentMode off
+	  EnableBusSupport	  off
+	  SFcnIsStateOwnerBlock	  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    63
+	    $ClassName		    "Simulink.Mask"
+	    Type		    "Simulator Synchronizer"
+	    Description		    "This block synchronizes with the external simulation on a simulator \n(only Gazebo is supported"
+	    " at the moment).\n\n"
+	    Display		    "disp('Simulator Synchronizer')"
+	    Array {
+	      Type		      "Simulink.MaskParameter"
+	      Dimension		      3
+	      Object {
+		$ObjectID		64
+		Type			"edit"
+		Name			"period"
+		Prompt			"Controller Period (in seconds)"
+		Value			"0.01"
+	      }
+	      Object {
+		$ObjectID		65
+		Type			"edit"
+		Name			"serverPortName"
+		Prompt			"Server Port Name"
+		Value			"'/clock/rpc'"
+	      }
+	      Object {
+		$ObjectID		66
+		Type			"edit"
+		Name			"clientPortName"
+		Prompt			"Client Port Name"
+		Value			"'/WBT_synchronizer/rpc:o'"
+	      }
+	      PropName		      "Parameters"
+	    }
+	  }
+	}
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "TruncPinv"
+	  SID			  "109"
+	  Ports			  [2, 1]
+	  Position		  [335, 153, 405, 197]
+	  ZOrder		  -3
+	  BackgroundColor	  "[0.534601, 0.470279, 1.000000]"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    67
+	    $ClassName		    "Simulink.Mask"
+	    Object {
+	      $PropName		      "Parameters"
+	      $ObjectID		      68
+	      $ClassName	      "Simulink.MaskParameter"
+	      Type		      "edit"
+	      Name		      "tol"
+	      Prompt		      "Tolerance"
+	      Value		      "1e-4"
+	    }
+	  }
+	  System {
+	    Name		    "TruncPinv"
+	    Location		    [0, 29, 1280, 744]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "100"
+	    Block {
+	      BlockType		      Inport
+	      Name		      "S"
+	      SID		      "110"
+	      Position		      [50, 53, 80, 67]
+	      ZOrder		      -1
+	      IconDisplay	      "Port number"
+	    }
+	    Block {
+	      BlockType		      Inport
+	      Name		      "tol"
+	      SID		      "111"
+	      Position		      [50, 93, 80, 107]
+	      ZOrder		      -2
+	      Port		      "2"
+	      IconDisplay	      "Port number"
+	    }
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Truncated PseudoInverse"
+	      SID		      "112"
+	      Ports		      [2, 1]
+	      Position		      [105, 39, 200, 121]
+	      ZOrder		      -4
+	      LibraryVersion	      "1.32"
+	      ErrorFcn		      "Stateflow.Translate.translate"
+	      PermitHierarchicalResolution "ExplicitOnly"
+	      TreatAsAtomicUnit	      on
+	      RequestExecContextInheritance off
+	      SFBlockType	      "MATLAB Function"
+	      Variant		      off
+	      System {
+		Name			"Truncated PseudoInverse"
+		Location		[12, 45, 1279, 3773]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"100"
+		SIDHighWatermark	"1610"
+		Block {
+		  BlockType		  Inport
+		  Name			  "mat"
+		  SID			  "112::1"
+		  Position		  [20, 101, 40, 119]
+		  ZOrder		  -1
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "tol"
+		  SID			  "112::25"
+		  Position		  [20, 136, 40, 154]
+		  ZOrder		  11
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Demux
+		  Name			  " Demux "
+		  SID			  "112::1609"
+		  Ports			  [1, 1]
+		  Position		  [270, 230, 320, 270]
+		  ZOrder		  98
+		  Outputs		  "1"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  " SFunction "
+		  SID			  "112::1608"
+		  Tag			  "Stateflow S-Function WBToolboxLibrary_repository 7"
+		  Ports			  [2, 2]
+		  Position		  [180, 100, 230, 160]
+		  ZOrder		  97
+		  FunctionName		  "sf_sfun"
+		  PortCounts		  "[2 2]"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		  SFcnIsStateOwnerBlock	  off
+		  Port {
+		    PortNumber		    2
+		    Name		    "TPinv"
+		    RTWStorageClass	    "Auto"
+		    DataLoggingNameMode	    "SignalName"
+		  }
+		}
+		Block {
+		  BlockType		  Terminator
+		  Name			  " Terminator "
+		  SID			  "112::1610"
+		  Position		  [460, 241, 480, 259]
+		  ZOrder		  99
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "TPinv"
+		  SID			  "112::5"
+		  Position		  [460, 101, 480, 119]
+		  ZOrder		  -6
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  ZOrder		  61
+		  SrcBlock		  "mat"
+		  SrcPort		  1
+		  Points		  [120, 0]
+		  DstBlock		  " SFunction "
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  62
+		  SrcBlock		  "tol"
+		  SrcPort		  1
+		  DstBlock		  " SFunction "
+		  DstPort		  2
+		}
+		Line {
+		  Name			  "TPinv"
+		  ZOrder		  63
+		  Labels		  [0, 0]
+		  SrcBlock		  " SFunction "
+		  SrcPort		  2
+		  DstBlock		  "TPinv"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  64
+		  SrcBlock		  " Demux "
+		  SrcPort		  1
+		  DstBlock		  " Terminator "
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  65
+		  SrcBlock		  " SFunction "
+		  SrcPort		  1
+		  DstBlock		  " Demux "
+		  DstPort		  1
+		}
+	      }
+	    }
+	    Block {
+	      BlockType		      Outport
+	      Name		      "Tpinv"
+	      SID		      "113"
+	      Position		      [225, 73, 255, 87]
+	      ZOrder		      -5
+	      IconDisplay	      "Port number"
+	    }
+	    Line {
+	      ZOrder		      1
+	      SrcBlock		      "S"
+	      SrcPort		      1
+	      DstBlock		      "Truncated PseudoInverse"
+	      DstPort		      1
+	    }
+	    Line {
+	      ZOrder		      2
+	      SrcBlock		      "Truncated PseudoInverse"
+	      SrcPort		      1
+	      DstBlock		      "Tpinv"
+	      DstPort		      1
+	    }
+	    Line {
+	      ZOrder		      3
+	      SrcBlock		      "tol"
+	      SrcPort		      1
+	      DstBlock		      "Truncated PseudoInverse"
+	      DstPort		      2
+	    }
+	  }
+	}
+	Block {
+	  BlockType		  S-Function
+	  Name			  "Yarp Read"
+	  SID			  "1632"
+	  Ports			  [0, 2]
+	  Position		  [105, 74, 165, 121]
+	  ZOrder		  22
+	  ForegroundColor	  "[0.490196, 0.000000, 0.000000]"
+	  FunctionName		  "WBToolbox"
+	  Parameters		  "'YarpRead',portName,signalSize,blocking,timestamp,autoconnect,errorOnConnection"
+	  SFunctionDeploymentMode off
+	  EnableBusSupport	  off
+	  SFcnIsStateOwnerBlock	  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    69
+	    $ClassName		    "Simulink.Mask"
+	    Type		    "YARP Read"
+	    Description		    "This block behaves as the command 'yarp read'. \nBy default it has the option 'Autoconnect' act"
+	    "ive, which means that the user \ncan only specify the name of the port ('Source Port Name') from which readings a"
+	    "re desired,\nalong with the size of the expected data (e.g. 3 when reading the torso state).\nWhen the user unche"
+	    "cks 'Autoconnect' 'Opened Port Name' field shows up \ncorresponding to the name of the port the block will create"
+	    " \nbut won't connect to anything. \nAt this point the output will be always zero, until the user connects it\nto "
+	    "some other port from command line by issuing 'yarp connect [from] [dest]'.\nIn this case an additional output, ca"
+	    "lled 'signal' will be added which will output\n1 if the port has received at least one data, or 0 otherwise.\n"
+	    SelfModifiable	    "on"
+	    Display		    "port_label('output', 1, 'signal');\nportNumber = 1;\nif (timestamp)\n    portNumber = portNumber + "
+	    "1;\n    port_label('output', portNumber, 'timestamp');\nend\n\nif (~autoconnect)\n    portNumber = portNumber + 1"
+	    ";\n    port_label('output', portNumber, 'status');\nend\n\n"
+	    Array {
+	      Type		      "Simulink.MaskParameter"
+	      Dimension		      6
+	      Object {
+		$ObjectID		70
+		Type			"edit"
+		Name			"portName"
+		Prompt			"Source Port Name"
+		Value			"'/portname'"
+	      }
+	      Object {
+		$ObjectID		71
+		Type			"edit"
+		Name			"signalSize"
+		Prompt			"Port Size"
+		Value			"1"
+	      }
+	      Object {
+		$ObjectID		72
+		Type			"checkbox"
+		Name			"blocking"
+		Prompt			"Blocking Read"
+		Value			"off"
+	      }
+	      Object {
+		$ObjectID		73
+		Type			"checkbox"
+		Name			"timestamp"
+		Prompt			"Read Timestamp"
+		Value			"on"
+	      }
+	      Object {
+		$ObjectID		74
+		Type			"checkbox"
+		Name			"autoconnect"
+		Prompt			"Autoconnect"
+		Value			"on"
+		Callback		"autoconnect_val = get_param(gcb, 'Autoconnect');\nprompt_string = get_param(gcb, 'MaskPrompts');\nif(strc"
+		"mp(autoconnect_val, 'on'))\n    prompt_string{1} = 'Source Port Name';\n    set_param(gcb, 'MaskVisibilities',{'on';"
+		"'on';'on';'on';'on';'on'});\nelse\n    prompt_string{1} = 'Opened Port Name';\n    set_param(gcb, 'MaskVisibilities'"
+		",{'on';'on';'on';'on';'on';'off'});\nend\nset_param(gcb, 'MaskPrompts', prompt_string);\nclear autoconnect_val promp"
+		"t_string"
+	      }
+	      Object {
+		$ObjectID		75
+		Type			"checkbox"
+		Name			"errorOnConnection"
+		Prompt			"Error on missing connection"
+		Value			"on"
+	      }
+	      PropName		      "Parameters"
+	    }
+	  }
+	}
+	Block {
+	  BlockType		  S-Function
+	  Name			  "Yarp Write"
+	  SID			  "1659"
+	  Ports			  [1]
+	  Position		  [230, 76, 290, 124]
+	  ZOrder		  27
+	  ForegroundColor	  "[0.490196, 0.000000, 0.000000]"
+	  FunctionName		  "WBToolbox"
+	  Parameters		  "'YarpWrite',portName,autoconnect,errorOnConnection"
+	  SFunctionDeploymentMode off
+	  EnableBusSupport	  off
+	  SFcnIsStateOwnerBlock	  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    76
+	    $ClassName		    "Simulink.Mask"
+	    Type		    "YARP Write"
+	    Description		    "This block behaves as the command 'yarp write'. \n\nBy default this block opens a port names as"
+	    " the \"Opened Port Name\" parameter\nand stream the input signal to that port.\nIf the option \"Autoconnect\" is "
+	    "specified, the first parameter become the\nname of the target port to which the data will be stramed, \ne.g. like"
+	    " \"yarp write ... /destinationPort\"\n"
+	    SelfModifiable	    "on"
+	    Display		    "disp('Yarp Write')"
+	    Array {
+	      Type		      "Simulink.MaskParameter"
+	      Dimension		      3
+	      Object {
+		$ObjectID		77
+		Type			"edit"
+		Name			"portName"
+		Prompt			"Opened Port Name"
+		Value			"'/portname'"
+	      }
+	      Object {
+		$ObjectID		78
+		Type			"checkbox"
+		Name			"autoconnect"
+		Prompt			"Autoconnect"
+		Value			"off"
+		Callback		"autoconnect_val = get_param(gcb, 'Autoconnect');\nprompt_string = get_param(gcb, 'MaskPrompts');\nif(strc"
+		"mp(autoconnect_val, 'on'))\n    prompt_string{1} = 'Destination Port Name';\n    set_param(gcb, 'MaskVisibilities',{"
+		"'on';'on';'on'});\nelse\n    prompt_string{1} = 'Opened Port Name';\n    set_param(gcb, 'MaskVisibilities',{'on';'on"
+		"';'off'});\nend\nset_param(gcb, 'MaskPrompts', prompt_string);\nclear autoconnect_val prompt_string"
+	      }
+	      Object {
+		$ObjectID		79
+		Type			"checkbox"
+		Name			"errorOnConnection"
+		Prompt			"Error on missing connection"
+		Value			"on"
+		Visible			"off"
+	      }
+	      PropName		      "Parameters"
+	    }
+	  }
+	}
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "errors"
+	  SID			  "714"
+	  Ports			  [2, 2]
+	  Position		  [200, 153, 260, 197]
+	  ZOrder		  -9
+	  BackgroundColor	  "[0.300000, 0.580000, 1.000000]"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    80
+	    $ClassName		    "Simulink.Mask"
+	    Type		    "Errors"
+	    Description		    "Computes two kinds of errors. The first is just the difference between x\nand y while the secon"
+	    "d is the ratio (x-y)/y."
+	  }
+	  System {
+	    Name		    "errors"
+	    Location		    [0, 29, 1280, 744]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
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+	    Description		    "This block holds the first input value during the simulation."
+	  }
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+	    Block {
+	      BlockType		      Reference
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+	      SourceType	      "Compare To Constant"
+	      ContentPreviewEnabled   off
+	      relop		      "=="
+	      const		      "0"
+	      OutDataTypeStr	      "boolean"
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+	      LibraryVersion	      "1.32"
+	      ErrorFcn		      "Stateflow.Translate.translate"
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+	      TreatAsAtomicUnit	      on
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+		Block {
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+		}
+		Block {
+		  BlockType		  Demux
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+		  Ports			  [1, 1]
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+		  ZOrder		  86
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+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  " SFunction "
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+      }
+    }
+    Block {
+      BlockType		      SubSystem
+      Name		      "wholeBodyActuators"
+      SID		      "224"
+      Ports		      []
+      Position		      [250, 16, 348, 113]
+      ZOrder		      -17
+      ForegroundColor	      "white"
+      DropShadow	      on
+      RequestExecContextInheritance off
+      Variant		      off
+      Object {
+	$PropName		"MaskObject"
+	$ObjectID		82
+	$ClassName		"Simulink.Mask"
+	Display			"image(imread('wholeBodyActuators.png'),'center')"
+      }
+      System {
+	Name			"wholeBodyActuators"
+	Location		[425, 373, 1725, 1134]
+	Open			off
+	ModelBrowserVisibility	off
+	ModelBrowserWidth	200
+	ScreenColor		"white"
+	PaperOrientation	"landscape"
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+	PaperType		"usletter"
+	PaperUnits		"inches"
+	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+	TiledPageScale		1
+	ShowPageBoundaries	off
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+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Set LowLevel PIDs"
+	  SID			  "1752"
+	  Ports			  []
+	  Position		  [745, 230, 820, 280]
+	  ZOrder		  41
+	  BackgroundColor	  "[0.827500, 0.576500, 0.603900]"
+	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
+	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
+	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    83
+	    $ClassName		    "Simulink.Mask"
+	    Type		    "Set Low Level PIDs"
+	    Description		    "This block sets the low level PID values for the robot actuators.\n\nIf only one gain file is s"
+	    "pecified, those gains are loaded at startup.\nOtherwise an additional port to this block is added which accept an"
+	    " integer\nrepresenting the index in the list of gains to be loaded (also at runtime)\n\nAssuming DoFs is the numb"
+	    "er of degrees of freedom of the robot,\nParameters:\n- PID Parameter: String specifying either a file containing "
+	    "the PIDs for the\n                 low level control, or a list of files (in yarp Bottle format).\n\n- Robot Port"
+	    " Name: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use th"
+	    "e name specified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name "
+	    "of the ports opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the conf"
+	    "iguration of the Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Bo"
+	    "dy Interface\n"
+	    Display		    "pidType = get_param(gcb,'pidType');\ndescription = sprintf('Set Low Level\\n%s PIDs', pidType);\ndi"
+	    "sp(description);\n"
+	    Array {
+	      Type		      "Simulink.MaskParameter"
+	      Dimension		      6
+	      Object {
+		$ObjectID		84
+		Type			"edit"
+		Name			"pidParameters"
+		Prompt			"PID parameter"
+		Value			"''"
+		Tunable			"off"
+	      }
+	      Object {
+		$ObjectID		85
+		Type			"popup"
+		Array {
+		  Type			  "Cell"
+		  Dimension		  2
+		  Cell			  "Position"
+		  Cell			  "Torque"
+		  PropName		  "TypeOptions"
+		}
+		Name			"pidType"
+		Prompt			"PID Type"
+		Value			"Torque"
+		Evaluate		"off"
+		Callback		"% Get the mask parameter values. This is a cell\n%   array of strings.\nmaskStr = get_param(gcb,'pidType'"
+		");\nif strcmp(maskStr, 'Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0]');\nelseif s"
+		"trcmp(maskStr, 'Position Direct')\n    set_param(gcb,'BackgroundColor', '[0.3922, 0.7882, 0.3451, 1.0]');\nelseif st"
+		"rcmp(maskStr, 'Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\nelseif strcmp(mas"
+		"kStr, 'Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nend\nclear  maskStr"
+	      }
+	      Object {
+		$ObjectID		86
+		Type			"edit"
+		Name			"robotName"
+		Prompt			"Robot Port Name"
+		Value			"WBT_robotName"
+		Tunable			"off"
+	      }
+	      Object {
+		$ObjectID		87
+		Type			"edit"
+		Name			"localName"
+		Prompt			"Model Name"
+		Value			"WBT_modelName"
+		Tunable			"off"
+	      }
+	      Object {
+		$ObjectID		88
+		Type			"edit"
+		Name			"wbiFile"
+		Prompt			"WBI filename"
+		Value			"WBT_wbiFilename"
+		Tunable			"off"
+	      }
+	      Object {
+		$ObjectID		89
+		Type			"edit"
+		Name			"wbiList"
+		Prompt			"WBI list name"
+		Value			"WBT_wbiList"
+		Tunable			"off"
+	      }
+	      PropName		      "Parameters"
+	    }
+	    Array {
+	      Type		      "Simulink.dialog.Group"
+	      Dimension		      2
+	      Object {
+		$ObjectID		90
+		Prompt			"%<MaskType>"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  91
+		  $ClassName		  "Simulink.dialog.Text"
+		  Prompt		  "%<MaskDescription>"
+		  Name			  "DescTextVar"
+		}
+		Name			"DescGroupVar"
+	      }
+	      Object {
+		$ObjectID		92
+		Prompt			"Simulink:studio:ToolBarParametersMenu"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  93
+		  $ClassName		  "Simulink.dialog.TabContainer"
+		  Array {
+		    Type		    "Simulink.dialog.Tab"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    94
+		    Prompt		    "Block parameters"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Control"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    95
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    PromptLocation	    "left"
+		    Name		    "pidParameters"
+		    }
+		    Object {
+		    $ObjectID		    96
+		    $ClassName		    "Simulink.dialog.parameter.Popup"
+		    Name		    "pidType"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container8"
+		    }
+		    Object {
+		    $ObjectID		    97
+		    Prompt		    "WBI parameters"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Edit"
+		    Dimension		    4
+		    Object {
+		    $ObjectID		    98
+		    Name		    "robotName"
+		    }
+		    Object {
+		    $ObjectID		    99
+		    Name		    "localName"
+		    }
+		    Object {
+		    $ObjectID		    100
+		    Name		    "wbiFile"
+		    }
+		    Object {
+		    $ObjectID		    101
+		    Name		    "wbiList"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container5"
+		    }
+		    PropName		    "DialogControls"
+		  }
+		  Name			  "Container4"
+		}
+		Name			"ParameterGroupVar"
+	      }
+	      PropName		      "DialogControls"
+	    }
+	  }
+	  System {
+	    Name		    "Set LowLevel PIDs"
+	    Location		    [0, 29, 1280, 744]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "1000"
+	    Block {
+	      BlockType		      S-Function
+	      Name		      "S-Function"
+	      SID		      "1753"
+	      Ports		      []
+	      Position		      [125, 39, 185, 71]
+	      ZOrder		      19
+	      FunctionName	      "WBToolbox"
+	      Parameters	      "'SetLowLevelPID',robotName,localName,wbiFile,wbiList,pidParameters,pidType"
+	      SFunctionDeploymentMode off
+	      EnableBusSupport	      off
+	      SFcnIsStateOwnerBlock   off
+	    }
+	  }
+	}
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Set References"
+	  SID			  "1767"
+	  Ports			  [1]
+	  Position		  [645, 230, 720, 280]
+	  ZOrder		  43
+	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
+	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
+	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
+	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    102
+	    $ClassName		    "Simulink.Mask"
+	    Type		    "Set References"
+	    Description		    "This block sets the references for the robot actuators.\nThe type of control mode is specified "
+	    "as a parameter in the block.\n\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Refere"
+	    "nces: Vector of size DoFs, representing the references to be sent \n                to the robot controlled joint"
+	    "s.\n\nParameters:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name "
+	    "of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name speci"
+	    "fied in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports"
+	    " opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of"
+	    " the Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface"
+	    "\n"
+	    Display		    "disp(get_param(gcb,'controlType'))\n%port_label('input',1,'References')"
+	    Array {
+	      Type		      "Simulink.MaskParameter"
+	      Dimension		      7
+	      Object {
+		$ObjectID		103
+		Type			"popup"
+		Array {
+		  Type			  "Cell"
+		  Dimension		  5
+		  Cell			  "Position"
+		  Cell			  "Position Direct"
+		  Cell			  "Velocity"
+		  Cell			  "Torque"
+		  Cell			  "Open Loop"
+		  PropName		  "TypeOptions"
+		}
+		Name			"controlType"
+		Prompt			"Control Mode"
+		Value			"Position"
+		Evaluate		"off"
+		Callback		"% Get the mask parameter values. This is a cell\n%   array of strings.\nmaskStr = get_param(gcb,'controlT"
+		"ype');\nif strcmp(maskStr, 'Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0]');\nelse"
+		"if strcmp(maskStr, 'Position Direct')\n    set_param(gcb,'BackgroundColor', '[0.3922, 0.7882, 0.3451, 1.0]');\nelsei"
+		"f strcmp(maskStr, 'Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]');\nelseif strcmp"
+		"(maskStr, 'Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nelseif strcmp(maskStr, "
+		"'Open Loop')\n    set_param(gcb,'BackgroundColor', '[0.98, 0.98, 0.98, 1.0]');\nend\nclear  maskStr"
+	      }
+	      Object {
+		$ObjectID		104
+		Type			"popup"
+		Array {
+		  Type			  "Cell"
+		  Dimension		  2
+		  Cell			  "Full"
+		  Cell			  "Sublist"
+		  PropName		  "TypeOptions"
+		}
+		Name			"fullOrSubControl"
+		Prompt			"Control Type"
+		Value			"Full"
+		Callback		"subOrFull = get_param(gcb, 'fullOrSubControl');\nif(strcmp(subOrFull, 'Sublist'))\n    set_param(gcb, 'Ma"
+		"skVisibilities',{'on';'on';'on';'on';'on';'on';'on'});\nelse\n    set_param(gcb, 'MaskVisibilities',{'on';'on';'off'"
+		";'on';'on';'on';'on'});\nend\nclear subOrFull "
+	      }
+	      Object {
+		$ObjectID		105
+		Type			"edit"
+		Name			"controlledJoints"
+		Prompt			"Controlled Joint List"
+		Value			"''"
+		Visible			"off"
+	      }
+	      Object {
+		$ObjectID		106
+		Type			"edit"
+		Name			"robotName"
+		Prompt			"Robot Port Name"
+		Value			"WBT_robotName"
+		Tunable			"off"
+	      }
+	      Object {
+		$ObjectID		107
+		Type			"edit"
+		Name			"localName"
+		Prompt			"Model Name"
+		Value			"WBT_modelName"
+		Tunable			"off"
+	      }
+	      Object {
+		$ObjectID		108
+		Type			"edit"
+		Name			"wbiFile"
+		Prompt			"WBI filename"
+		Value			"WBT_wbiFilename"
+		Tunable			"off"
+	      }
+	      Object {
+		$ObjectID		109
+		Type			"edit"
+		Name			"wbiList"
+		Prompt			"WBI list name"
+		Value			"WBT_wbiList"
+		Tunable			"off"
+	      }
+	      PropName		      "Parameters"
+	    }
+	    Array {
+	      Type		      "Simulink.dialog.Group"
+	      Dimension		      2
+	      Object {
+		$ObjectID		110
+		Prompt			"%<MaskType>"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  111
+		  $ClassName		  "Simulink.dialog.Text"
+		  Prompt		  "%<MaskDescription>"
+		  Name			  "DescTextVar"
+		}
+		Name			"DescGroupVar"
+	      }
+	      Object {
+		$ObjectID		112
+		Prompt			"Simulink:studio:ToolBarParametersMenu"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  113
+		  $ClassName		  "Simulink.dialog.TabContainer"
+		  Array {
+		    Type		    "Simulink.dialog.Tab"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    114
+		    Prompt		    "Block parameters"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Control"
+		    Dimension		    3
+		    Object {
+		    $ObjectID		    115
+		    $ClassName		    "Simulink.dialog.parameter.Popup"
+		    Name		    "controlType"
+		    }
+		    Object {
+		    $ObjectID		    116
+		    $ClassName		    "Simulink.dialog.parameter.Popup"
+		    Name		    "fullOrSubControl"
+		    }
+		    Object {
+		    $ObjectID		    117
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "controlledJoints"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container8"
+		    }
+		    Object {
+		    $ObjectID		    118
+		    Prompt		    "WBI parameters"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Edit"
+		    Dimension		    4
+		    Object {
+		    $ObjectID		    119
+		    Name		    "robotName"
+		    }
+		    Object {
+		    $ObjectID		    120
+		    Name		    "localName"
+		    }
+		    Object {
+		    $ObjectID		    121
+		    Name		    "wbiFile"
+		    }
+		    Object {
+		    $ObjectID		    122
+		    Name		    "wbiList"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container5"
+		    }
+		    PropName		    "DialogControls"
+		  }
+		  Name			  "Container4"
+		}
+		Name			"ParameterGroupVar"
+	      }
+	      PropName		      "DialogControls"
+	    }
+	  }
+	  System {
+	    Name		    "Set References"
+	    Location		    [535, 41, 1280, 744]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "521"
+	    Block {
+	      BlockType		      Inport
+	      Name		      "References"
+	      SID		      "1768"
+	      Position		      [55, 48, 85, 62]
+	      ZOrder		      24
+	      IconDisplay	      "Port number"
+	    }
+	    Block {
+	      BlockType		      S-Function
+	      Name		      "S-Function"
+	      SID		      "1769"
+	      Ports		      [1]
+	      Position		      [125, 39, 185, 71]
+	      ZOrder		      19
+	      FunctionName	      "WBToolbox"
+	      Parameters	      "'SetReferences',robotName,localName,wbiFile,wbiList,controlType,fullOrSubControl,controlledJo"
+	      "ints"
+	      SFunctionDeploymentMode off
+	      EnableBusSupport	      off
+	      SFcnIsStateOwnerBlock   off
+	    }
+	    Line {
+	      ZOrder		      1
+	      SrcBlock		      "References"
+	      SrcPort		      1
+	      DstBlock		      "S-Function"
+	      DstPort		      1
+	    }
+	  }
+	}
+      }
+    }
+    Block {
+      BlockType		      SubSystem
+      Name		      "wholeBodyModel"
+      SID		      "209"
+      Ports		      []
+      Position		      [133, 16, 231, 113]
+      ZOrder		      -3
+      ForegroundColor	      "white"
+      DropShadow	      on
+      RequestExecContextInheritance off
+      Variant		      off
+      Object {
+	$PropName		"MaskObject"
+	$ObjectID		123
+	$ClassName		"Simulink.Mask"
+	Display			"image(imread('wholeBodyModel.png'),'center')"
+      }
+      System {
+	Name			"wholeBodyModel"
+	Location		[425, 373, 1725, 1134]
+	Open			off
+	ModelBrowserVisibility	off
+	ModelBrowserWidth	200
+	ScreenColor		"white"
+	PaperOrientation	"landscape"
+	PaperPositionMode	"auto"
+	PaperType		"usletter"
+	PaperUnits		"inches"
+	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+	TiledPageScale		1
+	ShowPageBoundaries	off
+	ZoomFactor		"309"
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Dynamics"
+	  SID			  "369"
+	  Ports			  []
+	  Position		  [364, 21, 471, 128]
+	  ZOrder		  -1
+	  DropShadow		  on
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    124
+	    $ClassName		    "Simulink.Mask"
+	    Display		    "image(imread('Dynamics.png'))"
+	  }
+	  System {
+	    Name		    "Dynamics"
+	    Location		    [425, 373, 1725, 1134]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "219"
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Centroidal Momentum"
+	      SID		      "1694"
+	      Ports		      [4, 1]
+	      Position		      [495, 101, 680, 164]
+	      ZOrder		      72
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      Object {
+		$PropName		"MaskObject"
+		$ObjectID		125
+		$ClassName		"Simulink.Mask"
+		Type			"Centroidal Momentum"
+		Description		"This block computed the 6 element centroidal momentum, as defined in:\n\"Centroidal dynamics of a huma"
+		"noid robot\" - DE Orin, A Goswami, SH Lee - \nAutonomous Robots 35 (2-3), 161-176\n\nAssuming DoFs is the number of "
+		"degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between"
+		"\n             the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the con"
+		"figuration \n                       of the joints.\n- Base velocity: Vector of size 6 representing the linear and an"
+		"gular velocity\n                 of the base frame.\n- Joints velocity: Vector of size DoFs, representing the veloci"
+		"ty \n                   of the joints.\n\nOutput:\n- Centroidal Momentum: 6-element vector containg the centroidal m"
+		"omentum \n                (3 value for linear momentum and 3 for angular momentum)\n\nParameters:\n- Robot Port Name"
+		": Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name s"
+		"pecified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the port"
+		"s opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of t"
+		"he Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+		Array {
+		  Type			  "Simulink.MaskParameter"
+		  Dimension		  4
+		  Object {
+		    $ObjectID		    126
+		    Type		    "edit"
+		    Name		    "robotName"
+		    Prompt		    "Robot Port Name"
+		    Value		    "WBT_robotName"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    127
+		    Type		    "edit"
+		    Name		    "localName"
+		    Prompt		    "Model Name"
+		    Value		    "WBT_modelName"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    128
+		    Type		    "edit"
+		    Name		    "wbiFile"
+		    Prompt		    "WBI filename"
+		    Value		    "WBT_wbiFilename"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    129
+		    Type		    "edit"
+		    Name		    "wbiList"
+		    Prompt		    "WBI list name"
+		    Value		    "WBT_wbiList"
+		    Tunable		    "off"
+		  }
+		  PropName		  "Parameters"
+		}
+	      }
+	      System {
+		Name			"Centroidal Momentum"
+		Location		[0, 23, 1280, 744]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"248"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base Pose"
+		  SID			  "1695"
+		  Position		  [20, 18, 50, 32]
+		  ZOrder		  22
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joint configuration"
+		  SID			  "1696"
+		  Position		  [20, 53, 50, 67]
+		  ZOrder		  24
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base velocity"
+		  SID			  "1697"
+		  Position		  [20, 88, 50, 102]
+		  ZOrder		  26
+		  Port			  "3"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joints velocity"
+		  SID			  "1698"
+		  Position		  [20, 123, 50, 137]
+		  ZOrder		  27
+		  Port			  "4"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1699"
+		  Ports			  [4, 1]
+		  Position		  [180, 11, 255, 144]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'CentroidalMomentum',robotName,localName,wbiFile,wbiList"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		  SFcnIsStateOwnerBlock	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Centroidal Momentum"
+		  SID			  "1700"
+		  Position		  [315, 73, 345, 87]
+		  ZOrder		  25
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  ZOrder		  1
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  DstBlock		  "Centroidal Momentum"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  2
+		  SrcBlock		  "Base Pose"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  3
+		  SrcBlock		  "Joint configuration"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  2
+		}
+		Line {
+		  ZOrder		  4
+		  SrcBlock		  "Base velocity"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  3
+		}
+		Line {
+		  ZOrder		  5
+		  SrcBlock		  "Joints velocity"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  4
+		}
+	      }
+	    }
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Get Bias Forces"
+	      SID		      "1724"
+	      Ports		      [4, 1]
+	      Position		      [400, 202, 540, 303]
+	      ZOrder		      73
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      Object {
+		$PropName		"MaskObject"
+		$ObjectID		130
+		$ClassName		"Simulink.Mask"
+		Type			"Get Generalized Bias Forces"
+		Description		"This block retrieves the generalied bias forces of the robot.\n\nParameter:\n- Explicit Gravity. If Tr"
+		"ue, an additional port (explicit Gravity) is added.\n                    Otherwise the vector [0; 0; -9.81] is used."
+		"\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the "
+		"homogenous transformation between\n            the base frame and the world frame.\n- Joint configuration: Vector of"
+		" size DoFs, representing the configuration \n                    of the joints.\n- Base velocity: Vector of size 6 r"
+		"epresenting the linear and angular velocity\n                 of the base frame.\n- Joints velocity: Vector of size "
+		"DoFs, representing the velocity of the joints.\n\nOutput:\n- Bias Forces: a Dofs + 6 vector representing the general"
+		"ized bias forces\n            of the robot\n\nParameters:\n- Robot Port Name: Name of the ports opened by the robot."
+		" (e.g. icub).\n                   Set an empty string ('') to use the name specified in the                    \n   "
+		"                 Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the unde"
+		"rlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interf"
+		"ace\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+		Initialization		"gravityInput = find_system(gcb, ...\n'LookUnderMasks', 'on', ...\n'FollowLinks', 'on', ...\n'Name',"
+		" 'Gravity');\n\nif explicitGravity\n    if isempty(gravityInput)\n        Simulink.Block.eval([gcb,'/S-Function']);\n"
+		"        add_block('built-in/Inport',[gcb,'/Gravity']);\n        add_line(gcb','Gravity/1','S-Function/7', 'autorouti"
+		"ng','on');\n    end\nelse\n    if ~isempty(gravityInput)\n        delete_line(gcb','Gravity/1','S-Function/7');\n   "
+		"     delete_block(gravityInput);\n        Simulink.Block.eval([gcb,'/S-Function']);\n    end\nend\n"
+		SelfModifiable		"on"
+		Array {
+		  Type			  "Simulink.MaskParameter"
+		  Dimension		  5
+		  Object {
+		    $ObjectID		    131
+		    Type		    "edit"
+		    Name		    "robotName"
+		    Prompt		    "Robot Port Name"
+		    Value		    "WBT_robotName"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    132
+		    Type		    "edit"
+		    Name		    "localName"
+		    Prompt		    "Model Name"
+		    Value		    "WBT_modelName"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    133
+		    Type		    "edit"
+		    Name		    "wbiFile"
+		    Prompt		    "WBI filename"
+		    Value		    "WBT_wbiFilename"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    134
+		    Type		    "edit"
+		    Name		    "wbiList"
+		    Prompt		    "WBI list name"
+		    Value		    "WBT_wbiList"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    135
+		    Type		    "checkbox"
+		    Name		    "explicitGravity"
+		    Prompt		    "Explicit Gravity"
+		    Value		    "off"
+		  }
+		  PropName		  "Parameters"
+		}
+	      }
+	      System {
+		Name			"Get Bias Forces"
+		Location		[354, 32, 1634, 747]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"255"
+		SIDHighWatermark	"1748"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base Pose"
+		  SID			  "1724:1725"
+		  Position		  [10, 38, 40, 52]
+		  ZOrder		  22
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joint configuration"
+		  SID			  "1724:1726"
+		  Position		  [10, 68, 40, 82]
+		  ZOrder		  24
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base velocity"
+		  SID			  "1724:1727"
+		  Position		  [10, 98, 40, 112]
+		  ZOrder		  26
+		  Port			  "3"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joints velocity"
+		  SID			  "1724:1728"
+		  Position		  [10, 128, 40, 142]
+		  ZOrder		  27
+		  Port			  "4"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Constant
+		  Name			  "Constant"
+		  SID			  "1724:1742"
+		  Position		  [-5, 157, 50, 173]
+		  ZOrder		  30
+		  ShowName		  off
+		  Value			  "zeros(6,1)"
+		}
+		Block {
+		  BlockType		  Gain
+		  Name			  "Gain"
+		  SID			  "1724:1743"
+		  Position		  [110, 180, 140, 210]
+		  ZOrder		  31
+		  ShowName		  off
+		  Gain			  "0"
+		  ParamDataTypeStr	  "Inherit: Inherit via internal rule"
+		  OutDataTypeStr	  "Inherit: Inherit via internal rule"
+		  SaturateOnIntegerOverflow off
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1724:1731"
+		  Ports			  [6, 1]
+		  Position		  [180, 24, 240, 216]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		  SFcnIsStateOwnerBlock	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Bias Forces"
+		  SID			  "1724:1732"
+		  Position		  [300, 113, 330, 127]
+		  ZOrder		  25
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  ZOrder		  1
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  DstBlock		  "Bias Forces"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  2
+		  SrcBlock		  "Base Pose"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  3
+		  SrcBlock		  "Joint configuration"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  2
+		}
+		Line {
+		  ZOrder		  4
+		  SrcBlock		  "Base velocity"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  3
+		}
+		Line {
+		  ZOrder		  5
+		  SrcBlock		  "Joints velocity"
+		  SrcPort		  1
+		  Points		  [44, 0]
+		  Branch {
+		    ZOrder		    11
+		    Points		    [0, 60]
+		    DstBlock		    "Gain"
+		    DstPort		    1
+		  }
+		  Branch {
+		    ZOrder		    10
+		    DstBlock		    "S-Function"
+		    DstPort		    4
+		  }
+		}
+		Line {
+		  ZOrder		  8
+		  SrcBlock		  "Constant"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  5
+		}
+		Line {
+		  ZOrder		  9
+		  SrcBlock		  "Gain"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  6
+		}
+	      }
+	    }
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Get Gravity Forces"
+	      SID		      "1733"
+	      Ports		      [2, 1]
+	      Position		      [605, 200, 745, 300]
+	      ZOrder		      74
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      Object {
+		$PropName		"MaskObject"
+		$ObjectID		136
+		$ClassName		"Simulink.Mask"
+		Type			"Gravity bias"
+		Description		"This block compute the generalized bias forces due to the gravity\n\nParameter:\n- Explicit Gravity. I"
+		"f True, an additional port (explicit Gravity) is added.\n                    Otherwise the vector [0; 0; -9.81] is u"
+		"sed.\n\nAssuming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representin"
+		"g the homogenous transformation between\n             the base frame and the world frame.\n- Joint configuration: Ve"
+		"ctor of size DoFs, representing the configuration \n                       of the joints.\n\nOutput:\n- Gravity: a D"
+		"ofs + 6 vector representing the torques due to the gravity.\n\nParameters:\n- Robot Port Name: Name of the ports ope"
+		"ned by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n     "
+		"              Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underly"
+		"ing Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interface"
+		"\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+		Initialization		"gravityInput = find_system(gcb, ...\n'LookUnderMasks', 'on', ...\n'FollowLinks', 'on', ...\n'Name',"
+		" 'Gravity');\n\nif explicitGravity\n    if isempty(gravityInput)\n        Simulink.Block.eval([gcb,'/S-Function']);\n"
+		"        add_block('built-in/Inport',[gcb,'/Gravity']);\n        add_line(gcb','Gravity/1','S-Function/7', 'autorouti"
+		"ng','on');\n    end\nelse\n    if ~isempty(gravityInput)\n        delete_line(gcb','Gravity/1','S-Function/7');\n   "
+		"     delete_block(gravityInput);\n        Simulink.Block.eval([gcb,'/S-Function']);\n    end\nend\n"
+		SelfModifiable		"on"
+		Array {
+		  Type			  "Simulink.MaskParameter"
+		  Dimension		  5
+		  Object {
+		    $ObjectID		    137
+		    Type		    "edit"
+		    Name		    "robotName"
+		    Prompt		    "Robot Port Name"
+		    Value		    "WBT_robotName"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    138
+		    Type		    "edit"
+		    Name		    "localName"
+		    Prompt		    "Model Name"
+		    Value		    "WBT_modelName"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    139
+		    Type		    "edit"
+		    Name		    "wbiFile"
+		    Prompt		    "WBI filename"
+		    Value		    "WBT_wbiFilename"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    140
+		    Type		    "edit"
+		    Name		    "wbiList"
+		    Prompt		    "WBI list name"
+		    Value		    "WBT_wbiList"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    141
+		    Type		    "checkbox"
+		    Name		    "explicitGravity"
+		    Prompt		    "Explicit Gravity"
+		    Value		    "off"
+		  }
+		  PropName		  "Parameters"
+		}
+	      }
+	      System {
+		Name			"Get Gravity Forces"
+		Location		[354, 32, 1634, 747]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"255"
+		SIDHighWatermark	"1748"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base Pose"
+		  SID			  "1733:1734"
+		  Position		  [10, 38, 40, 52]
+		  ZOrder		  22
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joint configuration"
+		  SID			  "1733:1735"
+		  Position		  [10, 68, 40, 82]
+		  ZOrder		  24
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Constant
+		  Name			  "Constant"
+		  SID			  "1733:1744"
+		  Position		  [0, 97, 55, 113]
+		  ZOrder		  32
+		  ShowName		  off
+		  Value			  "zeros(6,1)"
+		}
+		Block {
+		  BlockType		  Gain
+		  Name			  "Gain"
+		  SID			  "1733:1745"
+		  Position		  [100, 120, 130, 150]
+		  ZOrder		  33
+		  ShowName		  off
+		  Gain			  "0"
+		  ParamDataTypeStr	  "Inherit: Inherit via internal rule"
+		  OutDataTypeStr	  "Inherit: Inherit via internal rule"
+		  SaturateOnIntegerOverflow off
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1733:1740"
+		  Ports			  [6, 1]
+		  Position		  [180, 24, 240, 216]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		  SFcnIsStateOwnerBlock	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Gravity Torques"
+		  SID			  "1733:1741"
+		  Position		  [300, 113, 330, 127]
+		  ZOrder		  25
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  ZOrder		  1
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  DstBlock		  "Gravity Torques"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  2
+		  SrcBlock		  "Base Pose"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  3
+		  SrcBlock		  "Joint configuration"
+		  SrcPort		  1
+		  Points		  [41, 0]
+		  Branch {
+		    ZOrder		    12
+		    Points		    [0, 60]
+		    DstBlock		    "Gain"
+		    DstPort		    1
+		  }
+		  Branch {
+		    ZOrder		    11
+		    DstBlock		    "S-Function"
+		    DstPort		    2
+		  }
+		}
+		Line {
+		  ZOrder		  8
+		  SrcBlock		  "Constant"
+		  SrcPort		  1
+		  Points		  [4, 0]
+		  Branch {
+		    ZOrder		    10
+		    Points		    [0, 60]
+		    DstBlock		    "S-Function"
+		    DstPort		    5
+		  }
+		  Branch {
+		    ZOrder		    9
+		    DstBlock		    "S-Function"
+		    DstPort		    3
+		  }
+		}
+		Line {
+		  ZOrder		  13
+		  SrcBlock		  "Gain"
+		  SrcPort		  1
+		  Points		  [13, 0]
+		  Branch {
+		    ZOrder		    15
+		    Points		    [0, 60]
+		    DstBlock		    "S-Function"
+		    DstPort		    6
+		  }
+		  Branch {
+		    ZOrder		    14
+		    DstBlock		    "S-Function"
+		    DstPort		    4
+		  }
+		}
+	      }
+	    }
+	    Block {
+	      BlockType		      S-Function
+	      Name		      "Inverse Dynamics"
+	      SID		      "1748"
+	      Ports		      [6, 1]
+	      Position		      [190, 199, 355, 331]
+	      ZOrder		      75
+	      FunctionName	      "WBToolbox"
+	      Parameters	      "'InverseDynamics',robotName,localName,wbiFile,wbiList,explicitGravity"
+	      SFunctionDeploymentMode off
+	      EnableBusSupport	      off
+	      SFcnIsStateOwnerBlock   off
+	      Object {
+		$PropName		"MaskObject"
+		$ObjectID		142
+		$ClassName		"Simulink.Mask"
+		Type			"Inverse Dynamics"
+		Description		"This block compute the inverse dynamics of the robot.\n\nParameter:\n- Explicit Gravity. If True, an a"
+		"dditional port (explicit Gravity) is added.\n                    Otherwise the vector [0; 0; -9.81] is used.\n\nAssu"
+		"ming DoFs is the number of degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homoge"
+		"nous transformation between\n             the base frame and the world frame.\n- Joint configuration: Vector of size"
+		" DoFs, representing the configuration \n                       of the joints.\n- Base velocity: Vector of size 6 rep"
+		"resenting the linear and angular velocity\n                 of the base frame.\n- Joints velocity: Vector of size Do"
+		"Fs, representing the velocity \n                   of the joints.\n- Base acceleration: Vector of size 6 representin"
+		"g the linear and angular acceleration\n                 of the base frame.\n- Joints acceleration: Vector of size Do"
+		"Fs, representing the acceleration \n                   of the joints.\n- Gravity: Vector of size 3, denoting the acc"
+		"eleration vector w.r.t. the world frame.\n\n\nOutput:\n- Torques: a Dofs + 6 vector representing the corresponding t"
+		"orques required\n           to achive the desired accelerations given the robot state\n\nParameters:\n- Robot Port N"
+		"ame: Name of the ports opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the nam"
+		"e specified in the \n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the p"
+		"orts opened by the underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration o"
+		"f the Whole Body Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+		Display			"port_label('output', 1, 'Torques')\n\nport_label('input', 1, 'Base pose')\nport_label('input', 2, 'Joints"
+		" configuration')\nport_label('input', 3, 'Base velocity')\nport_label('input', 4, 'Joints velocity')\nport_label('in"
+		"put', 5, 'Base acceleration')\nport_label('input', 6, 'Joints acceleration')\n\n\ngravity = get_param(gcb, 'explicit"
+		"Gravity');\nif(strcmp(gravity, 'on'))\n    port_label('input', 7, 'Gravity')\nend\n"
+		Array {
+		  Type			  "Simulink.MaskParameter"
+		  Dimension		  5
+		  Object {
+		    $ObjectID		    143
+		    Type		    "edit"
+		    Name		    "robotName"
+		    Prompt		    "Robot Port Name"
+		    Value		    "WBT_robotName"
+		  }
+		  Object {
+		    $ObjectID		    144
+		    Type		    "edit"
+		    Name		    "localName"
+		    Prompt		    "Model Name"
+		    Value		    "WBT_modelName"
+		  }
+		  Object {
+		    $ObjectID		    145
+		    Type		    "edit"
+		    Name		    "wbiFile"
+		    Prompt		    "WBI filename"
+		    Value		    "WBT_wbiFilename"
+		  }
+		  Object {
+		    $ObjectID		    146
+		    Type		    "edit"
+		    Name		    "wbiList"
+		    Prompt		    "WBI list name"
+		    Value		    "WBT_wbiList"
+		  }
+		  Object {
+		    $ObjectID		    147
+		    Type		    "checkbox"
+		    Name		    "explicitGravity"
+		    Prompt		    "Explicit Gravity"
+		    Value		    "off"
+		  }
+		  PropName		  "Parameters"
+		}
+	      }
+	    }
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Mass Matrix"
+	      SID		      "1633"
+	      Ports		      [2, 1]
+	      Position		      [250, 104, 390, 171]
+	      ZOrder		      32
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      Object {
+		$PropName		"MaskObject"
+		$ObjectID		148
+		$ClassName		"Simulink.Mask"
+		Type			"Mass Matrix"
+		Description		"This block retrieves the robot mass matrix.\n\nAssuming DoFs is the number of degrees of freedom of th"
+		"e robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between\n             the base "
+		"frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration \n           "
+		"            of the joints.\n\nOutput:\n- Mass Matrix: a (Dofs + 6) x (Dofs + 6) matrix representing the mass matrix "
+		"\n               of the robot\n\nParameters:\n- Robot Port Name: Name of the ports opened by the robot. (e.g. icub)."
+		"\n                   Set an empty string ('') to use the name specified in the \n                   Whole Body Inter"
+		"face configuration file.\n- Model Name: Prefix name of the ports opened by the underlying Whole Body Interface.\n- W"
+		"BI filename: name of the file containing the configuration of the Whole Body Interface\n- WBI List Name: name of the"
+		" list of joints used to configure the Whole Body Interface\n"
+		Array {
+		  Type			  "Simulink.MaskParameter"
+		  Dimension		  4
+		  Object {
+		    $ObjectID		    149
+		    Type		    "edit"
+		    Name		    "robotName"
+		    Prompt		    "Robot Port Name"
+		    Value		    "WBT_robotName"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    150
+		    Type		    "edit"
+		    Name		    "localName"
+		    Prompt		    "Model Name"
+		    Value		    "WBT_modelName"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    151
+		    Type		    "edit"
+		    Name		    "wbiFile"
+		    Prompt		    "WBI filename"
+		    Value		    "WBT_wbiFilename"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    152
+		    Type		    "edit"
+		    Name		    "wbiList"
+		    Prompt		    "WBI list name"
+		    Value		    "WBT_wbiList"
+		    Tunable		    "off"
+		  }
+		  PropName		  "Parameters"
+		}
+	      }
+	      System {
+		Name			"Mass Matrix"
+		Location		[589, 68, 1869, 783]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"248"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base Pose"
+		  SID			  "1634"
+		  Position		  [20, 23, 50, 37]
+		  ZOrder		  22
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joint configuration"
+		  SID			  "1635"
+		  Position		  [20, 63, 50, 77]
+		  ZOrder		  24
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1636"
+		  Ports			  [2, 1]
+		  Position		  [125, 37, 185, 68]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'MassMatrix',robotName,localName,wbiFile,wbiList"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		  SFcnIsStateOwnerBlock	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Mass Matrix"
+		  SID			  "1637"
+		  Position		  [245, 48, 275, 62]
+		  ZOrder		  25
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  ZOrder		  1
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  DstBlock		  "Mass Matrix"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  2
+		  SrcBlock		  "Base Pose"
+		  SrcPort		  1
+		  Points		  [36, 0; 0, 15]
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  3
+		  SrcBlock		  "Joint configuration"
+		  SrcPort		  1
+		  Points		  [33, 0; 0, -10]
+		  DstBlock		  "S-Function"
+		  DstPort		  2
+		}
+	      }
+	    }
+	  }
+	}
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Jacobians"
+	  SID			  "202"
+	  Ports			  []
+	  Position		  [217, 20, 324, 127]
+	  ZOrder		  -3
+	  DropShadow		  on
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    153
+	    $ClassName		    "Simulink.Mask"
+	    Display		    "image(imread('jacobian.png'))"
+	  }
+	  System {
+	    Name		    "Jacobians"
+	    Location		    [425, 373, 1725, 1134]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "322"
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "DotJ Nu"
+	      SID		      "1683"
+	      Ports		      [4, 1]
+	      Position		      [590, 170, 755, 265]
+	      ZOrder		      67
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      Object {
+		$PropName		"MaskObject"
+		$ObjectID		154
+		$ClassName		"Simulink.Mask"
+		Type			"DotJ Nu"
+		Description		"This block computes the product between the time derivative of the\n         Jacobian of the specified"
+		" frame and the state (base and joints)\n        velocity vector.\n\nAssuming DoFs is the number of degrees of freedo"
+		"m of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between\n             th"
+		"e the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configuration \n"
+		"                       of the joints.\n- Base velocity: Vector of size 6 representing the linear and angular velocit"
+		"y\n                 of the base frame.\n- Joints velocity: Vector of size DoFs, representing the velocity \n        "
+		"           of the joints.\n\nOutput:\n- dotJ nu: a 6-d vector representing the product between the time derivative o"
+		"f the\n         Jacobian of the specified frame and the state velocity vector\n\nParameters:\n- Frame name: the name"
+		" of the frame. It should be specified in the URDF model.\n\n- Robot Port Name: Name of the ports opened by the robot"
+		". (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n                   Wh"
+		"ole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underlying Whole Body I"
+		"nterface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interface\n- WBI List Nam"
+		"e: name of the list of joints used to configure the Whole Body Interface\n"
+		Display			"escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('dot J_{',escapedFrameN"
+		"ame,'} \\nu'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\nport_label('input',"
+		" 2, 'Joint configuration')\nport_label('input', 3, 'Base velocity')\nport_label('input', 4, 'Joint velocity')\n\ncle"
+		"ar escapedFrameName;"
+		Array {
+		  Type			  "Simulink.MaskParameter"
+		  Dimension		  5
+		  Object {
+		    $ObjectID		    155
+		    Type		    "edit"
+		    Name		    "frameName"
+		    Prompt		    "Frame name"
+		    Value		    "'frame'"
+		  }
+		  Object {
+		    $ObjectID		    156
+		    Type		    "edit"
+		    Name		    "robotName"
+		    Prompt		    "Robot Port Name"
+		    Value		    "WBT_robotName"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    157
+		    Type		    "edit"
+		    Name		    "localName"
+		    Prompt		    "Model Name"
+		    Value		    "WBT_modelName"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    158
+		    Type		    "edit"
+		    Name		    "wbiFile"
+		    Prompt		    "WBI filename"
+		    Value		    "WBT_wbiFilename"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    159
+		    Type		    "edit"
+		    Name		    "wbiList"
+		    Prompt		    "WBI list name"
+		    Value		    "WBT_wbiList"
+		    Tunable		    "off"
+		  }
+		  PropName		  "Parameters"
+		}
+		Array {
+		  Type			  "Simulink.dialog.Group"
+		  Dimension		  2
+		  Object {
+		    $ObjectID		    160
+		    Prompt		    "%<MaskType>"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    161
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "%<MaskDescription>"
+		    Name		    "DescTextVar"
+		    }
+		    Name		    "DescGroupVar"
+		  }
+		  Object {
+		    $ObjectID		    162
+		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    163
+		    $ClassName		    "Simulink.dialog.TabContainer"
+		    Array {
+		    Type		    "Simulink.dialog.Tab"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    164
+		    Prompt		    "Block parameters"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    165
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "frameName"
+		    }
+		    Name		    "Container8"
+		    }
+		    Object {
+		    $ObjectID		    166
+		    Prompt		    "WBI parameters"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Edit"
+		    Dimension		    4
+		    Object {
+		    $ObjectID		    167
+		    Name		    "robotName"
+		    }
+		    Object {
+		    $ObjectID		    168
+		    Name		    "localName"
+		    }
+		    Object {
+		    $ObjectID		    169
+		    Name		    "wbiFile"
+		    }
+		    Object {
+		    $ObjectID		    170
+		    Name		    "wbiList"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container5"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container4"
+		    }
+		    Name		    "ParameterGroupVar"
+		  }
+		  PropName		  "DialogControls"
+		}
+	      }
+	      System {
+		Name			"DotJ Nu"
+		Location		[0, 29, 1280, 744]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"391"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base Pose"
+		  SID			  "1684"
+		  Position		  [20, 13, 50, 27]
+		  ZOrder		  22
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joint configuration"
+		  SID			  "1685"
+		  Position		  [20, 43, 50, 57]
+		  ZOrder		  24
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base velocity"
+		  SID			  "1686"
+		  Position		  [20, 73, 50, 87]
+		  ZOrder		  26
+		  Port			  "3"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joints velocity"
+		  SID			  "1687"
+		  Position		  [20, 103, 50, 117]
+		  ZOrder		  27
+		  Port			  "4"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1688"
+		  Ports			  [4, 1]
+		  Position		  [125, 4, 190, 126]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'DotJNu',robotName,localName,wbiFile,wbiList,frameName"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		  SFcnIsStateOwnerBlock	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "dotJ dotnu"
+		  SID			  "1689"
+		  Position		  [245, 43, 275, 57]
+		  ZOrder		  25
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  ZOrder		  1
+		  SrcBlock		  "Joint configuration"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  2
+		}
+		Line {
+		  ZOrder		  2
+		  SrcBlock		  "Base Pose"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  3
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  Points		  [20, 0; 0, -15]
+		  DstBlock		  "dotJ dotnu"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  4
+		  SrcBlock		  "Base velocity"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  3
+		}
+		Line {
+		  ZOrder		  5
+		  SrcBlock		  "Joints velocity"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  4
+		}
+	      }
+	    }
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Jacobian"
+	      SID		      "1663"
+	      Ports		      [2, 1]
+	      Position		      [380, 190, 540, 245]
+	      ZOrder		      39
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      Object {
+		$PropName		"MaskObject"
+		$ObjectID		171
+		$ClassName		"Simulink.Mask"
+		Type			"Jacobian"
+		Description		"This block retrieves the Jacobian of the specified frame.\n\nAssuming DoFs is the number of degrees of"
+		" freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between\n        "
+		"     the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the configura"
+		"tion \n                       of the joints.\n\nOutput:\n- Jacobian: a 6x6+dofs matrix representing the Jacobian of\n"
+		"             the specified frame written in the world frame.\n\nParameters:\n- Frame name: the name of the frame. It"
+		" should be specified in the URDF model.\n\n- Robot Port Name: Name of the ports opened by the robot. (e.g. icub).\n "
+		"                  Set an empty string ('') to use the name specified in the \n                   Whole Body Interfac"
+		"e configuration file.\n- Model Name: Prefix name of the ports opened by the underlying Whole Body Interface.\n- WBI "
+		"filename: name of the file containing the configuration of the Whole Body Interface\n- WBI List Name: name of the li"
+		"st of joints used to configure the Whole Body Interface\n"
+		Display			"escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('{}^{world} J_{',escape"
+		"dFrameName,'}'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\nport_label('input"
+		"', 2, 'Joint configuration')\n\nclear escapedFrameName;"
+		Array {
+		  Type			  "Simulink.MaskParameter"
+		  Dimension		  5
+		  Object {
+		    $ObjectID		    172
+		    Type		    "edit"
+		    Name		    "frameName"
+		    Prompt		    "Frame name"
+		    Value		    "'frame'"
+		  }
+		  Object {
+		    $ObjectID		    173
+		    Type		    "edit"
+		    Name		    "robotName"
+		    Prompt		    "Robot Port Name"
+		    Value		    "WBT_robotName"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    174
+		    Type		    "edit"
+		    Name		    "localName"
+		    Prompt		    "Model Name"
+		    Value		    "WBT_modelName"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    175
+		    Type		    "edit"
+		    Name		    "wbiFile"
+		    Prompt		    "WBI filename"
+		    Value		    "WBT_wbiFilename"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    176
+		    Type		    "edit"
+		    Name		    "wbiList"
+		    Prompt		    "WBI list name"
+		    Value		    "WBT_wbiList"
+		    Tunable		    "off"
+		  }
+		  PropName		  "Parameters"
+		}
+		Array {
+		  Type			  "Simulink.dialog.Group"
+		  Dimension		  2
+		  Object {
+		    $ObjectID		    177
+		    Prompt		    "%<MaskType>"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    178
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "%<MaskDescription>"
+		    Name		    "DescTextVar"
+		    }
+		    Name		    "DescGroupVar"
+		  }
+		  Object {
+		    $ObjectID		    179
+		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    180
+		    $ClassName		    "Simulink.dialog.TabContainer"
+		    Array {
+		    Type		    "Simulink.dialog.Tab"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    181
+		    Prompt		    "Block parameters"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    182
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "frameName"
+		    }
+		    Name		    "Container8"
+		    }
+		    Object {
+		    $ObjectID		    183
+		    Prompt		    "WBI parameters"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Edit"
+		    Dimension		    4
+		    Object {
+		    $ObjectID		    184
+		    Name		    "robotName"
+		    }
+		    Object {
+		    $ObjectID		    185
+		    Name		    "localName"
+		    }
+		    Object {
+		    $ObjectID		    186
+		    Name		    "wbiFile"
+		    }
+		    Object {
+		    $ObjectID		    187
+		    Name		    "wbiList"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container5"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container4"
+		    }
+		    Name		    "ParameterGroupVar"
+		  }
+		  PropName		  "DialogControls"
+		}
+	      }
+	      System {
+		Name			"Jacobian"
+		Location		[208, 105, 1008, 627]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"237"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base Pose"
+		  SID			  "1664"
+		  Position		  [20, 23, 50, 37]
+		  ZOrder		  22
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joint configuration"
+		  SID			  "1665"
+		  Position		  [20, 63, 50, 77]
+		  ZOrder		  24
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1666"
+		  Ports			  [2, 1]
+		  Position		  [125, 37, 185, 68]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'Jacobian',robotName,localName,wbiFile,wbiList,frameName"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		  SFcnIsStateOwnerBlock	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Forward Kinematics"
+		  SID			  "1667"
+		  Position		  [245, 48, 275, 62]
+		  ZOrder		  25
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  ZOrder		  1
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  DstBlock		  "Forward Kinematics"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  2
+		  SrcBlock		  "Base Pose"
+		  SrcPort		  1
+		  Points		  [36, 0; 0, 15]
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  3
+		  SrcBlock		  "Joint configuration"
+		  SrcPort		  1
+		  Points		  [33, 0; 0, -10]
+		  DstBlock		  "S-Function"
+		  DstPort		  2
+		}
+	      }
+	    }
+	  }
+	}
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Kinematics"
+	  SID			  "176"
+	  Ports			  []
+	  Position		  [70, 20, 177, 127]
+	  ZOrder		  -17
+	  DropShadow		  on
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    188
+	    $ClassName		    "Simulink.Mask"
+	    Display		    "image(imread('forwardKinematics.png'))"
+	  }
+	  System {
+	    Name		    "Kinematics"
+	    Location		    [425, 373, 1725, 1134]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "326"
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Forward Kinematics"
+	      SID		      "1647"
+	      Ports		      [2, 1]
+	      Position		      [350, 103, 500, 167]
+	      ZOrder		      34
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      Object {
+		$PropName		"MaskObject"
+		$ObjectID		189
+		$ClassName		"Simulink.Mask"
+		Type			"Forward Kinematics"
+		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
+		"degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between"
+		"\n             the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the"
+		" configuration \n                       of the joints.\n\nOutput:\n- Forward Kinematics: a 4x4 matrix representing t"
+		"he homogenous transformation between\n             the specified frame and the world frame.\n\nParameters:\n- Frame "
+		"name: the name of the frame. It should be specified in the URDF model.\n\n- Robot Port Name: Name of the ports opene"
+		"d by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n       "
+		"            Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underlyin"
+		"g Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interface\n"
+		"- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+		Display			"escapedFrameName = strrep(frameName, '_', '\\_');\nport_label('output', 1, strcat('{}^{world} H_{',escape"
+		"dFrameName,'}'), 'texmode','on')\n\nport_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\nport_label('input"
+		"', 2, 'Joint configuration')\n\nclear escapedFrameName;"
+		Array {
+		  Type			  "Simulink.MaskParameter"
+		  Dimension		  5
+		  Object {
+		    $ObjectID		    190
+		    Type		    "edit"
+		    Name		    "frameName"
+		    Prompt		    "Frame name"
+		    Value		    "'frame'"
+		  }
+		  Object {
+		    $ObjectID		    191
+		    Type		    "edit"
+		    Name		    "robotName"
+		    Prompt		    "Robot Port Name"
+		    Value		    "WBT_robotName"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    192
+		    Type		    "edit"
+		    Name		    "localName"
+		    Prompt		    "Model Name"
+		    Value		    "WBT_modelName"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    193
+		    Type		    "edit"
+		    Name		    "wbiFile"
+		    Prompt		    "WBI filename"
+		    Value		    "WBT_wbiFilename"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    194
+		    Type		    "edit"
+		    Name		    "wbiList"
+		    Prompt		    "WBI list name"
+		    Value		    "WBT_wbiList"
+		    Tunable		    "off"
+		  }
+		  PropName		  "Parameters"
+		}
+		Array {
+		  Type			  "Simulink.dialog.Group"
+		  Dimension		  2
+		  Object {
+		    $ObjectID		    195
+		    Prompt		    "%<MaskType>"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    196
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "%<MaskDescription>"
+		    Name		    "DescTextVar"
+		    }
+		    Name		    "DescGroupVar"
+		  }
+		  Object {
+		    $ObjectID		    197
+		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    198
+		    $ClassName		    "Simulink.dialog.TabContainer"
+		    Array {
+		    Type		    "Simulink.dialog.Tab"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    199
+		    Prompt		    "Block parameters"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    200
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "frameName"
+		    }
+		    Name		    "Container8"
+		    }
+		    Object {
+		    $ObjectID		    201
+		    Prompt		    "WBI parameters"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Edit"
+		    Dimension		    4
+		    Object {
+		    $ObjectID		    202
+		    Name		    "robotName"
+		    }
+		    Object {
+		    $ObjectID		    203
+		    Name		    "localName"
+		    }
+		    Object {
+		    $ObjectID		    204
+		    Name		    "wbiFile"
+		    }
+		    Object {
+		    $ObjectID		    205
+		    Name		    "wbiList"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container5"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container4"
+		    }
+		    Name		    "ParameterGroupVar"
+		  }
+		  PropName		  "DialogControls"
+		}
+	      }
+	      System {
+		Name			"Forward Kinematics"
+		Location		[0, 29, 1280, 744]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"391"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Base Pose"
+		  SID			  "1648"
+		  Position		  [20, 23, 50, 37]
+		  ZOrder		  22
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Joint configuration"
+		  SID			  "1649"
+		  Position		  [20, 63, 50, 77]
+		  ZOrder		  24
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1650"
+		  Ports			  [2, 1]
+		  Position		  [125, 37, 185, 68]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'ForwardKinematics',robotName,localName,wbiFile,wbiList,frameName"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		  SFcnIsStateOwnerBlock	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Forward Kinematics"
+		  SID			  "1651"
+		  Position		  [245, 48, 275, 62]
+		  ZOrder		  25
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  ZOrder		  1
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  DstBlock		  "Forward Kinematics"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  2
+		  SrcBlock		  "Base Pose"
+		  SrcPort		  1
+		  Points		  [36, 0; 0, 15]
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  3
+		  SrcBlock		  "Joint configuration"
+		  SrcPort		  1
+		  Points		  [33, 0; 0, -10]
+		  DstBlock		  "S-Function"
+		  DstPort		  2
+		}
+	      }
+	    }
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Inverse Kinematics"
+	      SID		      "1754"
+	      Ports		      [3, 2]
+	      Position		      [350, 198, 525, 262]
+	      ZOrder		      35
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      Object {
+		$PropName		"MaskObject"
+		$ObjectID		206
+		$ClassName		"Simulink.Mask"
+		Type			"Forward Kinematics"
+		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
+		"degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between"
+		"\n             the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the"
+		" configuration \n                       of the joints.\n\nOutput:\n- Forward Kinematics: a 4x4 matrix representing t"
+		"he homogenous transformation between\n             the specified frame and the world frame.\n\nParameters:\n- Frame "
+		"name: the name of the frame. It should be specified in the URDF model.\n\n- Robot Port Name: Name of the ports opene"
+		"d by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n       "
+		"            Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underlyin"
+		"g Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interface\n"
+		"- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+		Display			"escapedBaseFrameName = strrep(baseFrame, '_', '\\_');\nescapedEndEffFrameName = strrep(endEffFrame, '_', "
+		"'\\_');\n\n%port_label('output', 1, strcat('{}^{world} H_{',escapedFrameName,'}'), 'texmode','on')\n\n%port_label('i"
+		"nput', 1, '{}^{world} H_{base}', 'texmode','on')\n%port_label('input', 2, 'Joint configuration')\n\n%clear escapedFr"
+		"ameName;\n\n\n% if strcmp(robotPart, 'left')\n%     prefix = 'l';\n% else\n%     prefix = 'r';\n% end\n% \nport_labe"
+		"l('input', 1, strcat('{}^{',escapedBaseFrameName,'} H_{',escapedEndEffFrameName,'}^d'), 'texmode','on');\n\nport_lab"
+		"el('input', 2, '{}^{world} H_{base}', 'texmode','on')\nport_label('input', 3, 'q_j', 'texmode','on');\n% \n% \nport_"
+		"label('output', 1, '{}^{world} H_{base}^d', 'texmode','on')\nport_label('output', 2, 'q_j^d', 'texmode','on');\n\n"
+		Array {
+		  Type			  "Simulink.MaskParameter"
+		  Dimension		  7
+		  Object {
+		    $ObjectID		    207
+		    Type		    "edit"
+		    Name		    "baseFrame"
+		    Prompt		    "Base Frame"
+		    Value		    "'root_link'"
+		  }
+		  Object {
+		    $ObjectID		    208
+		    Type		    "edit"
+		    Name		    "endEffFrame"
+		    Prompt		    "End Effector frame"
+		    Value		    "'l_sole'"
+		  }
+		  Object {
+		    $ObjectID		    209
+		    Type		    "popup"
+		    Array {
+		    Type		    "Cell"
+		    Dimension		    2
+		    Cell		    "Full Constraint (Position and Orientation)"
+		    Cell		    "Position only constraint"
+		    PropName		    "TypeOptions"
+		    }
+		    Name		    "optOption"
+		    Prompt		    "Optimization Option"
+		    Value		    "Full Constraint (Position and Orientation)"
+		  }
+		  Object {
+		    $ObjectID		    210
+		    Type		    "edit"
+		    Name		    "robotName"
+		    Prompt		    "Robot Port Name"
+		    Value		    "WBT_robotName"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    211
+		    Type		    "edit"
+		    Name		    "localName"
+		    Prompt		    "Model Name"
+		    Value		    "WBT_modelName"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    212
+		    Type		    "edit"
+		    Name		    "wbiFile"
+		    Prompt		    "WBI filename"
+		    Value		    "WBT_wbiFilename"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    213
+		    Type		    "edit"
+		    Name		    "wbiList"
+		    Prompt		    "WBI list name"
+		    Value		    "WBT_wbiList"
+		    Tunable		    "off"
+		  }
+		  PropName		  "Parameters"
+		}
+		Array {
+		  Type			  "Simulink.dialog.Group"
+		  Dimension		  2
+		  Object {
+		    $ObjectID		    214
+		    Prompt		    "%<MaskType>"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    215
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "%<MaskDescription>"
+		    Name		    "DescTextVar"
+		    }
+		    Name		    "DescGroupVar"
+		  }
+		  Object {
+		    $ObjectID		    216
+		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    217
+		    $ClassName		    "Simulink.dialog.TabContainer"
+		    Array {
+		    Type		    "Simulink.dialog.Tab"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    218
+		    Prompt		    "Block parameters"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Control"
+		    Dimension		    3
+		    Object {
+		    $ObjectID		    219
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    PromptLocation	    "left"
+		    Name		    "baseFrame"
+		    }
+		    Object {
+		    $ObjectID		    220
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "endEffFrame"
+		    }
+		    Object {
+		    $ObjectID		    221
+		    $ClassName		    "Simulink.dialog.parameter.Popup"
+		    Name		    "optOption"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container8"
+		    }
+		    Object {
+		    $ObjectID		    222
+		    Prompt		    "WBI parameters"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Edit"
+		    Dimension		    4
+		    Object {
+		    $ObjectID		    223
+		    Name		    "robotName"
+		    }
+		    Object {
+		    $ObjectID		    224
+		    Name		    "localName"
+		    }
+		    Object {
+		    $ObjectID		    225
+		    Name		    "wbiFile"
+		    }
+		    Object {
+		    $ObjectID		    226
+		    Name		    "wbiList"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container5"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container4"
+		    }
+		    Name		    "ParameterGroupVar"
+		  }
+		  PropName		  "DialogControls"
+		}
+	      }
+	      System {
+		Name			"Inverse Kinematics"
+		Location		[0, 23, 1280, 744]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"312"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Desired frame pose"
+		  SID			  "1759"
+		  Position		  [10, 13, 40, 27]
+		  ZOrder		  26
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Current Base Pose"
+		  SID			  "1755"
+		  Position		  [10, 43, 40, 57]
+		  ZOrder		  22
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Current Joint configuration"
+		  SID			  "1756"
+		  Position		  [10, 73, 40, 87]
+		  ZOrder		  24
+		  Port			  "3"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1757"
+		  Ports			  [3, 2]
+		  Position		  [145, 4, 225, 96]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'InverseKinematics',robotName,localName,wbiFile,wbiList,baseFrame, endEffFrame,optOption"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		  SFcnIsStateOwnerBlock	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Desired Base Pose"
+		  SID			  "1758"
+		  Position		  [280, 23, 310, 37]
+		  ZOrder		  25
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Desired Joint Configuration"
+		  SID			  "1760"
+		  Position		  [280, 68, 310, 82]
+		  ZOrder		  27
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  ZOrder		  1
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  DstBlock		  "Desired Base Pose"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  5
+		  SrcBlock		  "Current Base Pose"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  2
+		}
+		Line {
+		  ZOrder		  4
+		  SrcBlock		  "Current Joint configuration"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  3
+		}
+		Line {
+		  ZOrder		  7
+		  SrcBlock		  "Desired frame pose"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  8
+		  SrcBlock		  "S-Function"
+		  SrcPort		  2
+		  DstBlock		  "Desired Joint Configuration"
+		  DstPort		  1
+		}
+	      }
+	    }
+	    Block {
+	      BlockType		      SubSystem
+	      Name		      "Remote Inverse Kinematics"
+	      SID		      "1761"
+	      Ports		      [2, 1]
+	      Position		      [560, 105, 720, 165]
+	      ZOrder		      66
+	      InitFcn		      "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var'"
+	      ")\n    WBT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWho"
+	      "leBodyInterface.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\ne"
+	      "nd"
+	      RequestExecContextInheritance off
+	      Variant		      off
+	      Object {
+		$PropName		"MaskObject"
+		$ObjectID		227
+		$ClassName		"Simulink.Mask"
+		Type			"Forward Kinematics"
+		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
+		"degrees of freedom of the robot,\nInput:\n- Base pose: 4x4 matrix representing the homogenous transformation between"
+		"\n             the the base frame and the world frame.\n- Joint configuration: Vector of size DoFs, representing the"
+		" configuration \n                       of the joints.\n\nOutput:\n- Forward Kinematics: a 4x4 matrix representing t"
+		"he homogenous transformation between\n             the specified frame and the world frame.\n\nParameters:\n- Frame "
+		"name: the name of the frame. It should be specified in the URDF model.\n\n- Robot Port Name: Name of the ports opene"
+		"d by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the \n       "
+		"            Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by the underlyin"
+		"g Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole Body Interface\n"
+		"- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+		Display			"disp(solverName)\n\n\n\n% escapedBaseFrameName = strrep(baseFrame, '_', '\\_');\n% escapedEndEffFrameName"
+		" = strrep(endEffFrame, '_', '\\_');\n% \n% %port_label('output', 1, strcat('{}^{world} H_{',escapedFrameName,'}'), '"
+		"texmode','on')\n% \n% %port_label('input', 1, '{}^{world} H_{base}', 'texmode','on')\n% %port_label('input', 2, 'Joi"
+		"nt configuration')\n% \n% %clear escapedFrameName;\n% \n% \n% % if strcmp(robotPart, 'left')\n% %     prefix = 'l';\n"
+		"% % else\n% %     prefix = 'r';\n% % end\n% % \n\nport_label('input', 1, 'H^d', 'texmode','on');\n% port_label('inpu"
+		"t', 1, strcat('{}^{',escapedBaseFrameName,'} H_{',escapedEndEffFrameName,'}^d'), 'texmode','on');\n% \n% port_label("
+		"'input', 2, '{}^{world} H_{base}', 'texmode','on')\nport_label('input', 2, 'q_j(0)', 'texmode','on');\n% % \n% % \n%"
+		" port_label('output', 1, '{}^{world} H_{base}^d', 'texmode','on')\nport_label('output', 1, 'q_j^d', 'texmode','on');"
+		"\n\n"
+		Array {
+		  Type			  "Simulink.MaskParameter"
+		  Dimension		  3
+		  Object {
+		    $ObjectID		    228
+		    Type		    "edit"
+		    Name		    "solverName"
+		    Prompt		    "Solver Name"
+		    Value		    "'/cartesianSolver'"
+		  }
+		  Object {
+		    $ObjectID		    229
+		    Type		    "edit"
+		    Name		    "dofs"
+		    Prompt		    "#Dofs"
+		    Value		    "12"
+		    Tunable		    "off"
+		  }
+		  Object {
+		    $ObjectID		    230
+		    Type		    "popup"
+		    Array {
+		    Type		    "Cell"
+		    Dimension		    2
+		    Cell		    "Full Constraint (Position and Orientation)"
+		    Cell		    "Position only constraint"
+		    PropName		    "TypeOptions"
+		    }
+		    Name		    "optOption"
+		    Prompt		    "Optimization Option"
+		    Value		    "Full Constraint (Position and Orientation)"
+		  }
+		  PropName		  "Parameters"
+		}
+		Array {
+		  Type			  "Simulink.dialog.Group"
+		  Dimension		  2
+		  Object {
+		    $ObjectID		    231
+		    Prompt		    "%<MaskType>"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    232
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "%<MaskDescription>"
+		    Name		    "DescTextVar"
+		    }
+		    Name		    "DescGroupVar"
+		  }
+		  Object {
+		    $ObjectID		    233
+		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    234
+		    $ClassName		    "Simulink.dialog.TabContainer"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    235
+		    $ClassName		    "Simulink.dialog.Tab"
+		    Prompt		    "Block parameters"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Control"
+		    Dimension		    3
+		    Object {
+		    $ObjectID		    236
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    PromptLocation	    "left"
+		    Name		    "solverName"
+		    }
+		    Object {
+		    $ObjectID		    237
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "dofs"
+		    }
+		    Object {
+		    $ObjectID		    238
+		    $ClassName		    "Simulink.dialog.parameter.Popup"
+		    Name		    "optOption"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container8"
+		    }
+		    Name		    "Container4"
+		    }
+		    Name		    "ParameterGroupVar"
+		  }
+		  PropName		  "DialogControls"
+		}
+	      }
+	      System {
+		Name			"Remote Inverse Kinematics"
+		Location		[853, 51, 2214, 1013]
+		Open			off
+		ModelBrowserVisibility	off
+		ModelBrowserWidth	200
+		ScreenColor		"white"
+		PaperOrientation	"landscape"
+		PaperPositionMode	"auto"
+		PaperType		"usletter"
+		PaperUnits		"inches"
+		TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+		TiledPageScale		1
+		ShowPageBoundaries	off
+		ZoomFactor		"375"
+		Block {
+		  BlockType		  Inport
+		  Name			  "Desired frame pose"
+		  SID			  "1762"
+		  Position		  [10, 23, 40, 37]
+		  ZOrder		  26
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  Inport
+		  Name			  "Current Joint configuration"
+		  SID			  "1763"
+		  Position		  [10, 68, 40, 82]
+		  ZOrder		  24
+		  Port			  "2"
+		  IconDisplay		  "Port number"
+		}
+		Block {
+		  BlockType		  S-Function
+		  Name			  "S-Function"
+		  SID			  "1764"
+		  Ports			  [2, 1]
+		  Position		  [145, 6, 225, 99]
+		  ZOrder		  19
+		  FunctionName		  "WBToolbox"
+		  Parameters		  "'RemoteInverseKinematics',solverName, dofs, optOption"
+		  SFunctionDeploymentMode off
+		  EnableBusSupport	  off
+		  SFcnIsStateOwnerBlock	  off
+		}
+		Block {
+		  BlockType		  Outport
+		  Name			  "Desired Joint Configuration"
+		  SID			  "1765"
+		  Position		  [285, 48, 315, 62]
+		  ZOrder		  27
+		  IconDisplay		  "Port number"
+		}
+		Line {
+		  ZOrder		  1
+		  SrcBlock		  "S-Function"
+		  SrcPort		  1
+		  DstBlock		  "Desired Joint Configuration"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  2
+		  SrcBlock		  "Desired frame pose"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  1
+		}
+		Line {
+		  ZOrder		  3
+		  SrcBlock		  "Current Joint configuration"
+		  SrcPort		  1
+		  DstBlock		  "S-Function"
+		  DstPort		  2
+		}
+	      }
+	    }
+	  }
+	}
+      }
+    }
+    Block {
+      BlockType		      SubSystem
+      Name		      "wholeBodyStates"
+      SID		      "206"
+      Ports		      []
+      Position		      [16, 17, 114, 114]
+      ZOrder		      -4
+      ForegroundColor	      "white"
+      DropShadow	      on
+      RequestExecContextInheritance off
+      Variant		      off
+      Object {
+	$PropName		"MaskObject"
+	$ObjectID		239
+	$ClassName		"Simulink.Mask"
+	Display			"image(imread('wholeBodyStates.png'),'center');"
+      }
+      System {
+	Name			"wholeBodyStates"
+	Location		[425, 373, 1725, 1134]
+	Open			off
+	ModelBrowserVisibility	off
+	ModelBrowserWidth	200
+	ScreenColor		"white"
+	PaperOrientation	"landscape"
+	PaperPositionMode	"auto"
+	PaperType		"usletter"
+	PaperUnits		"inches"
+	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
+	TiledPageScale		1
+	ShowPageBoundaries	off
+	ZoomFactor		"576"
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Get Estimate"
+	  SID			  "1671"
+	  Ports			  [0, 1]
+	  Position		  [360, 212, 440, 248]
+	  ZOrder		  53
+	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
+	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
+	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
+	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    240
+	    $ClassName		    "Simulink.Mask"
+	    Type		    "Get Estimate"
+	    Description		    "This block get the estimate of the specified type\n\nAssuming DoFs is the number of degrees of "
+	    "freedom of the robot,\nOutput:\n- References: Vector of size DoFs, representing the estimate requested.\n\nParame"
+	    "ters:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name of the ports"
+	    " opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the "
+	    "\n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by t"
+	    "he underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole B"
+	    "ody Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+	    Display		    "%disp(get_param(gcb,'estimateType'))\nport_label('output',1,get_param(gcb,'estimateType'))"
+	    Array {
+	      Type		      "Simulink.MaskParameter"
+	      Dimension		      5
+	      Object {
+		$ObjectID		241
+		Type			"popup"
+		Array {
+		  Type			  "Cell"
+		  Dimension		  4
+		  Cell			  "Joints Position"
+		  Cell			  "Joints Velocity"
+		  Cell			  "Joints Acceleration"
+		  Cell			  "Joints Torque"
+		  PropName		  "TypeOptions"
+		}
+		Name			"estimateType"
+		Prompt			"Estimate Type"
+		Value			"Joints Position"
+		Evaluate		"off"
+		Callback		"% Get the mask parameter values. This is a cell\n%   array of strings.\n\nmaskStr = get_param(gcb,'estima"
+		"teType');\nif strcmp(maskStr, 'Joints Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0"
+		"]');\nelseif strcmp(maskStr, 'Joints Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]"
+		"');\nelseif strcmp(maskStr, 'Joints Acceleration')\n    set_param(gcb,'BackgroundColor', '[0.9255, 0.8706, 0.1333, 1"
+		".0]');\nelseif strcmp(maskStr, 'Joints Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]"
+		"');\nend\nclear  maskStr"
+	      }
+	      Object {
+		$ObjectID		242
+		Type			"edit"
+		Name			"robotName"
+		Prompt			"Robot Port Name"
+		Value			"WBT_robotName"
+		Tunable			"off"
+	      }
+	      Object {
+		$ObjectID		243
+		Type			"edit"
+		Name			"localName"
+		Prompt			"Model Name"
+		Value			"WBT_modelName"
+		Tunable			"off"
+	      }
+	      Object {
+		$ObjectID		244
+		Type			"edit"
+		Name			"wbiFile"
+		Prompt			"WBI filename"
+		Value			"WBT_wbiFilename"
+		Tunable			"off"
+	      }
+	      Object {
+		$ObjectID		245
+		Type			"edit"
+		Name			"wbiList"
+		Prompt			"WBI list name"
+		Value			"WBT_wbiList"
+		Tunable			"off"
+	      }
+	      PropName		      "Parameters"
+	    }
+	    Array {
+	      Type		      "Simulink.dialog.Group"
+	      Dimension		      2
+	      Object {
+		$ObjectID		246
+		Prompt			"%<MaskType>"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  247
+		  $ClassName		  "Simulink.dialog.Text"
+		  Prompt		  "%<MaskDescription>"
+		  Name			  "DescTextVar"
+		}
+		Name			"DescGroupVar"
+	      }
+	      Object {
+		$ObjectID		248
+		Prompt			"Simulink:studio:ToolBarParametersMenu"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  249
+		  $ClassName		  "Simulink.dialog.TabContainer"
+		  Array {
+		    Type		    "Simulink.dialog.Tab"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    250
+		    Prompt		    "Block parameters"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    251
+		    $ClassName		    "Simulink.dialog.parameter.Popup"
+		    Name		    "estimateType"
+		    }
+		    Name		    "Container8"
+		    }
+		    Object {
+		    $ObjectID		    252
+		    Prompt		    "WBI parameters"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Edit"
+		    Dimension		    4
+		    Object {
+		    $ObjectID		    253
+		    Name		    "robotName"
+		    }
+		    Object {
+		    $ObjectID		    254
+		    Name		    "localName"
+		    }
+		    Object {
+		    $ObjectID		    255
+		    Name		    "wbiFile"
+		    }
+		    Object {
+		    $ObjectID		    256
+		    Name		    "wbiList"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container5"
+		    }
+		    PropName		    "DialogControls"
+		  }
+		  Name			  "Container4"
+		}
+		Name			"ParameterGroupVar"
+	      }
+	      PropName		      "DialogControls"
+	    }
+	  }
+	  System {
+	    Name		    "Get Estimate"
+	    Location		    [653, 318, 2086, 1271]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "1000"
+	    Block {
+	      BlockType		      S-Function
+	      Name		      "S-Function"
+	      SID		      "1672"
+	      Ports		      [0, 1]
+	      Position		      [125, 39, 185, 71]
+	      ZOrder		      19
+	      FunctionName	      "WBToolbox"
+	      Parameters	      "'GetEstimate',robotName,localName,wbiFile,wbiList,estimateType"
+	      SFunctionDeploymentMode off
+	      EnableBusSupport	      off
+	      SFcnIsStateOwnerBlock   off
+	    }
+	    Block {
+	      BlockType		      Outport
+	      Name		      "Estimate"
+	      SID		      "1673"
+	      Position		      [210, 48, 240, 62]
+	      ZOrder		      25
+	      IconDisplay	      "Port number"
+	    }
+	    Line {
+	      ZOrder		      1
+	      SrcBlock		      "S-Function"
+	      SrcPort		      1
+	      DstBlock		      "Estimate"
+	      DstPort		      1
+	    }
+	  }
+	}
+	Block {
+	  BlockType		  SubSystem
+	  Name			  "Get Limits"
+	  SID			  "1690"
+	  Ports			  [0, 2]
+	  Position		  [475, 211, 570, 249]
+	  ZOrder		  68
+	  BackgroundColor	  "[0.513700, 0.851000, 0.670600]"
+	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
+	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
+	  "ace.ini';\nend\nif ~exist('WBT_wbiList','var')\n    WBT_wbiList = 'ROBOT_TORQUE_CONTROL_JOINTS';\nend"
+	  RequestExecContextInheritance	off
+	  Variant		  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    257
+	    $ClassName		    "Simulink.Mask"
+	    Type		    "Get Estimate"
+	    Description		    "This block get the estimate of the specified type\n\nAssuming DoFs is the number of degrees of "
+	    "freedom of the robot,\nOutput:\n- References: Vector of size DoFs, representing the estimate requested.\n\nParame"
+	    "ters:\n- Control Mode: The control mode. Choose one of the supplied mode.\n\n- Robot Port Name: Name of the ports"
+	    " opened by the robot. (e.g. icub).\n                   Set an empty string ('') to use the name specified in the "
+	    "\n                   Whole Body Interface configuration file.\n- Model Name: Prefix name of the ports opened by t"
+	    "he underlying Whole Body Interface.\n- WBI filename: name of the file containing the configuration of the Whole B"
+	    "ody Interface\n- WBI List Name: name of the list of joints used to configure the Whole Body Interface\n"
+	    Display		    "disp(get_param(gcb,'limitsType'))\nport_label('output',1,'Min')\nport_label('output',2,'Max')"
+	    Array {
+	      Type		      "Simulink.MaskParameter"
+	      Dimension		      5
+	      Object {
+		$ObjectID		258
+		Type			"popup"
+		Array {
+		  Type			  "Cell"
+		  Dimension		  1
+		  Cell			  "Position"
+		  PropName		  "TypeOptions"
+		}
+		Name			"limitsType"
+		Prompt			"Limits Type"
+		Value			"Position"
+		Evaluate		"off"
+		Callback		"% Get the mask parameter values. This is a cell\n%   array of strings.\n\nmaskStr = get_param(gcb,'limits"
+		"Type');\nif strcmp(maskStr, 'Joints Position')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.8510, 0.6706, 1.0]'"
+		");\nelseif strcmp(maskStr, 'Joints Velocity')\n    set_param(gcb,'BackgroundColor', '[0.5137, 0.6745, 1.0000, 1.0]')"
+		";\nelseif strcmp(maskStr, 'Joints Acceleration')\n    set_param(gcb,'BackgroundColor', '[0.9255, 0.8706, 0.1333, 1.0"
+		"]');\nelseif strcmp(maskStr, 'Joints Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]')"
+		";\nend\nclear  maskStr"
+	      }
+	      Object {
+		$ObjectID		259
+		Type			"edit"
+		Name			"robotName"
+		Prompt			"Robot Port Name"
+		Value			"WBT_robotName"
+		Tunable			"off"
+	      }
+	      Object {
+		$ObjectID		260
+		Type			"edit"
+		Name			"localName"
+		Prompt			"Model Name"
+		Value			"WBT_modelName"
+		Tunable			"off"
+	      }
+	      Object {
+		$ObjectID		261
+		Type			"edit"
+		Name			"wbiFile"
+		Prompt			"WBI filename"
+		Value			"WBT_wbiFilename"
+		Tunable			"off"
+	      }
+	      Object {
+		$ObjectID		262
+		Type			"edit"
+		Name			"wbiList"
+		Prompt			"WBI list name"
+		Value			"WBT_wbiList"
+		Tunable			"off"
+	      }
+	      PropName		      "Parameters"
+	    }
+	    Array {
+	      Type		      "Simulink.dialog.Group"
+	      Dimension		      2
+	      Object {
+		$ObjectID		263
+		Prompt			"%<MaskType>"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  264
+		  $ClassName		  "Simulink.dialog.Text"
+		  Prompt		  "%<MaskDescription>"
+		  Name			  "DescTextVar"
+		}
+		Name			"DescGroupVar"
+	      }
+	      Object {
+		$ObjectID		265
+		Prompt			"Simulink:studio:ToolBarParametersMenu"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  266
+		  $ClassName		  "Simulink.dialog.TabContainer"
+		  Array {
+		    Type		    "Simulink.dialog.Tab"
+		    Dimension		    2
+		    Object {
+		    $ObjectID		    267
+		    Prompt		    "Block parameters"
+		    Object {
+		    $PropName		    "DialogControls"
+		    $ObjectID		    268
+		    $ClassName		    "Simulink.dialog.parameter.Popup"
+		    Name		    "limitsType"
+		    }
+		    Name		    "Container8"
+		    }
+		    Object {
+		    $ObjectID		    269
+		    Prompt		    "WBI parameters"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Edit"
+		    Dimension		    4
+		    Object {
+		    $ObjectID		    270
+		    Name		    "robotName"
+		    }
+		    Object {
+		    $ObjectID		    271
+		    Name		    "localName"
+		    }
+		    Object {
+		    $ObjectID		    272
+		    Name		    "wbiFile"
+		    }
+		    Object {
+		    $ObjectID		    273
+		    Name		    "wbiList"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container5"
+		    }
+		    PropName		    "DialogControls"
+		  }
+		  Name			  "Container4"
+		}
+		Name			"ParameterGroupVar"
+	      }
+	      PropName		      "DialogControls"
+	    }
+	  }
+	  System {
+	    Name		    "Get Limits"
+	    Location		    [0, 23, 1280, 744]
+	    Open		    off
+	    ModelBrowserVisibility  off
+	    ModelBrowserWidth	    200
+	    ScreenColor		    "white"
+	    PaperOrientation	    "landscape"
+	    PaperPositionMode	    "auto"
+	    PaperType		    "usletter"
+	    PaperUnits		    "inches"
+	    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+	    TiledPageScale	    1
+	    ShowPageBoundaries	    off
+	    ZoomFactor		    "411"
+	    Block {
+	      BlockType		      S-Function
+	      Name		      "S-Function"
+	      SID		      "1691"
+	      Ports		      [0, 2]
+	      Position		      [115, 33, 175, 102]
+	      ZOrder		      19
+	      FunctionName	      "WBToolbox"
+	      Parameters	      "'GetLimits',robotName,localName,wbiFile,wbiList,limitsType"
+	      SFunctionDeploymentMode off
+	      EnableBusSupport	      off
+	      SFcnIsStateOwnerBlock   off
+	    }
+	    Block {
+	      BlockType		      Outport
+	      Name		      "Min"
+	      SID		      "1692"
+	      Position		      [220, 43, 250, 57]
+	      ZOrder		      25
+	      IconDisplay	      "Port number"
+	    }
+	    Block {
+	      BlockType		      Outport
+	      Name		      "Max"
+	      SID		      "1693"
+	      Position		      [220, 78, 250, 92]
+	      ZOrder		      26
+	      Port		      "2"
+	      IconDisplay	      "Port number"
+	    }
+	    Line {
+	      ZOrder		      1
+	      SrcBlock		      "S-Function"
+	      SrcPort		      1
+	      DstBlock		      "Min"
+	      DstPort		      1
+	    }
+	    Line {
+	      ZOrder		      2
+	      SrcBlock		      "S-Function"
+	      SrcPort		      2
+	      DstBlock		      "Max"
+	      DstPort		      1
+	    }
+	  }
+	}
+      }
+    }
+    Annotation {
+      SID		      "1213"
+      Name		      "WHOLE BODY TOOLBOX"
+      Position		      [172, 149, 317, 165]
+      InternalMargins	      [0, 0, 0, 0]
+      FixedHeight	      off
+      FixedWidth	      off
+      ForegroundColor	      "white"
+      BackgroundColor	      "black"
+      ZOrder		      -1
+      FontName		      "Sans Serif"
+      FontSize		      12
+    }
+    Annotation {
+      SID		      "1214"
+      Name		      "Copyright  2013-2016 iCub Facility Department, Istituto Italiano di Tecnologia\nThis software was s"
+      "upported by the FP7 EU Project CoDyCO (No. 600716 ICT 2011.2.1 Cognitive Systems and Robotics (b))\nhttp://www.c"
+      "odyco.eu"
+      Position		      [102, 184, 380, 204]
+      InternalMargins	      [0, 0, 0, 0]
+      FixedHeight	      off
+      FixedWidth	      off
+      ForegroundColor	      "white"
+      BackgroundColor	      "black"
+      ZOrder		      -2
+      FontSize		      5
+    }
+  }
+}
+#Finite State Machines
+#
+#   Stateflow 80000010
+#
+#
+Stateflow {
+  machine {
+    id			    1
+    name		    "WBToolboxLibrary_repository"
+    created		    "06-Feb-2014 11:51:26"
+    isLibrary		    1
+    sfVersion		    80000010
+    firstTarget		    26
+  }
+  chart {
+    id			    2
+    machine		    1
+    name		    "Utilities/holder\n/MATLAB Function"
+    windowPosition	    [1152 -205 -179 985]
+    viewLimits		    [0 156.75 0 153.75]
+    screen		    [1 1 3046 1050 1.25]
+    treeNode		    [0 3 0 0]
+    viewObj		    2
+    toolbarMode		    LIBRARY_TOOLBAR
+    ssIdHighWaterMark	    9
+    decomposition	    CLUSTER_CHART
+    type		    EML_CHART
+    chartFileNumber	    1
+    disableImplicitCasting  1
+    eml {
+      name		      "fcn"
+    }
+    firstData		    4
+    firstTransition	    8
+    firstJunction	    7
+  }
+  state {
+    id			    3
+    labelString		    "eML_blk_kernel()"
+    position		    [18 64.5 118 66]
+    fontSize		    12
+    chart		    2
+    treeNode		    [2 0 0 0]
+    superState		    SUBCHART
+    subviewer		    2
+    ssIdNumber		    1
+    type		    FUNC_STATE
+    decomposition	    CLUSTER_STATE
+    eml {
+      isEML		      1
+      script		      "function s0 = fcn(s, ~)\npersistent state\n%#codegen\n\nif isempty(state)\n    state = s;\nend\n\n"
+      "s0 = state;"
+      editorLayout	      "100 M4x1[10 5 700 500]"
+    }
+  }
+  data {
+    id			    4
+    ssIdNumber		    7
+    name		    "s"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+	isSigned		1
+	wordLength		"16"
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_INHERITED
+      unit {
+	name			"inherit"
+      }
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [2 0 5]
+  }
+  data {
+    id			    5
+    ssIdNumber		    8
+    name		    "s0"
+    scope		    OUTPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+	isSigned		1
+	wordLength		"16"
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_NO
+      unit {
+	name			"inherit"
+      }
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [2 4 6]
+  }
+  data {
+    id			    6
+    ssIdNumber		    9
+    name		    "unused"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+	isSigned		1
+	wordLength		"16"
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_INHERITED
+      unit {
+	name			"inherit"
+      }
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [2 5 0]
+  }
+  junction {
+    id			    7
+    position		    [23.5747 49.5747 7]
+    chart		    2
+    subviewer		    2
+    ssIdNumber		    3
+    type		    CONNECTIVE_JUNCTION
+    linkNode		    [2 0 0]
+  }
+  transition {
+    id			    8
+    labelString		    "{eML_blk_kernel();}"
+    labelPosition	    [76.125 85.875 102.544 14.964]
+    fontSize		    12
+    src {
+      intersection	      [0 0 1 0 23.5747 14.625 0 0]
+    }
+    dst {
+      id		      7
+      intersection	      [1 0 -1 0 23.5747 42.5747 0 0]
+    }
+    midPoint		    [23.5747 24.9468]
+    chart		    2
+    dataLimits		    [21.175 25.975 14.625 42.575]
+    subviewer		    2
+    drawStyle		    SMART
+    slide {
+      sticky		      BOTH_STICK
+    }
+    executionOrder	    1
+    ssIdNumber		    2
+    linkNode		    [2 0 0]
+  }
+  instance {
+    id			    9
+    machine		    1
+    name		    "Utilities/holder\n/MATLAB Function"
+    chart		    2
+  }
+  chart {
+    id			    10
+    machine		    1
+    name		    "Utilities/DampPinv/Damped Pseudo Inverse"
+    windowPosition	    [699 -205 167 985]
+    viewLimits		    [0 156.75 0 153.75]
+    screen		    [1 1 3046 1050 1.25]
+    treeNode		    [0 11 0 0]
+    viewObj		    10
+    toolbarMode		    LIBRARY_TOOLBAR
+    ssIdHighWaterMark	    8
+    decomposition	    CLUSTER_CHART
+    type		    EML_CHART
+    chartFileNumber	    6
+    disableImplicitCasting  1
+    eml {
+      name		      "fcn"
+    }
+    firstData		    12
+    firstTransition	    16
+    firstJunction	    15
+  }
+  state {
+    id			    11
+    labelString		    "eML_blk_kernel()"
+    position		    [18 64.5 118 66]
+    fontSize		    12
+    chart		    10
+    treeNode		    [10 0 0 0]
+    superState		    SUBCHART
+    subviewer		    10
+    ssIdNumber		    1
+    type		    FUNC_STATE
+    decomposition	    CLUSTER_STATE
+    eml {
+      isEML		      1
+      script		      "function DPinv  = fcn(mat,sigma)\n% Economody size svd of mat\n[U,S,V] = svd(mat,'econ');\n% Damp"
+      "ed version of S with sigma\nS(S>sigma)=S(S>sigma)./((S(S>sigma)).^2+sigma^2);\n% Damped pseudoinverse\nDPinv = V"
+      "*pinv(S)*U';"
+      editorLayout	      "100 M4x1[10 5 700 500]"
+    }
+  }
+  data {
+    id			    12
+    ssIdNumber		    4
+    name		    "mat"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      unit {
+	name			"inherit"
+      }
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [10 0 13]
+  }
+  data {
+    id			    13
+    ssIdNumber		    5
+    name		    "DPinv"
+    scope		    OUTPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_NO
+      unit {
+	name			"inherit"
+      }
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [10 12 14]
+  }
+  data {
+    id			    14
+    ssIdNumber		    8
+    name		    "sigma"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+	isSigned		1
+	wordLength		"16"
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_INHERITED
+      unit {
+	name			"inherit"
+      }
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [10 13 0]
+  }
+  junction {
+    id			    15
+    position		    [23.5747 49.5747 7]
+    chart		    10
+    subviewer		    10
+    ssIdNumber		    3
+    type		    CONNECTIVE_JUNCTION
+    linkNode		    [10 0 0]
+  }
+  transition {
+    id			    16
+    labelString		    "{eML_blk_kernel();}"
+    labelPosition	    [80.125 91.875 102.544 14.964]
+    fontSize		    12
+    src {
+      intersection	      [0 0 1 0 23.5747 14.625 0 0]
+    }
+    dst {
+      id		      15
+      intersection	      [1 0 -1 0 23.5747 42.5747 0 0]
+    }
+    midPoint		    [23.5747 24.9468]
+    chart		    10
+    dataLimits		    [21.175 25.975 14.625 42.575]
+    subviewer		    10
+    drawStyle		    SMART
+    slide {
+      sticky		      BOTH_STICK
+    }
+    executionOrder	    1
+    ssIdNumber		    2
+    linkNode		    [10 0 0]
+  }
+  instance {
+    id			    17
+    machine		    1
+    name		    "Utilities/DampPinv/Damped Pseudo Inverse"
+    chart		    10
+  }
+  chart {
+    id			    18
+    machine		    1
+    name		    "Utilities/TruncPinv/Truncated PseudoInverse"
+    windowPosition	    [649 -205 167 985]
+    viewLimits		    [0 156.75 0 153.75]
+    screen		    [1 1 3046 1050 1.25]
+    treeNode		    [0 19 0 0]
+    viewObj		    18
+    toolbarMode		    LIBRARY_TOOLBAR
+    ssIdHighWaterMark	    8
+    decomposition	    CLUSTER_CHART
+    type		    EML_CHART
+    chartFileNumber	    7
+    disableImplicitCasting  1
+    eml {
+      name		      "fcn"
+    }
+    firstData		    20
+    firstTransition	    24
+    firstJunction	    23
+  }
+  state {
+    id			    19
+    labelString		    "eML_blk_kernel()"
+    position		    [18 64.5 118 66]
+    fontSize		    12
+    chart		    18
+    treeNode		    [18 0 0 0]
+    superState		    SUBCHART
+    subviewer		    18
+    ssIdNumber		    1
+    type		    FUNC_STATE
+    decomposition	    CLUSTER_STATE
+    eml {
+      isEML		      1
+      script		      "function TPinv  = fcn(mat,tol)\n%#codegen\n[U,S,V] = svd(mat,'econ');\n% Setting to zero value\n%"
+      " Setting to 1/S(i,i) singular values greater than tol\n S(S>tol)=1./S(S>tol);\n TPinv = V*pinv(S)*U';"
+      editorLayout	      "100 M4x1[10 5 700 500]"
+    }
+  }
+  data {
+    id			    20
+    ssIdNumber		    4
+    name		    "mat"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      unit {
+	name			"inherit"
+      }
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [18 0 21]
+  }
+  data {
+    id			    21
+    ssIdNumber		    5
+    name		    "TPinv"
+    scope		    OUTPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_NO
+      unit {
+	name			"inherit"
+      }
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [18 20 22]
+  }
+  data {
+    id			    22
+    ssIdNumber		    8
+    name		    "tol"
+    scope		    INPUT_DATA
+    machine		    1
+    props {
+      array {
+	size			"-1"
+      }
+      type {
+	method			SF_INHERITED_TYPE
+	primitive		SF_DOUBLE_TYPE
+	isSigned		1
+	wordLength		"16"
+      }
+      complexity	      SF_COMPLEX_INHERITED
+      frame		      SF_FRAME_INHERITED
+      unit {
+	name			"inherit"
+      }
+    }
+    dataType		    "Inherit: Same as Simulink"
+    linkNode		    [18 21 0]
+  }
+  junction {
+    id			    23
+    position		    [23.5747 49.5747 7]
+    chart		    18
+    subviewer		    18
+    ssIdNumber		    3
+    type		    CONNECTIVE_JUNCTION
+    linkNode		    [18 0 0]
+  }
+  transition {
+    id			    24
+    labelString		    "{eML_blk_kernel();}"
+    labelPosition	    [80.125 91.875 102.544 14.964]
+    fontSize		    12
+    src {
+      intersection	      [0 0 1 0 23.5747 14.625 0 0]
+    }
+    dst {
+      id		      23
+      intersection	      [1 0 -1 0 23.5747 42.5747 0 0]
+    }
+    midPoint		    [23.5747 24.9468]
+    chart		    18
+    dataLimits		    [21.175 25.975 14.625 42.575]
+    subviewer		    18
+    drawStyle		    SMART
+    slide {
+      sticky		      BOTH_STICK
+    }
+    executionOrder	    1
+    ssIdNumber		    2
+    linkNode		    [18 0 0]
+  }
+  instance {
+    id			    25
+    machine		    1
+    name		    "Utilities/TruncPinv/Truncated PseudoInverse"
+    chart		    18
+  }
+  target {
+    id			    26
+    machine		    1
+    name		    "sfun"
+    description		    "Default Simulink S-Function Target."
+    linkNode		    [1 0 0]
+  }
+}

From ee56684801aa8bd7d12d4249aba3a4dd83915917 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 11 Aug 2017 07:54:36 +0000
Subject: [PATCH 84/92] Avoid problems on streams due to system's locale

Ref: https://github.com/robotology/idyntree/issues/288
---
 toolbox/src/DiscreteFilter.cpp | 5 +++++
 1 file changed, 5 insertions(+)

diff --git a/toolbox/src/DiscreteFilter.cpp b/toolbox/src/DiscreteFilter.cpp
index fb1b1874a..85ffda8bf 100644
--- a/toolbox/src/DiscreteFilter.cpp
+++ b/toolbox/src/DiscreteFilter.cpp
@@ -249,6 +249,11 @@ void DiscreteFilter::stringToYarpVector(const std::string str, Vector* v)
 
     // Convert the cleaned string to a yarp vector of floats
     std::istringstream sstrm(s);
+
+    // Avoid problems that may arise due to system's locale
+    // https://github.com/robotology/idyntree/issues/288
+    sstrm.imbue(std::locale::classic());
+
     float f;
 
     while (sstrm >> f)

From 5737e5e434d02a038654ed40abd95f321461146c Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 11 Aug 2017 08:07:43 +0000
Subject: [PATCH 85/92] Included support to console debug messages

These messages are displayed in the console from which Matlab was launched
---
 toolbox/CMakeLists.txt       |  1 +
 toolbox/include/base/debug.h | 20 ++++++++++++++++++++
 2 files changed, 21 insertions(+)
 create mode 100644 toolbox/include/base/debug.h

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index b89fdf5c6..b4c538673 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -54,6 +54,7 @@ configure_block(BLOCK_NAME "Base"
             src/base/Configuration.cpp
             src/base/RobotInterface.cpp
     HEADERS include/base/toolbox.h
+            include/base/debug.h
             include/base/Block.h
             include/base/BlockInformation.h
             include/base/WBBlock.h
diff --git a/toolbox/include/base/debug.h b/toolbox/include/base/debug.h
new file mode 100644
index 000000000..4fb7c1e7d
--- /dev/null
+++ b/toolbox/include/base/debug.h
@@ -0,0 +1,20 @@
+#ifndef WBT_DEBUG_H
+#define WBT_DEBUG_H
+
+// Debug messages to display in the console from which Matlab was launched
+// NDEBUG is defined by CMake in Release and MinSizeRel
+// https://gcc.gnu.org/onlinedocs/gcc-4.6.1/gcc/Variadic-Macros.html
+#ifndef NDEBUG
+#define DEBUG(fmt, ...)                                                                            \
+    fprintf(stderr, "[DEBUG]: %s:%d:%s(): " fmt "\n", __FILE__, __LINE__, __func__, ##__VA_ARGS__)
+#define WARNING(fmt, ...)                                                                          \
+    fprintf(stderr, "[WARNING]: %s:%d:%s(): " fmt "\n", __FILE__, __LINE__, __func__, ##__VA_ARGS__)
+#define ERROR(fmt, ...)                                                                            \
+    fprintf(stderr, "[ERROR]: %s:%d:%s(): " fmt "\n", __FILE__, __LINE__, __func__, ##__VA_ARGS__)
+#else
+#define DEBUG(fmt, ...)
+#define WARNING(fmt, ...)
+#define ERROR(fmt, ...)
+#endif
+
+#endif /* WBT_DEBUG_H */

From 02382999355f080b5d11fcbd1b2262b7ae9aaf64 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 11 Aug 2017 08:50:39 +0000
Subject: [PATCH 86/92] Minor indentation change

---
 toolbox/src/base/factory.cpp | 3 +--
 1 file changed, 1 insertion(+), 2 deletions(-)

diff --git a/toolbox/src/base/factory.cpp b/toolbox/src/base/factory.cpp
index c78e4af68..ae829c685 100644
--- a/toolbox/src/base/factory.cpp
+++ b/toolbox/src/base/factory.cpp
@@ -42,8 +42,7 @@ Block* Block::instantiateBlockWithClassName(std::string blockClassName)
 #ifdef WBT_USES_ICUB
     else if (blockClassName == wbt::MinimumJerkTrajectoryGenerator::ClassName) {
         block = new wbt::MinimumJerkTrajectoryGenerator();
-    }
-    else if (blockClassName == wbt::DiscreteFilter::ClassName) {
+    } else if (blockClassName == wbt::DiscreteFilter::ClassName) {
         block = new wbt::DiscreteFilter();
     }
 #endif

From 077d9863d142e6c9b9b79e698d31b0b5c0b434a6 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 11 Aug 2017 11:54:49 +0000
Subject: [PATCH 87/92] DiscreteFilter: Included parameters for initializing
 input / output

Kept as private variables only what is strictly required
---
 toolbox/include/DiscreteFilter.h |   9 +--
 toolbox/src/DiscreteFilter.cpp   | 114 ++++++++++++++++++++++---------
 2 files changed, 85 insertions(+), 38 deletions(-)

diff --git a/toolbox/include/DiscreteFilter.h b/toolbox/include/DiscreteFilter.h
index 234af3da9..098ca3966 100644
--- a/toolbox/include/DiscreteFilter.h
+++ b/toolbox/include/DiscreteFilter.h
@@ -23,13 +23,13 @@ namespace yarp {
 
 class wbt::DiscreteFilter : public wbt::Block {
 private:
-    bool firstRun;
+    unsigned inputSignalWidth;
     iCub::ctrl::IFilter* filter;
-    yarp::sig::Vector* num;
-    yarp::sig::Vector* den;
+    yarp::sig::Vector* y0;
+    yarp::sig::Vector* u0;
     yarp::sig::Vector* inputSignalVector;
 
-    static void stringToYarpVector(const std::string s, yarp::sig::Vector* v);
+    static void stringToYarpVector(const std::string s, yarp::sig::Vector& v);
 
 public:
     static std::string ClassName;
@@ -40,6 +40,7 @@ class wbt::DiscreteFilter : public wbt::Block {
     virtual unsigned numberOfParameters();
     virtual bool configureSizeAndPorts(BlockInformation* blockInfo, wbt::Error* error);
     virtual bool initialize(BlockInformation* blockInfo, wbt::Error* error);
+    virtual bool initializeInitialConditions(BlockInformation *blockInfo, wbt::Error *error);
     virtual bool terminate(BlockInformation* blockInfo, wbt::Error* error);
     virtual bool output(BlockInformation* blockInfo, wbt::Error* error);
 };
diff --git a/toolbox/src/DiscreteFilter.cpp b/toolbox/src/DiscreteFilter.cpp
index 85ffda8bf..0950dc573 100644
--- a/toolbox/src/DiscreteFilter.cpp
+++ b/toolbox/src/DiscreteFilter.cpp
@@ -17,6 +17,9 @@
 #define PARAM_IDX_1LOWP_FC 4 // ::FirstOrderLowPassFilter cut frequency
 #define PARAM_IDX_1LOWP_TS 5 // ::FirstOrderLowPassFilter sampling time
 #define PARAM_IDX_MD_ORDER 6 // ::MedianFilter order
+#define PARAM_IDX_INIT_Y0 7  // Output initialization
+#define PARAM_IDX_INIT_U0 8  // ::Filter input initialization
+
 // Inputs
 #define INPUT_IDX_SIGNAL 0
 // Outputs
@@ -30,15 +33,15 @@ using namespace yarp::sig;
 
 std::string DiscreteFilter::ClassName = "DiscreteFilter";
 
-DiscreteFilter::DiscreteFilter() : firstRun(true), filter(nullptr), inputSignalVector(nullptr)
+DiscreteFilter::DiscreteFilter() : filter(nullptr), inputSignalVector(nullptr)
 {
-    num = new Vector(0);
-    den = new Vector(0);
+    y0 = new Vector(0);
+    u0 = new Vector(0);
 }
 
 unsigned DiscreteFilter::numberOfParameters()
 {
-    return 6;
+    return 8;
 }
 
 bool DiscreteFilter::configureSizeAndPorts(BlockInformation* blockInfo, wbt::Error* error)
@@ -92,6 +95,8 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     std::string filter_type;
     std::string num_coeff_str;
     std::string den_coeff_str;
+    std::string y0_str;
+    std::string u0_str;
     wbt::Data firstOrderLowPassFilter_fc;
     wbt::Data firstOrderLowPassFilter_ts;
     wbt::Data medianFilter_order;
@@ -104,7 +109,9 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     // Get the string parameter
     if (!(blockInfo->getStringParameterAtIndex(PARAM_IDX_FLT_TYPE, filter_type)
           && blockInfo->getStringParameterAtIndex(PARAM_IDX_NUMCOEFF, num_coeff_str)
-          && blockInfo->getStringParameterAtIndex(PARAM_IDX_DENCOEFF, den_coeff_str))) {
+          && blockInfo->getStringParameterAtIndex(PARAM_IDX_DENCOEFF, den_coeff_str)
+          && blockInfo->getStringParameterAtIndex(PARAM_IDX_INIT_Y0, y0_str)
+          && blockInfo->getStringParameterAtIndex(PARAM_IDX_INIT_U0, u0_str))) {
         if (error) {
             error->message = ClassName + " Failed to parse string parameters.";
         }
@@ -112,8 +119,12 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     }
 
     // Convert the strings from the Matlab syntax ("[1.0 2 3.33]") to yarp::sig::Vector
+    yarp::sig::Vector num(0);
+    yarp::sig::Vector den(0);
     stringToYarpVector(num_coeff_str, num);
     stringToYarpVector(den_coeff_str, den);
+    stringToYarpVector(y0_str, *y0);
+    stringToYarpVector(u0_str, *u0);
 
     // Create the filter object
     // ========================
@@ -121,13 +132,13 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     // Generic
     // -------
     if (filter_type == "Generic") {
-        if (num->length() == 0 || den->length() == 0) {
+        if (num.length() == 0 || den.length() == 0) {
             if (error) {
                 error->message = ClassName + " (Generic) Wrong coefficients size";
             }
             return 1;
         }
-        filter = new Filter(*num, *den);
+        filter = new Filter(num, den);
     }
     // FirstOrderLowPassFilter
     // -----------------------
@@ -162,6 +173,31 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
         return false;
     }
 
+    // Get the width of the input vector
+    inputSignalWidth = blockInfo->getInputPortWidth(INPUT_IDX_SIGNAL);
+
+    // Check the initial conditions are properly sized
+    unsigned outputSignalWidth = blockInfo->getInputPortWidth(OUTPUT_IDX_SIGNAL);
+    unsigned y0Width           = y0->length();
+    unsigned u0Width           = u0->length();
+
+    if (y0Width != outputSignalWidth) {
+        if (error) {
+            error->message = ClassName + " y0 and output signal sizes don't match";
+        }
+        return false;
+    }
+
+    if ((filter_type == "Generic") && (u0Width != inputSignalWidth)) {
+        if (error) {
+            error->message = ClassName + " (Generic) u0 and input signal sizes don't match";
+        }
+        return false;
+    }
+
+    // Allocate the input signal
+    inputSignalVector = new Vector(inputSignalWidth, 0.0);
+
     return true;
 }
 
@@ -175,19 +211,45 @@ bool DiscreteFilter::terminate(BlockInformation* blockInfo, wbt::Error* error)
         filter = nullptr;
     }
 
-    if (num) {
-        delete num;
-        num = nullptr;
+    if (inputSignalVector) {
+        delete inputSignalVector;
+        inputSignalVector = nullptr;
     }
 
-    if (den) {
-        delete den;
-        den = nullptr;
+    if (y0) {
+        delete y0;
+        y0 = nullptr;
     }
 
-    if (inputSignalVector) {
-        delete inputSignalVector;
-        inputSignalVector = nullptr;
+    if (u0) {
+        delete u0;
+        u0 = nullptr;
+    }
+
+    return true;
+}
+
+bool DiscreteFilter::initializeInitialConditions(BlockInformation* blockInfo, wbt::Error* error)
+{
+    // Reminder: this function is called when, during runtime, a block is disabled
+    // and enabled again. The method ::initialize instead is called just one time.
+
+    // If the initial conditions for the output are not set, allocate a properly
+    // sized vector
+    if (*y0 == Vector(1, 0.0)) {
+        y0 = new Vector(inputSignalWidth, 0.0);
+    }
+
+    // Initialize the filter. This is required because if the signal is not 1D,
+    // the default filter constructor initialize a wrongly sized y0
+    // Moreover, the Filter class has a different constructor that handles the
+    // zero-gain case
+    Filter* filter_c = dynamic_cast<Filter*>(filter);
+    if (filter_c != nullptr) {
+        filter_c->init(*y0, *u0);
+    }
+    else {
+        filter->init(*y0);
     }
 
     return true;
@@ -201,20 +263,6 @@ bool DiscreteFilter::output(BlockInformation* blockInfo, wbt::Error* error)
     Signal inputSignal  = blockInfo->getInputPortSignal(INPUT_IDX_SIGNAL);
     Signal outputSignal = blockInfo->getOutputPortSignal(OUTPUT_IDX_SIGNAL);
 
-    unsigned inputSignalWidth = blockInfo->getInputPortWidth(INPUT_IDX_SIGNAL);
-
-    // Allocate the memory for the input data
-    if (firstRun) {
-        // Allocate the input signal
-        inputSignalVector = new Vector(inputSignalWidth, 0.0);
-
-        // Initialize the filter. This is required because if the signal is not 1D,
-        // the default filter constructor initialize a wrongly sized y0
-        filter->init(Vector(inputSignalWidth));
-
-        firstRun = false;
-    }
-
     // Copy the Signal to the data structure that the filter wants
     for (unsigned i = 0; i < inputSignalWidth; ++i) {
         (*inputSignalVector)[i] = inputSignal.get(i).doubleData();
@@ -229,10 +277,8 @@ bool DiscreteFilter::output(BlockInformation* blockInfo, wbt::Error* error)
     return true;
 }
 
-void DiscreteFilter::stringToYarpVector(const std::string str, Vector* v)
+void DiscreteFilter::stringToYarpVector(const std::string str, Vector& v)
 {
-    assert(v != nullptr);
-
     std::string s = str;
 
     // Lambda expression used to remove "[]," carachters
@@ -257,5 +303,5 @@ void DiscreteFilter::stringToYarpVector(const std::string str, Vector* v)
     float f;
 
     while (sstrm >> f)
-        v->push_back(f);
+        v.push_back(f);
 }

From b8ba0fef91034b2f2e140abd46858abded1a28e7 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 11 Aug 2017 11:58:35 +0000
Subject: [PATCH 88/92] Updated library

WBToolboxLibrary.mdl: R2012A
WBToolboxLibrary.slx: R2014B
WBToolboxLibrary_repository.mdl: R2016B
---
 toolbox/WBToolboxLibrary.mdl            | 107 ++--
 toolbox/WBToolboxLibrary.slx            | Bin 536459 -> 40109 bytes
 toolbox/WBToolboxLibrary_repository.mdl | 814 +++++++++++++++---------
 3 files changed, 572 insertions(+), 349 deletions(-)

diff --git a/toolbox/WBToolboxLibrary.mdl b/toolbox/WBToolboxLibrary.mdl
index 9d0e733f1..4df715224 100644
--- a/toolbox/WBToolboxLibrary.mdl
+++ b/toolbox/WBToolboxLibrary.mdl
@@ -8,15 +8,15 @@ Library {
   DisableAllScopes	  off
   FPTRunName		  "Run 1"
   MaxMDLFileLineLength	  120
-  Created		  "Thu Feb 06 02:21:39 2014"
+  Created		  "Thu Feb 06 01:21:39 2014"
   Creator		  "jorhabib"
   UpdateHistory		  "UpdateHistoryNever"
   ModifiedByFormat	  "%<Auto>"
   LastModifiedBy	  "icub"
   ModifiedDateFormat	  "%<Auto>"
-  LastModifiedDate	  "Fri Aug 11 07:02:44 2017"
-  RTWModifiedTimeStamp	  424335764
-  ModelVersionFormat	  "1.%<AutoIncrement:383>"
+  LastModifiedDate	  "Fri Aug 11 12:52:09 2017"
+  RTWModifiedTimeStamp	  424356729
+  ModelVersionFormat	  "1.%<AutoIncrement:395>"
   ConfigurationManager	  "none"
   SampleTimeColors	  off
   SampleTimeAnnotations	  off
@@ -755,7 +755,7 @@ Library {
   }
   System {
     Name		    "WBToolboxLibrary"
-    Location		    [173, 232, 1453, 953]
+    Location		    [123, 132, 1403, 853]
     Open		    off
     ModelBrowserVisibility  off
     ModelBrowserWidth	    200
@@ -789,7 +789,7 @@ Library {
       MaskIconUnits	      "autoscale"
       System {
 	Name			"Utilities"
-	Location		[173, 232, 1453, 953]
+	Location		[447, 302, 1727, 1023]
 	Open			off
 	ModelBrowserVisibility	off
 	ModelBrowserWidth	200
@@ -801,7 +801,7 @@ Library {
 	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 	TiledPageScale		1
 	ShowPageBoundaries	off
-	ZoomFactor		"166"
+	ZoomFactor		"175"
 	Block {
 	  BlockType		  SubSystem
 	  Name			  "DampPinv"
@@ -917,20 +917,20 @@ Library {
 		Block {
 		  BlockType		  Demux
 		  Name			  " Demux "
-		  SID			  "107::1618"
+		  SID			  "107::1627"
 		  Ports			  [1, 1]
 		  Position		  [270, 230, 320, 270]
-		  ZOrder		  98
+		  ZOrder		  107
 		  Outputs		  "1"
 		}
 		Block {
 		  BlockType		  S-Function
 		  Name			  " SFunction "
-		  SID			  "107::1617"
+		  SID			  "107::1626"
 		  Tag			  "Stateflow S-Function WBToolboxLibrary 6"
 		  Ports			  [2, 2]
 		  Position		  [180, 100, 230, 160]
-		  ZOrder		  97
+		  ZOrder		  106
 		  FunctionName		  "sf_sfun"
 		  PortCounts		  "[2 2]"
 		  SFunctionDeploymentMode off
@@ -945,9 +945,9 @@ Library {
 		Block {
 		  BlockType		  Terminator
 		  Name			  " Terminator "
-		  SID			  "107::1619"
+		  SID			  "107::1628"
 		  Position		  [460, 241, 480, 259]
-		  ZOrder		  99
+		  ZOrder		  108
 		}
 		Block {
 		  BlockType		  Outport
@@ -1033,29 +1033,58 @@ Library {
 	  MaskHideContents	  off
 	}
 	Block {
-	  BlockType		  Reference
+	  BlockType		  S-Function
 	  Name			  "DiscreteFilter"
 	  SID			  "1772"
 	  Ports			  [1, 1]
-	  Position		  [440, 260, 500, 290]
-	  ZOrder		  83
+	  Position		  [400, 245, 460, 275]
+	  ZOrder		  82
 	  BackgroundColor	  "yellow"
-	  LibraryVersion	  "1.386"
-	  SourceBlock		  "WBToolboxLibrary/Utilities/DiscreteFilter"
-	  SourceType		  "Discrete Filter"
-	  filterType		  "Generic"
-	  numCoeffs		  "[0]"
-	  denCoeffs		  "[0]"
-	  Fc			  "0"
-	  Ts			  "0"
-	  orderMedianFilter	  "0"
+	  FunctionName		  "WBToolbox"
+	  Parameters		  "'DiscreteFilter',filterType,numCoeffs,denCoeffs,Fc,Ts,orderMedianFilter,y0,u0"
+	  SFunctionDeploymentMode off
+	  EnableBusSupport	  off
+	  MaskType		  "Discrete Filter"
+	  MaskDescription	  "This block wraps the Filter, FirstOrderLowPassFilter, and MedianFilter from iCub::ctrl."
+	  MaskPromptString	  "Type of the filter|Numerator Coefficients*|Denominator Coefficients*|Cut Frequency (Hz)|Samplin"
+	  "g time (s)|Order|Define initial conditions|Output y0|Input u0"
+	  MaskStyleString	  "popup(Generic|FirstOrderLowPassFilter|MedianFilter),edit,edit,edit,edit,edit,checkbox,edit,edit"
+	  MaskVariables		  "filterType=@1;numCoeffs=@2;denCoeffs=@3;Fc=@4;Ts=@5;orderMedianFilter=@6;initStatus=@7;y0=@8;u0=@"
+	  "9;"
+	  MaskTunableValueString  "on,on,on,on,on,on,on,on,on"
+	  MaskCallbackString	  "% From: https://it.mathworks.com/help/simulink/slref/simulink.mask-class.html\nfilterType = g"
+	  "et_param(gcb, 'filterType');\ninitStatus = get_param(gcb, 'initStatus');\np = Simulink.Mask.get(gcbh);\nhowToCoeffs"
+	  " = p.getDialogControl('howToCoeffs');\n\n%set_param(gcb, 'initStatus','off');\nif (strcmp(initStatus,'on'))\n    vi"
+	  "s_init = 'on';\nelse\n    vis_init = 'off';\nend\n\nif(strcmp(filterType, 'Generic'))\n    set_param(gcb, 'MaskVisi"
+	  "bilities',{'on','on','on','off','off','off','on',vis_init,vis_init});\n    howToCoeffs.Visible = 'on';\nelseif(strc"
+	  "mp(filterType, 'FirstOrderLowPassFilter'))\n    set_param(gcb, 'MaskVisibilities',{'on','off','off','on','on','off'"
+	  ",'on',vis_init,'off'});\n    howToCoeffs.Visible = 'off';\nelseif(strcmp(filterType, 'MedianFilter'))\n    set_para"
+	  "m(gcb, 'MaskVisibilities',{'on','off','off','off','off','on','on',vis_init,'off'});\n    howToCoeffs.Visible = 'off"
+	  "';\nend\n\nclear filterType initStatus p howToCoeffs vis_init;||||||initStatus   = get_param(gcb, 'initStatus');\nv"
+	  "isibilities = get_param(gcb, 'MaskVisibilities');\nfilterType   = get_param(gcb, 'filterType');\n\nif (strcmp(initS"
+	  "tatus,'off'))\n    visibilities{8} = 'off';\n    visibilities{9} = 'off';\nelseif (strcmp(initStatus,'on'))\n    vi"
+	  "sibilities{8} = 'on';\n    if (strcmp(filterType,'Generic'))\n        visibilities{9} = 'on';\n    end\nend\n\nset_"
+	  "param(gcb, 'MaskVisibilities', visibilities);\n\nclear initStatus visibilities filterType;||"
+	  MaskEnableString	  "on,on,on,on,on,on,on,on,on"
+	  MaskVisibilityString	  "on,on,on,off,off,off,on,off,off"
+	  MaskToolTipString	  "on,on,on,on,on,on,on,on,on"
+	  MaskInitialization	  "filterType = get_param(gcb, 'filterType');\nnumCoeffs  = mat2str(numCoeffs);\ndenCoeffs  = ma"
+	  "t2str(denCoeffs);\n\ninitStatus = get_param(gcb, 'initStatus');\n\nif (strcmp(initStatus,'on'))\n    y0 = mat2str(y"
+	  "0);\n    u0 = mat2str(u0);\nelse\n    y0 = 'none';\n    u0 = 'none';\nend\n\nclear initStatus"
+	  MaskDisplay		  "disp('Filter')"
+	  MaskIconFrame		  on
+	  MaskIconOpaque	  on
+	  MaskIconRotate	  "none"
+	  MaskPortRotate	  "default"
+	  MaskIconUnits		  "autoscale"
+	  MaskValueString	  "Generic|[0]|[0]|0|0|0|off|[0]|[0]"
 	}
 	Block {
 	  BlockType		  S-Function
 	  Name			  "DoFs converter"
 	  SID			  "1771"
 	  Ports			  [1, 5]
-	  Position		  [240, 241, 385, 309]
+	  Position		  [160, 226, 305, 294]
 	  ZOrder		  81
 	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
 	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
@@ -1124,7 +1153,7 @@ Library {
 	  "else\n    visibility{2} = 'on';\n    visibility{4} = 'off';\nend\nset_param(gcb, 'MaskVisibilities',visibility);\nc"
 	  "lear externalSettlingTime||||||"
 	  MaskEnableString	  "on,on,on,on,on,on,on"
-	  MaskVisibilityString	  "on,on,on,on,on,on,off"
+	  MaskVisibilityString	  "on,on,on,off,on,on,off"
 	  MaskToolTipString	  "on,on,on,on,on,on,on"
 	  MaskDisplay		  "firstDer = get_param(gcb, 'firstDerivatives');\nsecondDer = get_param(gcb, 'secondDerivatives');\ni"
 	  "nitialValues = get_param(gcb, 'explicitInitialValue');\nexternalSettlingTimeParam = get_param(gcb, 'externalSettlin"
@@ -1322,20 +1351,20 @@ Library {
 		Block {
 		  BlockType		  Demux
 		  Name			  " Demux "
-		  SID			  "112::1609"
+		  SID			  "112::1618"
 		  Ports			  [1, 1]
 		  Position		  [270, 230, 320, 270]
-		  ZOrder		  98
+		  ZOrder		  107
 		  Outputs		  "1"
 		}
 		Block {
 		  BlockType		  S-Function
 		  Name			  " SFunction "
-		  SID			  "112::1608"
+		  SID			  "112::1617"
 		  Tag			  "Stateflow S-Function WBToolboxLibrary 7"
 		  Ports			  [2, 2]
 		  Position		  [180, 100, 230, 160]
-		  ZOrder		  97
+		  ZOrder		  106
 		  FunctionName		  "sf_sfun"
 		  PortCounts		  "[2 2]"
 		  SFunctionDeploymentMode off
@@ -1350,9 +1379,9 @@ Library {
 		Block {
 		  BlockType		  Terminator
 		  Name			  " Terminator "
-		  SID			  "112::1610"
+		  SID			  "112::1619"
 		  Position		  [460, 241, 480, 259]
-		  ZOrder		  99
+		  ZOrder		  108
 		}
 		Block {
 		  BlockType		  Outport
@@ -1780,20 +1809,20 @@ Library {
 		Block {
 		  BlockType		  Demux
 		  Name			  " Demux "
-		  SID			  "1300::1609"
+		  SID			  "1300::1618"
 		  Ports			  [1, 1]
 		  Position		  [270, 230, 320, 270]
-		  ZOrder		  86
+		  ZOrder		  95
 		  Outputs		  "1"
 		}
 		Block {
 		  BlockType		  S-Function
 		  Name			  " SFunction "
-		  SID			  "1300::1608"
+		  SID			  "1300::1617"
 		  Tag			  "Stateflow S-Function WBToolboxLibrary 1"
 		  Ports			  [2, 2]
 		  Position		  [180, 100, 230, 160]
-		  ZOrder		  85
+		  ZOrder		  94
 		  FunctionName		  "sf_sfun"
 		  PortCounts		  "[2 2]"
 		  SFunctionDeploymentMode off
@@ -1808,9 +1837,9 @@ Library {
 		Block {
 		  BlockType		  Terminator
 		  Name			  " Terminator "
-		  SID			  "1300::1610"
+		  SID			  "1300::1619"
 		  Position		  [460, 241, 480, 259]
-		  ZOrder		  87
+		  ZOrder		  96
 		}
 		Block {
 		  BlockType		  Outport
diff --git a/toolbox/WBToolboxLibrary.slx b/toolbox/WBToolboxLibrary.slx
index 63ee8648630abdd844422f49136f288b536344ed..9264c236b79d3af71920758d00a60c8e8e9bf57b 100644
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zFoji<)n{vfj1QbG!*nWZa{g=;u+gszdmbAC&6>%~z#xpGV`t&y&9fEjLB_71Y&BOA
zsAvLE5jTn=>0$<k_@dODVtqXjiR?FBpvEa`oSKIwvol<p&(0tV)d-<dOBfh(Q%e$4
z5=#>Gi*tN3lZq0HDxHe*%ZpQs^oj~#MzI5xgA&bT{y8$tNgN!L_2wumqNE+5yHrrz
eRIkl3*?6X^Sb#Sx8%Tl+2+sk7e7Oz>kOu&_FvM5@

diff --git a/toolbox/WBToolboxLibrary_repository.mdl b/toolbox/WBToolboxLibrary_repository.mdl
index 5bc9551fe..b5034389e 100644
--- a/toolbox/WBToolboxLibrary_repository.mdl
+++ b/toolbox/WBToolboxLibrary_repository.mdl
@@ -23,7 +23,7 @@ Library {
       $ObjectID		      2
       $ClassName	      "Simulink.WindowInfo"
       IsActive		      [1]
-      Location		      [173.0, 232.0, 1280.0, 721.0]
+      Location		      [447.0, 302.0, 1280.0, 721.0]
       Object {
 	$PropName		"ModelBrowserInfo"
 	$ObjectID		3
@@ -48,8 +48,8 @@ Library {
 	ViewObjType		"SimulinkSubsys"
 	LoadSaveID		"192"
 	Extents			[1226.0, 537.0]
-	ZoomFactor		[1.66]
-	Offset			[0.0, 0.0]
+	ZoomFactor		[1.75]
+	Offset			[10.634251290877842, 6.0]
       }
       Object {
 	$PropName		"DockComponentsInfo"
@@ -76,15 +76,15 @@ Library {
       "////wAAAAAA/////wAAAAAAAAAA/////wAAAAAA/////wAAAAAAAAAA"
     }
   }
-  Created		  "Thu Feb 06 02:21:39 2014"
+  Created		  "Thu Feb 06 01:21:39 2014"
   Creator		  "jorhabib"
   UpdateHistory		  "UpdateHistoryNever"
   ModifiedByFormat	  "%<Auto>"
   LastModifiedBy	  "icub"
   ModifiedDateFormat	  "%<Auto>"
-  LastModifiedDate	  "Fri Aug 11 06:58:36 2017"
-  RTWModifiedTimeStamp	  424335513
-  ModelVersionFormat	  "1.%<AutoIncrement:382>"
+  LastModifiedDate	  "Fri Aug 11 12:50:36 2017"
+  RTWModifiedTimeStamp	  424356590
+  ModelVersionFormat	  "1.%<AutoIncrement:394>"
   ConfigurationManager	  "none"
   SampleTimeColors	  off
   SampleTimeAnnotations	  off
@@ -1031,7 +1031,7 @@ Library {
   }
   System {
     Name		    "WBToolboxLibrary_repository"
-    Location		    [173, 232, 1453, 953]
+    Location		    [123, 132, 1403, 853]
     Open		    off
     ModelBrowserVisibility  off
     ModelBrowserWidth	    200
@@ -1065,7 +1065,7 @@ Library {
       }
       System {
 	Name			"Utilities"
-	Location		[173, 232, 1453, 953]
+	Location		[447, 302, 1727, 1023]
 	Open			on
 	ModelBrowserVisibility	off
 	ModelBrowserWidth	200
@@ -1077,7 +1077,7 @@ Library {
 	TiledPaperMargins	[0.500000, 0.500000, 0.500000, 0.500000]
 	TiledPageScale		1
 	ShowPageBoundaries	off
-	ZoomFactor		"166"
+	ZoomFactor		"175"
 	Block {
 	  BlockType		  SubSystem
 	  Name			  "DampPinv"
@@ -1163,7 +1163,7 @@ Library {
 		TiledPageScale		1
 		ShowPageBoundaries	off
 		ZoomFactor		"100"
-		SIDHighWatermark	"1619"
+		SIDHighWatermark	"1628"
 		Block {
 		  BlockType		  Inport
 		  Name			  "mat"
@@ -1184,20 +1184,20 @@ Library {
 		Block {
 		  BlockType		  Demux
 		  Name			  " Demux "
-		  SID			  "107::1618"
+		  SID			  "107::1627"
 		  Ports			  [1, 1]
 		  Position		  [270, 230, 320, 270]
-		  ZOrder		  98
+		  ZOrder		  107
 		  Outputs		  "1"
 		}
 		Block {
 		  BlockType		  S-Function
 		  Name			  " SFunction "
-		  SID			  "107::1617"
+		  SID			  "107::1626"
 		  Tag			  "Stateflow S-Function WBToolboxLibrary_repository 6"
 		  Ports			  [2, 2]
 		  Position		  [180, 100, 230, 160]
-		  ZOrder		  97
+		  ZOrder		  106
 		  FunctionName		  "sf_sfun"
 		  PortCounts		  "[2 2]"
 		  SFunctionDeploymentMode off
@@ -1213,9 +1213,9 @@ Library {
 		Block {
 		  BlockType		  Terminator
 		  Name			  " Terminator "
-		  SID			  "107::1619"
+		  SID			  "107::1628"
 		  Position		  [460, 241, 480, 259]
-		  ZOrder		  99
+		  ZOrder		  108
 		}
 		Block {
 		  BlockType		  Outport
@@ -1226,7 +1226,7 @@ Library {
 		  IconDisplay		  "Port number"
 		}
 		Line {
-		  ZOrder		  61
+		  ZOrder		  76
 		  SrcBlock		  "mat"
 		  SrcPort		  1
 		  Points		  [120, 0]
@@ -1234,7 +1234,7 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  62
+		  ZOrder		  77
 		  SrcBlock		  "sigma"
 		  SrcPort		  1
 		  DstBlock		  " SFunction "
@@ -1242,7 +1242,7 @@ Library {
 		}
 		Line {
 		  Name			  "DPinv"
-		  ZOrder		  63
+		  ZOrder		  78
 		  Labels		  [0, 0]
 		  SrcBlock		  " SFunction "
 		  SrcPort		  2
@@ -1250,14 +1250,14 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  64
+		  ZOrder		  79
 		  SrcBlock		  " Demux "
 		  SrcPort		  1
 		  DstBlock		  " Terminator "
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  65
+		  ZOrder		  80
 		  SrcBlock		  " SFunction "
 		  SrcPort		  1
 		  DstBlock		  " Demux "
@@ -1297,29 +1297,222 @@ Library {
 	  }
 	}
 	Block {
-	  BlockType		  Reference
+	  BlockType		  S-Function
 	  Name			  "DiscreteFilter"
 	  SID			  "1772"
 	  Ports			  [1, 1]
-	  Position		  [440, 260, 500, 290]
-	  ZOrder		  83
+	  Position		  [400, 245, 460, 275]
+	  ZOrder		  82
 	  BackgroundColor	  "yellow"
-	  LibraryVersion	  "1.386"
-	  SourceBlock		  "WBToolboxLibrary/Utilities/DiscreteFilter"
-	  SourceType		  "Discrete Filter"
-	  filterType		  "Generic"
-	  numCoeffs		  "[0]"
-	  denCoeffs		  "[0]"
-	  Fc			  "0"
-	  Ts			  "0"
-	  orderMedianFilter	  "0"
+	  FunctionName		  "WBToolbox"
+	  Parameters		  "'DiscreteFilter',filterType,numCoeffs,denCoeffs,Fc,Ts,orderMedianFilter,y0,u0"
+	  SFunctionDeploymentMode off
+	  EnableBusSupport	  off
+	  SFcnIsStateOwnerBlock	  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    23
+	    $ClassName		    "Simulink.Mask"
+	    Type		    "Discrete Filter"
+	    Description		    "This block wraps the Filter, FirstOrderLowPassFilter, and MedianFilter from iCub::ctrl."
+	    Initialization	    "filterType = get_param(gcb, 'filterType');\nnumCoeffs  = mat2str(numCoeffs);\ndenCoeffs  = ma"
+	    "t2str(denCoeffs);\n\ninitStatus = get_param(gcb, 'initStatus');\n\nif (strcmp(initStatus,'on'))\n    y0 = mat2str"
+	    "(y0);\n    u0 = mat2str(u0);\nelse\n    y0 = 'none';\n    u0 = 'none';\nend\n\nclear initStatus"
+	    Display		    "disp('Filter')"
+	    Array {
+	      Type		      "Simulink.MaskParameter"
+	      Dimension		      9
+	      Object {
+		$ObjectID		24
+		Type			"popup"
+		Array {
+		  Type			  "Cell"
+		  Dimension		  3
+		  Cell			  "Generic"
+		  Cell			  "FirstOrderLowPassFilter"
+		  Cell			  "MedianFilter"
+		  PropName		  "TypeOptions"
+		}
+		Name			"filterType"
+		Prompt			"Type of the filter"
+		Value			"Generic"
+		Callback		"% From: https://it.mathworks.com/help/simulink/slref/simulink.mask-class.html\nfilterType = get_param(gcb"
+		", 'filterType');\ninitStatus = get_param(gcb, 'initStatus');\np = Simulink.Mask.get(gcbh);\nhowToCoeffs = p.getDialo"
+		"gControl('howToCoeffs');\n\n%set_param(gcb, 'initStatus','off');\nif (strcmp(initStatus,'on'))\n    vis_init = 'on';"
+		"\nelse\n    vis_init = 'off';\nend\n\nif(strcmp(filterType, 'Generic'))\n    set_param(gcb, 'MaskVisibilities',{'on'"
+		",'on','on','off','off','off','on',vis_init,vis_init});\n    howToCoeffs.Visible = 'on';\nelseif(strcmp(filterType, '"
+		"FirstOrderLowPassFilter'))\n    set_param(gcb, 'MaskVisibilities',{'on','off','off','on','on','off','on',vis_init,'o"
+		"ff'});\n    howToCoeffs.Visible = 'off';\nelseif(strcmp(filterType, 'MedianFilter'))\n    set_param(gcb, 'MaskVisibi"
+		"lities',{'on','off','off','off','off','on','on',vis_init,'off'});\n    howToCoeffs.Visible = 'off';\nend\n\nclear fi"
+		"lterType initStatus p howToCoeffs vis_init;"
+	      }
+	      Object {
+		$ObjectID		25
+		Type			"edit"
+		Name			"numCoeffs"
+		Prompt			"Numerator Coefficients*"
+		Value			"[0]"
+	      }
+	      Object {
+		$ObjectID		26
+		Type			"edit"
+		Name			"denCoeffs"
+		Prompt			"Denominator Coefficients*"
+		Value			"[0]"
+	      }
+	      Object {
+		$ObjectID		27
+		Type			"edit"
+		Name			"Fc"
+		Prompt			"Cut Frequency (Hz)"
+		Value			"0"
+		Visible			"off"
+	      }
+	      Object {
+		$ObjectID		28
+		Type			"edit"
+		Name			"Ts"
+		Prompt			"Sampling time (s)"
+		Value			"0"
+		Visible			"off"
+	      }
+	      Object {
+		$ObjectID		29
+		Type			"edit"
+		Name			"orderMedianFilter"
+		Prompt			"Order"
+		Value			"0"
+		Visible			"off"
+	      }
+	      Object {
+		$ObjectID		30
+		Type			"checkbox"
+		Name			"initStatus"
+		Prompt			"Define initial conditions"
+		Value			"off"
+		Callback		"initStatus   = get_param(gcb, 'initStatus');\nvisibilities = get_param(gcb, 'MaskVisibilities');\nfilterT"
+		"ype   = get_param(gcb, 'filterType');\n\nif (strcmp(initStatus,'off'))\n    visibilities{8} = 'off';\n    visibiliti"
+		"es{9} = 'off';\nelseif (strcmp(initStatus,'on'))\n    visibilities{8} = 'on';\n    if (strcmp(filterType,'Generic'))"
+		"\n        visibilities{9} = 'on';\n    end\nend\n\nset_param(gcb, 'MaskVisibilities', visibilities);\n\nclear initSt"
+		"atus visibilities filterType;"
+	      }
+	      Object {
+		$ObjectID		31
+		Type			"edit"
+		Name			"y0"
+		Prompt			"Output y0"
+		Value			"[0]"
+		Visible			"off"
+	      }
+	      Object {
+		$ObjectID		32
+		Type			"edit"
+		Name			"u0"
+		Prompt			"Input u0"
+		Value			"[0]"
+		Visible			"off"
+	      }
+	      PropName		      "Parameters"
+	    }
+	    Array {
+	      Type		      "Simulink.dialog.Group"
+	      Dimension		      2
+	      Object {
+		$ObjectID		33
+		Prompt			"%<MaskType>"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  34
+		  $ClassName		  "Simulink.dialog.Text"
+		  Prompt		  "%<MaskDescription>"
+		  Name			  "DescTextVar"
+		}
+		Name			"DescGroupVar"
+	      }
+	      Object {
+		$ObjectID		35
+		Prompt			"Simulink:studio:ToolBarParametersMenu"
+		Array {
+		  Type			  "Simulink.dialog.Control"
+		  Dimension		  8
+		  Object {
+		    $ObjectID		    36
+		    $ClassName		    "Simulink.dialog.parameter.Popup"
+		    Name		    "filterType"
+		  }
+		  Object {
+		    $ObjectID		    37
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "numCoeffs"
+		  }
+		  Object {
+		    $ObjectID		    38
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "denCoeffs"
+		  }
+		  Object {
+		    $ObjectID		    39
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "* The coefficients are ordered in increasing power of z^-1"
+		    Name		    "howToCoeffs"
+		  }
+		  Object {
+		    $ObjectID		    40
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    PromptLocation	    "left"
+		    Name		    "Fc"
+		  }
+		  Object {
+		    $ObjectID		    41
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    PromptLocation	    "left"
+		    Name		    "Ts"
+		  }
+		  Object {
+		    $ObjectID		    42
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    PromptLocation	    "left"
+		    Name		    "orderMedianFilter"
+		  }
+		  Object {
+		    $ObjectID		    43
+		    $ClassName		    "Simulink.dialog.Group"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Control"
+		    Dimension		    3
+		    Object {
+		    $ObjectID		    44
+		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
+		    Name		    "initStatus"
+		    }
+		    Object {
+		    $ObjectID		    45
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "y0"
+		    }
+		    Object {
+		    $ObjectID		    46
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "u0"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container3"
+		  }
+		  PropName		  "DialogControls"
+		}
+		Name			"ParameterGroupVar"
+	      }
+	      PropName		      "DialogControls"
+	    }
+	  }
 	}
 	Block {
 	  BlockType		  S-Function
 	  Name			  "DoFs converter"
 	  SID			  "1771"
 	  Ports			  [1, 5]
-	  Position		  [240, 241, 385, 309]
+	  Position		  [160, 226, 305, 294]
 	  ZOrder		  81
 	  InitFcn		  "if ~exist('WBT_robotName','var')\n    WBT_robotName = '';\nend\nif ~exist('WBT_modelName','var')\n    W"
 	  "BT_modelName = 'WBT_simulink';\nend\nif ~exist('WBT_wbiFilename','var')\n    WBT_wbiFilename = 'yarpWholeBodyInterf"
@@ -1331,7 +1524,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    23
+	    $ObjectID		    47
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "DoFs converter"
 	    Description		    "This block converts from a DoFs serialization to a YARP serialization or viceversa depending on"
@@ -1350,7 +1543,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      5
 	      Object {
-		$ObjectID		24
+		$ObjectID		48
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
@@ -1364,28 +1557,28 @@ Library {
 		Value			"From YARP to WBI"
 	      }
 	      Object {
-		$ObjectID		25
+		$ObjectID		49
 		Type			"edit"
 		Name			"robotName"
 		Prompt			"Robot Port Name"
 		Value			"WBT_robotName"
 	      }
 	      Object {
-		$ObjectID		26
+		$ObjectID		50
 		Type			"edit"
 		Name			"localName"
 		Prompt			"Model Name"
 		Value			"WBT_modelName"
 	      }
 	      Object {
-		$ObjectID		27
+		$ObjectID		51
 		Type			"edit"
 		Name			"wbiFile"
 		Prompt			"WBI filename"
 		Value			"WBT_wbiFilename"
 	      }
 	      Object {
-		$ObjectID		28
+		$ObjectID		52
 		Type			"edit"
 		Name			"wbiList"
 		Prompt			"WBI list name"
@@ -1397,11 +1590,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      2
 	      Object {
-		$ObjectID		29
+		$ObjectID		53
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  30
+		  $ObjectID		  54
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -1409,46 +1602,46 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		31
+		$ObjectID		55
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  32
+		  $ObjectID		  56
 		  $ClassName		  "Simulink.dialog.TabContainer"
 		  Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    33
+		    $ObjectID		    57
 		    Prompt		    "Block Parameters"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    34
+		    $ObjectID		    58
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "yarp2WBIOption"
 		    }
 		    Name		    "Container4"
 		    }
 		    Object {
-		    $ObjectID		    35
+		    $ObjectID		    59
 		    Prompt		    "WBI Parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Edit"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    36
+		    $ObjectID		    60
 		    Name		    "robotName"
 		    }
 		    Object {
-		    $ObjectID		    37
+		    $ObjectID		    61
 		    Name		    "localName"
 		    }
 		    Object {
-		    $ObjectID		    38
+		    $ObjectID		    62
 		    Name		    "wbiFile"
 		    }
 		    Object {
-		    $ObjectID		    39
+		    $ObjectID		    63
 		    Name		    "wbiList"
 		    }
 		    PropName		    "DialogControls"
@@ -1480,7 +1673,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    40
+	    $ObjectID		    64
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Minimum Jerk Trajectory Generator"
 	    Description		    "This block wraps the minJerkTrajGen class from iCub::ctrl::minJerkTrajGen.\n\nThe Minimum Jerk "
@@ -1503,7 +1696,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      7
 	      Object {
-		$ObjectID		41
+		$ObjectID		65
 		Type			"checkbox"
 		Name			"externalSettlingTime"
 		Prompt			"External Settling Time"
@@ -1514,42 +1707,43 @@ Library {
 		"SettlingTime"
 	      }
 	      Object {
-		$ObjectID		42
+		$ObjectID		66
 		Type			"edit"
 		Name			"settlingTime"
 		Prompt			"Settling Time"
 		Value			"3"
 	      }
 	      Object {
-		$ObjectID		43
+		$ObjectID		67
 		Type			"edit"
 		Name			"sampleTime"
 		Prompt			"Sample Time"
 		Value			"0.01"
 	      }
 	      Object {
-		$ObjectID		44
+		$ObjectID		68
 		Type			"checkbox"
 		Name			"resetOnSettlingTime"
 		Prompt			"Reset on Settling Time Changes"
 		Value			"off"
+		Visible			"off"
 	      }
 	      Object {
-		$ObjectID		45
+		$ObjectID		69
 		Type			"checkbox"
 		Name			"firstDerivatives"
 		Prompt			"Output First Derivative"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		46
+		$ObjectID		70
 		Type			"checkbox"
 		Name			"secondDerivatives"
 		Prompt			"Output Second Derivative"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		47
+		$ObjectID		71
 		Type			"checkbox"
 		Name			"explicitInitialValue"
 		Prompt			"Explicit Initial Value"
@@ -1562,11 +1756,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      2
 	      Object {
-		$ObjectID		48
+		$ObjectID		72
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  49
+		  $ObjectID		  73
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -1574,38 +1768,38 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		50
+		$ObjectID		74
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  51
+		  $ObjectID		  75
 		  $ClassName		  "Simulink.dialog.TabContainer"
 		  Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    52
+		    $ObjectID		    76
 		    Prompt		    "Trajectory Parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    53
+		    $ObjectID		    77
 		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
 		    Name		    "externalSettlingTime"
 		    }
 		    Object {
-		    $ObjectID		    54
+		    $ObjectID		    78
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "settlingTime"
 		    }
 		    Object {
-		    $ObjectID		    55
+		    $ObjectID		    79
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "sampleTime"
 		    }
 		    Object {
-		    $ObjectID		    56
+		    $ObjectID		    80
 		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
 		    Name		    "resetOnSettlingTime"
 		    }
@@ -1614,21 +1808,21 @@ Library {
 		    Name		    "Tab1"
 		    }
 		    Object {
-		    $ObjectID		    57
+		    $ObjectID		    81
 		    Prompt		    "Input/Output"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.CheckBox"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    58
+		    $ObjectID		    82
 		    Name		    "firstDerivatives"
 		    }
 		    Object {
-		    $ObjectID		    59
+		    $ObjectID		    83
 		    Name		    "secondDerivatives"
 		    }
 		    Object {
-		    $ObjectID		    60
+		    $ObjectID		    84
 		    Name		    "explicitInitialValue"
 		    }
 		    PropName		    "DialogControls"
@@ -1662,7 +1856,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    61
+	    $ObjectID		    85
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Real Time Synchronizer"
 	    Description		    "This block slows down the simulation trying to match the period specified \nas parameter (in se"
@@ -1670,7 +1864,7 @@ Library {
 	    Display		    "disp('Real Time Synchronizer')"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      62
+	      $ObjectID		      86
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "edit"
 	      Name		      "period"
@@ -1695,7 +1889,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    63
+	    $ObjectID		    87
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Simulator Synchronizer"
 	    Description		    "This block synchronizes with the external simulation on a simulator \n(only Gazebo is supported"
@@ -1705,21 +1899,21 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      3
 	      Object {
-		$ObjectID		64
+		$ObjectID		88
 		Type			"edit"
 		Name			"period"
 		Prompt			"Controller Period (in seconds)"
 		Value			"0.01"
 	      }
 	      Object {
-		$ObjectID		65
+		$ObjectID		89
 		Type			"edit"
 		Name			"serverPortName"
 		Prompt			"Server Port Name"
 		Value			"'/clock/rpc'"
 	      }
 	      Object {
-		$ObjectID		66
+		$ObjectID		90
 		Type			"edit"
 		Name			"clientPortName"
 		Prompt			"Client Port Name"
@@ -1741,11 +1935,11 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    67
+	    $ObjectID		    91
 	    $ClassName		    "Simulink.Mask"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      68
+	      $ObjectID		      92
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "edit"
 	      Name		      "tol"
@@ -1814,7 +2008,7 @@ Library {
 		TiledPageScale		1
 		ShowPageBoundaries	off
 		ZoomFactor		"100"
-		SIDHighWatermark	"1610"
+		SIDHighWatermark	"1619"
 		Block {
 		  BlockType		  Inport
 		  Name			  "mat"
@@ -1835,20 +2029,20 @@ Library {
 		Block {
 		  BlockType		  Demux
 		  Name			  " Demux "
-		  SID			  "112::1609"
+		  SID			  "112::1618"
 		  Ports			  [1, 1]
 		  Position		  [270, 230, 320, 270]
-		  ZOrder		  98
+		  ZOrder		  107
 		  Outputs		  "1"
 		}
 		Block {
 		  BlockType		  S-Function
 		  Name			  " SFunction "
-		  SID			  "112::1608"
+		  SID			  "112::1617"
 		  Tag			  "Stateflow S-Function WBToolboxLibrary_repository 7"
 		  Ports			  [2, 2]
 		  Position		  [180, 100, 230, 160]
-		  ZOrder		  97
+		  ZOrder		  106
 		  FunctionName		  "sf_sfun"
 		  PortCounts		  "[2 2]"
 		  SFunctionDeploymentMode off
@@ -1864,9 +2058,9 @@ Library {
 		Block {
 		  BlockType		  Terminator
 		  Name			  " Terminator "
-		  SID			  "112::1610"
+		  SID			  "112::1619"
 		  Position		  [460, 241, 480, 259]
-		  ZOrder		  99
+		  ZOrder		  108
 		}
 		Block {
 		  BlockType		  Outport
@@ -1877,7 +2071,7 @@ Library {
 		  IconDisplay		  "Port number"
 		}
 		Line {
-		  ZOrder		  61
+		  ZOrder		  76
 		  SrcBlock		  "mat"
 		  SrcPort		  1
 		  Points		  [120, 0]
@@ -1885,7 +2079,7 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  62
+		  ZOrder		  77
 		  SrcBlock		  "tol"
 		  SrcPort		  1
 		  DstBlock		  " SFunction "
@@ -1893,7 +2087,7 @@ Library {
 		}
 		Line {
 		  Name			  "TPinv"
-		  ZOrder		  63
+		  ZOrder		  78
 		  Labels		  [0, 0]
 		  SrcBlock		  " SFunction "
 		  SrcPort		  2
@@ -1901,14 +2095,14 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  64
+		  ZOrder		  79
 		  SrcBlock		  " Demux "
 		  SrcPort		  1
 		  DstBlock		  " Terminator "
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  65
+		  ZOrder		  80
 		  SrcBlock		  " SFunction "
 		  SrcPort		  1
 		  DstBlock		  " Demux "
@@ -1962,7 +2156,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    69
+	    $ObjectID		    93
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "YARP Read"
 	    Description		    "This block behaves as the command 'yarp read'. \nBy default it has the option 'Autoconnect' act"
@@ -1980,35 +2174,35 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      6
 	      Object {
-		$ObjectID		70
+		$ObjectID		94
 		Type			"edit"
 		Name			"portName"
 		Prompt			"Source Port Name"
 		Value			"'/portname'"
 	      }
 	      Object {
-		$ObjectID		71
+		$ObjectID		95
 		Type			"edit"
 		Name			"signalSize"
 		Prompt			"Port Size"
 		Value			"1"
 	      }
 	      Object {
-		$ObjectID		72
+		$ObjectID		96
 		Type			"checkbox"
 		Name			"blocking"
 		Prompt			"Blocking Read"
 		Value			"off"
 	      }
 	      Object {
-		$ObjectID		73
+		$ObjectID		97
 		Type			"checkbox"
 		Name			"timestamp"
 		Prompt			"Read Timestamp"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		74
+		$ObjectID		98
 		Type			"checkbox"
 		Name			"autoconnect"
 		Prompt			"Autoconnect"
@@ -2020,7 +2214,7 @@ Library {
 		"t_string"
 	      }
 	      Object {
-		$ObjectID		75
+		$ObjectID		99
 		Type			"checkbox"
 		Name			"errorOnConnection"
 		Prompt			"Error on missing connection"
@@ -2045,7 +2239,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    76
+	    $ObjectID		    100
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "YARP Write"
 	    Description		    "This block behaves as the command 'yarp write'. \n\nBy default this block opens a port names as"
@@ -2058,14 +2252,14 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      3
 	      Object {
-		$ObjectID		77
+		$ObjectID		101
 		Type			"edit"
 		Name			"portName"
 		Prompt			"Opened Port Name"
 		Value			"'/portname'"
 	      }
 	      Object {
-		$ObjectID		78
+		$ObjectID		102
 		Type			"checkbox"
 		Name			"autoconnect"
 		Prompt			"Autoconnect"
@@ -2076,7 +2270,7 @@ Library {
 		"';'off'});\nend\nset_param(gcb, 'MaskPrompts', prompt_string);\nclear autoconnect_val prompt_string"
 	      }
 	      Object {
-		$ObjectID		79
+		$ObjectID		103
 		Type			"checkbox"
 		Name			"errorOnConnection"
 		Prompt			"Error on missing connection"
@@ -2099,7 +2293,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    80
+	    $ObjectID		    104
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Errors"
 	    Description		    "Computes two kinds of errors. The first is just the difference between x\nand y while the secon"
@@ -2242,7 +2436,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    81
+	    $ObjectID		    105
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Holder"
 	    Description		    "This block holds the first input value during the simulation."
@@ -2322,7 +2516,7 @@ Library {
 		TiledPageScale		1
 		ShowPageBoundaries	off
 		ZoomFactor		"100"
-		SIDHighWatermark	"1610"
+		SIDHighWatermark	"1619"
 		Block {
 		  BlockType		  Inport
 		  Name			  "s"
@@ -2343,20 +2537,20 @@ Library {
 		Block {
 		  BlockType		  Demux
 		  Name			  " Demux "
-		  SID			  "1300::1609"
+		  SID			  "1300::1618"
 		  Ports			  [1, 1]
 		  Position		  [270, 230, 320, 270]
-		  ZOrder		  86
+		  ZOrder		  95
 		  Outputs		  "1"
 		}
 		Block {
 		  BlockType		  S-Function
 		  Name			  " SFunction "
-		  SID			  "1300::1608"
+		  SID			  "1300::1617"
 		  Tag			  "Stateflow S-Function WBToolboxLibrary_repository 1"
 		  Ports			  [2, 2]
 		  Position		  [180, 100, 230, 160]
-		  ZOrder		  85
+		  ZOrder		  94
 		  FunctionName		  "sf_sfun"
 		  PortCounts		  "[2 2]"
 		  SFunctionDeploymentMode off
@@ -2372,9 +2566,9 @@ Library {
 		Block {
 		  BlockType		  Terminator
 		  Name			  " Terminator "
-		  SID			  "1300::1610"
+		  SID			  "1300::1619"
 		  Position		  [460, 241, 480, 259]
-		  ZOrder		  87
+		  ZOrder		  96
 		}
 		Block {
 		  BlockType		  Outport
@@ -2385,7 +2579,7 @@ Library {
 		  IconDisplay		  "Port number"
 		}
 		Line {
-		  ZOrder		  61
+		  ZOrder		  76
 		  SrcBlock		  "s"
 		  SrcPort		  1
 		  Points		  [120, 0]
@@ -2393,7 +2587,7 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  62
+		  ZOrder		  77
 		  SrcBlock		  "unused"
 		  SrcPort		  1
 		  DstBlock		  " SFunction "
@@ -2401,7 +2595,7 @@ Library {
 		}
 		Line {
 		  Name			  "s0"
-		  ZOrder		  63
+		  ZOrder		  78
 		  Labels		  [0, 0]
 		  SrcBlock		  " SFunction "
 		  SrcPort		  2
@@ -2409,14 +2603,14 @@ Library {
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  64
+		  ZOrder		  79
 		  SrcBlock		  " Demux "
 		  SrcPort		  1
 		  DstBlock		  " Terminator "
 		  DstPort		  1
 		}
 		Line {
-		  ZOrder		  65
+		  ZOrder		  80
 		  SrcBlock		  " SFunction "
 		  SrcPort		  1
 		  DstBlock		  " Demux "
@@ -2477,7 +2671,7 @@ Library {
       Variant		      off
       Object {
 	$PropName		"MaskObject"
-	$ObjectID		82
+	$ObjectID		106
 	$ClassName		"Simulink.Mask"
 	Display			"image(imread('wholeBodyActuators.png'),'center')"
       }
@@ -2511,7 +2705,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    83
+	    $ObjectID		    107
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Set Low Level PIDs"
 	    Description		    "This block sets the low level PID values for the robot actuators.\n\nIf only one gain file is s"
@@ -2530,7 +2724,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      6
 	      Object {
-		$ObjectID		84
+		$ObjectID		108
 		Type			"edit"
 		Name			"pidParameters"
 		Prompt			"PID parameter"
@@ -2538,7 +2732,7 @@ Library {
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		85
+		$ObjectID		109
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
@@ -2558,7 +2752,7 @@ Library {
 		"kStr, 'Torque')\n    set_param(gcb,'BackgroundColor', '[0.8275, 0.5765, 0.6039, 1.0]');\nend\nclear  maskStr"
 	      }
 	      Object {
-		$ObjectID		86
+		$ObjectID		110
 		Type			"edit"
 		Name			"robotName"
 		Prompt			"Robot Port Name"
@@ -2566,7 +2760,7 @@ Library {
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		87
+		$ObjectID		111
 		Type			"edit"
 		Name			"localName"
 		Prompt			"Model Name"
@@ -2574,7 +2768,7 @@ Library {
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		88
+		$ObjectID		112
 		Type			"edit"
 		Name			"wbiFile"
 		Prompt			"WBI filename"
@@ -2582,7 +2776,7 @@ Library {
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		89
+		$ObjectID		113
 		Type			"edit"
 		Name			"wbiList"
 		Prompt			"WBI list name"
@@ -2595,11 +2789,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      2
 	      Object {
-		$ObjectID		90
+		$ObjectID		114
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  91
+		  $ObjectID		  115
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -2607,29 +2801,29 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		92
+		$ObjectID		116
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  93
+		  $ObjectID		  117
 		  $ClassName		  "Simulink.dialog.TabContainer"
 		  Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    94
+		    $ObjectID		    118
 		    Prompt		    "Block parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    95
+		    $ObjectID		    119
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
 		    Name		    "pidParameters"
 		    }
 		    Object {
-		    $ObjectID		    96
+		    $ObjectID		    120
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "pidType"
 		    }
@@ -2638,25 +2832,25 @@ Library {
 		    Name		    "Container8"
 		    }
 		    Object {
-		    $ObjectID		    97
+		    $ObjectID		    121
 		    Prompt		    "WBI parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Edit"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    98
+		    $ObjectID		    122
 		    Name		    "robotName"
 		    }
 		    Object {
-		    $ObjectID		    99
+		    $ObjectID		    123
 		    Name		    "localName"
 		    }
 		    Object {
-		    $ObjectID		    100
+		    $ObjectID		    124
 		    Name		    "wbiFile"
 		    }
 		    Object {
-		    $ObjectID		    101
+		    $ObjectID		    125
 		    Name		    "wbiList"
 		    }
 		    PropName		    "DialogControls"
@@ -2717,7 +2911,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    102
+	    $ObjectID		    126
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Set References"
 	    Description		    "This block sets the references for the robot actuators.\nThe type of control mode is specified "
@@ -2734,7 +2928,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      7
 	      Object {
-		$ObjectID		103
+		$ObjectID		127
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
@@ -2758,7 +2952,7 @@ Library {
 		"'Open Loop')\n    set_param(gcb,'BackgroundColor', '[0.98, 0.98, 0.98, 1.0]');\nend\nclear  maskStr"
 	      }
 	      Object {
-		$ObjectID		104
+		$ObjectID		128
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
@@ -2775,7 +2969,7 @@ Library {
 		";'on';'on';'on';'on'});\nend\nclear subOrFull "
 	      }
 	      Object {
-		$ObjectID		105
+		$ObjectID		129
 		Type			"edit"
 		Name			"controlledJoints"
 		Prompt			"Controlled Joint List"
@@ -2783,7 +2977,7 @@ Library {
 		Visible			"off"
 	      }
 	      Object {
-		$ObjectID		106
+		$ObjectID		130
 		Type			"edit"
 		Name			"robotName"
 		Prompt			"Robot Port Name"
@@ -2791,7 +2985,7 @@ Library {
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		107
+		$ObjectID		131
 		Type			"edit"
 		Name			"localName"
 		Prompt			"Model Name"
@@ -2799,7 +2993,7 @@ Library {
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		108
+		$ObjectID		132
 		Type			"edit"
 		Name			"wbiFile"
 		Prompt			"WBI filename"
@@ -2807,7 +3001,7 @@ Library {
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		109
+		$ObjectID		133
 		Type			"edit"
 		Name			"wbiList"
 		Prompt			"WBI list name"
@@ -2820,11 +3014,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      2
 	      Object {
-		$ObjectID		110
+		$ObjectID		134
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  111
+		  $ObjectID		  135
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -2832,33 +3026,33 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		112
+		$ObjectID		136
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  113
+		  $ObjectID		  137
 		  $ClassName		  "Simulink.dialog.TabContainer"
 		  Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    114
+		    $ObjectID		    138
 		    Prompt		    "Block parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    115
+		    $ObjectID		    139
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "controlType"
 		    }
 		    Object {
-		    $ObjectID		    116
+		    $ObjectID		    140
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "fullOrSubControl"
 		    }
 		    Object {
-		    $ObjectID		    117
+		    $ObjectID		    141
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "controlledJoints"
 		    }
@@ -2867,25 +3061,25 @@ Library {
 		    Name		    "Container8"
 		    }
 		    Object {
-		    $ObjectID		    118
+		    $ObjectID		    142
 		    Prompt		    "WBI parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Edit"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    119
+		    $ObjectID		    143
 		    Name		    "robotName"
 		    }
 		    Object {
-		    $ObjectID		    120
+		    $ObjectID		    144
 		    Name		    "localName"
 		    }
 		    Object {
-		    $ObjectID		    121
+		    $ObjectID		    145
 		    Name		    "wbiFile"
 		    }
 		    Object {
-		    $ObjectID		    122
+		    $ObjectID		    146
 		    Name		    "wbiList"
 		    }
 		    PropName		    "DialogControls"
@@ -2962,7 +3156,7 @@ Library {
       Variant		      off
       Object {
 	$PropName		"MaskObject"
-	$ObjectID		123
+	$ObjectID		147
 	$ClassName		"Simulink.Mask"
 	Display			"image(imread('wholeBodyModel.png'),'center')"
       }
@@ -2993,7 +3187,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    124
+	    $ObjectID		    148
 	    $ClassName		    "Simulink.Mask"
 	    Display		    "image(imread('Dynamics.png'))"
 	  }
@@ -3027,7 +3221,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		125
+		$ObjectID		149
 		$ClassName		"Simulink.Mask"
 		Type			"Centroidal Momentum"
 		Description		"This block computed the 6 element centroidal momentum, as defined in:\n\"Centroidal dynamics of a huma"
@@ -3046,7 +3240,7 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  4
 		  Object {
-		    $ObjectID		    126
+		    $ObjectID		    150
 		    Type		    "edit"
 		    Name		    "robotName"
 		    Prompt		    "Robot Port Name"
@@ -3054,7 +3248,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    127
+		    $ObjectID		    151
 		    Type		    "edit"
 		    Name		    "localName"
 		    Prompt		    "Model Name"
@@ -3062,7 +3256,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    128
+		    $ObjectID		    152
 		    Type		    "edit"
 		    Name		    "wbiFile"
 		    Prompt		    "WBI filename"
@@ -3070,7 +3264,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    129
+		    $ObjectID		    153
 		    Type		    "edit"
 		    Name		    "wbiList"
 		    Prompt		    "WBI list name"
@@ -3203,7 +3397,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		130
+		$ObjectID		154
 		$ClassName		"Simulink.Mask"
 		Type			"Get Generalized Bias Forces"
 		Description		"This block retrieves the generalied bias forces of the robot.\n\nParameter:\n- Explicit Gravity. If Tr"
@@ -3228,7 +3422,7 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  5
 		  Object {
-		    $ObjectID		    131
+		    $ObjectID		    155
 		    Type		    "edit"
 		    Name		    "robotName"
 		    Prompt		    "Robot Port Name"
@@ -3236,7 +3430,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    132
+		    $ObjectID		    156
 		    Type		    "edit"
 		    Name		    "localName"
 		    Prompt		    "Model Name"
@@ -3244,7 +3438,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    133
+		    $ObjectID		    157
 		    Type		    "edit"
 		    Name		    "wbiFile"
 		    Prompt		    "WBI filename"
@@ -3252,7 +3446,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    134
+		    $ObjectID		    158
 		    Type		    "edit"
 		    Name		    "wbiList"
 		    Prompt		    "WBI list name"
@@ -3260,7 +3454,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    135
+		    $ObjectID		    159
 		    Type		    "checkbox"
 		    Name		    "explicitGravity"
 		    Prompt		    "Explicit Gravity"
@@ -3438,7 +3632,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		136
+		$ObjectID		160
 		$ClassName		"Simulink.Mask"
 		Type			"Gravity bias"
 		Description		"This block compute the generalized bias forces due to the gravity\n\nParameter:\n- Explicit Gravity. I"
@@ -3461,7 +3655,7 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  5
 		  Object {
-		    $ObjectID		    137
+		    $ObjectID		    161
 		    Type		    "edit"
 		    Name		    "robotName"
 		    Prompt		    "Robot Port Name"
@@ -3469,7 +3663,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    138
+		    $ObjectID		    162
 		    Type		    "edit"
 		    Name		    "localName"
 		    Prompt		    "Model Name"
@@ -3477,7 +3671,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    139
+		    $ObjectID		    163
 		    Type		    "edit"
 		    Name		    "wbiFile"
 		    Prompt		    "WBI filename"
@@ -3485,7 +3679,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    140
+		    $ObjectID		    164
 		    Type		    "edit"
 		    Name		    "wbiList"
 		    Prompt		    "WBI list name"
@@ -3493,7 +3687,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    141
+		    $ObjectID		    165
 		    Type		    "checkbox"
 		    Name		    "explicitGravity"
 		    Prompt		    "Explicit Gravity"
@@ -3658,7 +3852,7 @@ Library {
 	      SFcnIsStateOwnerBlock   off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		142
+		$ObjectID		166
 		$ClassName		"Simulink.Mask"
 		Type			"Inverse Dynamics"
 		Description		"This block compute the inverse dynamics of the robot.\n\nParameter:\n- Explicit Gravity. If True, an a"
@@ -3684,35 +3878,35 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  5
 		  Object {
-		    $ObjectID		    143
+		    $ObjectID		    167
 		    Type		    "edit"
 		    Name		    "robotName"
 		    Prompt		    "Robot Port Name"
 		    Value		    "WBT_robotName"
 		  }
 		  Object {
-		    $ObjectID		    144
+		    $ObjectID		    168
 		    Type		    "edit"
 		    Name		    "localName"
 		    Prompt		    "Model Name"
 		    Value		    "WBT_modelName"
 		  }
 		  Object {
-		    $ObjectID		    145
+		    $ObjectID		    169
 		    Type		    "edit"
 		    Name		    "wbiFile"
 		    Prompt		    "WBI filename"
 		    Value		    "WBT_wbiFilename"
 		  }
 		  Object {
-		    $ObjectID		    146
+		    $ObjectID		    170
 		    Type		    "edit"
 		    Name		    "wbiList"
 		    Prompt		    "WBI list name"
 		    Value		    "WBT_wbiList"
 		  }
 		  Object {
-		    $ObjectID		    147
+		    $ObjectID		    171
 		    Type		    "checkbox"
 		    Name		    "explicitGravity"
 		    Prompt		    "Explicit Gravity"
@@ -3737,7 +3931,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		148
+		$ObjectID		172
 		$ClassName		"Simulink.Mask"
 		Type			"Mass Matrix"
 		Description		"This block retrieves the robot mass matrix.\n\nAssuming DoFs is the number of degrees of freedom of th"
@@ -3753,7 +3947,7 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  4
 		  Object {
-		    $ObjectID		    149
+		    $ObjectID		    173
 		    Type		    "edit"
 		    Name		    "robotName"
 		    Prompt		    "Robot Port Name"
@@ -3761,7 +3955,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    150
+		    $ObjectID		    174
 		    Type		    "edit"
 		    Name		    "localName"
 		    Prompt		    "Model Name"
@@ -3769,7 +3963,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    151
+		    $ObjectID		    175
 		    Type		    "edit"
 		    Name		    "wbiFile"
 		    Prompt		    "WBI filename"
@@ -3777,7 +3971,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    152
+		    $ObjectID		    176
 		    Type		    "edit"
 		    Name		    "wbiList"
 		    Prompt		    "WBI list name"
@@ -3879,7 +4073,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    153
+	    $ObjectID		    177
 	    $ClassName		    "Simulink.Mask"
 	    Display		    "image(imread('jacobian.png'))"
 	  }
@@ -3913,7 +4107,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		154
+		$ObjectID		178
 		$ClassName		"Simulink.Mask"
 		Type			"DotJ Nu"
 		Description		"This block computes the product between the time derivative of the\n         Jacobian of the specified"
@@ -3937,14 +4131,14 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  5
 		  Object {
-		    $ObjectID		    155
+		    $ObjectID		    179
 		    Type		    "edit"
 		    Name		    "frameName"
 		    Prompt		    "Frame name"
 		    Value		    "'frame'"
 		  }
 		  Object {
-		    $ObjectID		    156
+		    $ObjectID		    180
 		    Type		    "edit"
 		    Name		    "robotName"
 		    Prompt		    "Robot Port Name"
@@ -3952,7 +4146,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    157
+		    $ObjectID		    181
 		    Type		    "edit"
 		    Name		    "localName"
 		    Prompt		    "Model Name"
@@ -3960,7 +4154,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    158
+		    $ObjectID		    182
 		    Type		    "edit"
 		    Name		    "wbiFile"
 		    Prompt		    "WBI filename"
@@ -3968,7 +4162,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    159
+		    $ObjectID		    183
 		    Type		    "edit"
 		    Name		    "wbiList"
 		    Prompt		    "WBI list name"
@@ -3981,11 +4175,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    160
+		    $ObjectID		    184
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    161
+		    $ObjectID		    185
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -3993,46 +4187,46 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    162
+		    $ObjectID		    186
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    163
+		    $ObjectID		    187
 		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    164
+		    $ObjectID		    188
 		    Prompt		    "Block parameters"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    165
+		    $ObjectID		    189
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "frameName"
 		    }
 		    Name		    "Container8"
 		    }
 		    Object {
-		    $ObjectID		    166
+		    $ObjectID		    190
 		    Prompt		    "WBI parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Edit"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    167
+		    $ObjectID		    191
 		    Name		    "robotName"
 		    }
 		    Object {
-		    $ObjectID		    168
+		    $ObjectID		    192
 		    Name		    "localName"
 		    }
 		    Object {
-		    $ObjectID		    169
+		    $ObjectID		    193
 		    Name		    "wbiFile"
 		    }
 		    Object {
-		    $ObjectID		    170
+		    $ObjectID		    194
 		    Name		    "wbiList"
 		    }
 		    PropName		    "DialogControls"
@@ -4172,7 +4366,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		171
+		$ObjectID		195
 		$ClassName		"Simulink.Mask"
 		Type			"Jacobian"
 		Description		"This block retrieves the Jacobian of the specified frame.\n\nAssuming DoFs is the number of degrees of"
@@ -4192,14 +4386,14 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  5
 		  Object {
-		    $ObjectID		    172
+		    $ObjectID		    196
 		    Type		    "edit"
 		    Name		    "frameName"
 		    Prompt		    "Frame name"
 		    Value		    "'frame'"
 		  }
 		  Object {
-		    $ObjectID		    173
+		    $ObjectID		    197
 		    Type		    "edit"
 		    Name		    "robotName"
 		    Prompt		    "Robot Port Name"
@@ -4207,7 +4401,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    174
+		    $ObjectID		    198
 		    Type		    "edit"
 		    Name		    "localName"
 		    Prompt		    "Model Name"
@@ -4215,7 +4409,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    175
+		    $ObjectID		    199
 		    Type		    "edit"
 		    Name		    "wbiFile"
 		    Prompt		    "WBI filename"
@@ -4223,7 +4417,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    176
+		    $ObjectID		    200
 		    Type		    "edit"
 		    Name		    "wbiList"
 		    Prompt		    "WBI list name"
@@ -4236,11 +4430,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    177
+		    $ObjectID		    201
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    178
+		    $ObjectID		    202
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4248,46 +4442,46 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    179
+		    $ObjectID		    203
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    180
+		    $ObjectID		    204
 		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    181
+		    $ObjectID		    205
 		    Prompt		    "Block parameters"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    182
+		    $ObjectID		    206
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "frameName"
 		    }
 		    Name		    "Container8"
 		    }
 		    Object {
-		    $ObjectID		    183
+		    $ObjectID		    207
 		    Prompt		    "WBI parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Edit"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    184
+		    $ObjectID		    208
 		    Name		    "robotName"
 		    }
 		    Object {
-		    $ObjectID		    185
+		    $ObjectID		    209
 		    Name		    "localName"
 		    }
 		    Object {
-		    $ObjectID		    186
+		    $ObjectID		    210
 		    Name		    "wbiFile"
 		    }
 		    Object {
-		    $ObjectID		    187
+		    $ObjectID		    211
 		    Name		    "wbiList"
 		    }
 		    PropName		    "DialogControls"
@@ -4395,7 +4589,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    188
+	    $ObjectID		    212
 	    $ClassName		    "Simulink.Mask"
 	    Display		    "image(imread('forwardKinematics.png'))"
 	  }
@@ -4429,7 +4623,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		189
+		$ObjectID		213
 		$ClassName		"Simulink.Mask"
 		Type			"Forward Kinematics"
 		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
@@ -4449,14 +4643,14 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  5
 		  Object {
-		    $ObjectID		    190
+		    $ObjectID		    214
 		    Type		    "edit"
 		    Name		    "frameName"
 		    Prompt		    "Frame name"
 		    Value		    "'frame'"
 		  }
 		  Object {
-		    $ObjectID		    191
+		    $ObjectID		    215
 		    Type		    "edit"
 		    Name		    "robotName"
 		    Prompt		    "Robot Port Name"
@@ -4464,7 +4658,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    192
+		    $ObjectID		    216
 		    Type		    "edit"
 		    Name		    "localName"
 		    Prompt		    "Model Name"
@@ -4472,7 +4666,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    193
+		    $ObjectID		    217
 		    Type		    "edit"
 		    Name		    "wbiFile"
 		    Prompt		    "WBI filename"
@@ -4480,7 +4674,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    194
+		    $ObjectID		    218
 		    Type		    "edit"
 		    Name		    "wbiList"
 		    Prompt		    "WBI list name"
@@ -4493,11 +4687,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    195
+		    $ObjectID		    219
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    196
+		    $ObjectID		    220
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4505,46 +4699,46 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    197
+		    $ObjectID		    221
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    198
+		    $ObjectID		    222
 		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    199
+		    $ObjectID		    223
 		    Prompt		    "Block parameters"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    200
+		    $ObjectID		    224
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "frameName"
 		    }
 		    Name		    "Container8"
 		    }
 		    Object {
-		    $ObjectID		    201
+		    $ObjectID		    225
 		    Prompt		    "WBI parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Edit"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    202
+		    $ObjectID		    226
 		    Name		    "robotName"
 		    }
 		    Object {
-		    $ObjectID		    203
+		    $ObjectID		    227
 		    Name		    "localName"
 		    }
 		    Object {
-		    $ObjectID		    204
+		    $ObjectID		    228
 		    Name		    "wbiFile"
 		    }
 		    Object {
-		    $ObjectID		    205
+		    $ObjectID		    229
 		    Name		    "wbiList"
 		    }
 		    PropName		    "DialogControls"
@@ -4653,7 +4847,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		206
+		$ObjectID		230
 		$ClassName		"Simulink.Mask"
 		Type			"Forward Kinematics"
 		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
@@ -4677,21 +4871,21 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  7
 		  Object {
-		    $ObjectID		    207
+		    $ObjectID		    231
 		    Type		    "edit"
 		    Name		    "baseFrame"
 		    Prompt		    "Base Frame"
 		    Value		    "'root_link'"
 		  }
 		  Object {
-		    $ObjectID		    208
+		    $ObjectID		    232
 		    Type		    "edit"
 		    Name		    "endEffFrame"
 		    Prompt		    "End Effector frame"
 		    Value		    "'l_sole'"
 		  }
 		  Object {
-		    $ObjectID		    209
+		    $ObjectID		    233
 		    Type		    "popup"
 		    Array {
 		    Type		    "Cell"
@@ -4705,7 +4899,7 @@ Library {
 		    Value		    "Full Constraint (Position and Orientation)"
 		  }
 		  Object {
-		    $ObjectID		    210
+		    $ObjectID		    234
 		    Type		    "edit"
 		    Name		    "robotName"
 		    Prompt		    "Robot Port Name"
@@ -4713,7 +4907,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    211
+		    $ObjectID		    235
 		    Type		    "edit"
 		    Name		    "localName"
 		    Prompt		    "Model Name"
@@ -4721,7 +4915,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    212
+		    $ObjectID		    236
 		    Type		    "edit"
 		    Name		    "wbiFile"
 		    Prompt		    "WBI filename"
@@ -4729,7 +4923,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    213
+		    $ObjectID		    237
 		    Type		    "edit"
 		    Name		    "wbiList"
 		    Prompt		    "WBI list name"
@@ -4742,11 +4936,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    214
+		    $ObjectID		    238
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    215
+		    $ObjectID		    239
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4754,34 +4948,34 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    216
+		    $ObjectID		    240
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    217
+		    $ObjectID		    241
 		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    218
+		    $ObjectID		    242
 		    Prompt		    "Block parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    219
+		    $ObjectID		    243
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
 		    Name		    "baseFrame"
 		    }
 		    Object {
-		    $ObjectID		    220
+		    $ObjectID		    244
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "endEffFrame"
 		    }
 		    Object {
-		    $ObjectID		    221
+		    $ObjectID		    245
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "optOption"
 		    }
@@ -4790,25 +4984,25 @@ Library {
 		    Name		    "Container8"
 		    }
 		    Object {
-		    $ObjectID		    222
+		    $ObjectID		    246
 		    Prompt		    "WBI parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Edit"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    223
+		    $ObjectID		    247
 		    Name		    "robotName"
 		    }
 		    Object {
-		    $ObjectID		    224
+		    $ObjectID		    248
 		    Name		    "localName"
 		    }
 		    Object {
-		    $ObjectID		    225
+		    $ObjectID		    249
 		    Name		    "wbiFile"
 		    }
 		    Object {
-		    $ObjectID		    226
+		    $ObjectID		    250
 		    Name		    "wbiList"
 		    }
 		    PropName		    "DialogControls"
@@ -4947,7 +5141,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		227
+		$ObjectID		251
 		$ClassName		"Simulink.Mask"
 		Type			"Forward Kinematics"
 		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
@@ -4973,14 +5167,14 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  3
 		  Object {
-		    $ObjectID		    228
+		    $ObjectID		    252
 		    Type		    "edit"
 		    Name		    "solverName"
 		    Prompt		    "Solver Name"
 		    Value		    "'/cartesianSolver'"
 		  }
 		  Object {
-		    $ObjectID		    229
+		    $ObjectID		    253
 		    Type		    "edit"
 		    Name		    "dofs"
 		    Prompt		    "#Dofs"
@@ -4988,7 +5182,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    230
+		    $ObjectID		    254
 		    Type		    "popup"
 		    Array {
 		    Type		    "Cell"
@@ -5007,11 +5201,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    231
+		    $ObjectID		    255
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    232
+		    $ObjectID		    256
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -5019,33 +5213,33 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    233
+		    $ObjectID		    257
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    234
+		    $ObjectID		    258
 		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    235
+		    $ObjectID		    259
 		    $ClassName		    "Simulink.dialog.Tab"
 		    Prompt		    "Block parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    236
+		    $ObjectID		    260
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
 		    Name		    "solverName"
 		    }
 		    Object {
-		    $ObjectID		    237
+		    $ObjectID		    261
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "dofs"
 		    }
 		    Object {
-		    $ObjectID		    238
+		    $ObjectID		    262
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "optOption"
 		    }
@@ -5153,7 +5347,7 @@ Library {
       Variant		      off
       Object {
 	$PropName		"MaskObject"
-	$ObjectID		239
+	$ObjectID		263
 	$ClassName		"Simulink.Mask"
 	Display			"image(imread('wholeBodyStates.png'),'center');"
       }
@@ -5187,7 +5381,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    240
+	    $ObjectID		    264
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Get Estimate"
 	    Description		    "This block get the estimate of the specified type\n\nAssuming DoFs is the number of degrees of "
@@ -5202,7 +5396,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      5
 	      Object {
-		$ObjectID		241
+		$ObjectID		265
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
@@ -5225,7 +5419,7 @@ Library {
 		"');\nend\nclear  maskStr"
 	      }
 	      Object {
-		$ObjectID		242
+		$ObjectID		266
 		Type			"edit"
 		Name			"robotName"
 		Prompt			"Robot Port Name"
@@ -5233,7 +5427,7 @@ Library {
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		243
+		$ObjectID		267
 		Type			"edit"
 		Name			"localName"
 		Prompt			"Model Name"
@@ -5241,7 +5435,7 @@ Library {
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		244
+		$ObjectID		268
 		Type			"edit"
 		Name			"wbiFile"
 		Prompt			"WBI filename"
@@ -5249,7 +5443,7 @@ Library {
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		245
+		$ObjectID		269
 		Type			"edit"
 		Name			"wbiList"
 		Prompt			"WBI list name"
@@ -5262,11 +5456,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      2
 	      Object {
-		$ObjectID		246
+		$ObjectID		270
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  247
+		  $ObjectID		  271
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -5274,46 +5468,46 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		248
+		$ObjectID		272
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  249
+		  $ObjectID		  273
 		  $ClassName		  "Simulink.dialog.TabContainer"
 		  Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    250
+		    $ObjectID		    274
 		    Prompt		    "Block parameters"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    251
+		    $ObjectID		    275
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "estimateType"
 		    }
 		    Name		    "Container8"
 		    }
 		    Object {
-		    $ObjectID		    252
+		    $ObjectID		    276
 		    Prompt		    "WBI parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Edit"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    253
+		    $ObjectID		    277
 		    Name		    "robotName"
 		    }
 		    Object {
-		    $ObjectID		    254
+		    $ObjectID		    278
 		    Name		    "localName"
 		    }
 		    Object {
-		    $ObjectID		    255
+		    $ObjectID		    279
 		    Name		    "wbiFile"
 		    }
 		    Object {
-		    $ObjectID		    256
+		    $ObjectID		    280
 		    Name		    "wbiList"
 		    }
 		    PropName		    "DialogControls"
@@ -5389,7 +5583,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    257
+	    $ObjectID		    281
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Get Estimate"
 	    Description		    "This block get the estimate of the specified type\n\nAssuming DoFs is the number of degrees of "
@@ -5404,7 +5598,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      5
 	      Object {
-		$ObjectID		258
+		$ObjectID		282
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
@@ -5424,7 +5618,7 @@ Library {
 		";\nend\nclear  maskStr"
 	      }
 	      Object {
-		$ObjectID		259
+		$ObjectID		283
 		Type			"edit"
 		Name			"robotName"
 		Prompt			"Robot Port Name"
@@ -5432,7 +5626,7 @@ Library {
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		260
+		$ObjectID		284
 		Type			"edit"
 		Name			"localName"
 		Prompt			"Model Name"
@@ -5440,7 +5634,7 @@ Library {
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		261
+		$ObjectID		285
 		Type			"edit"
 		Name			"wbiFile"
 		Prompt			"WBI filename"
@@ -5448,7 +5642,7 @@ Library {
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		262
+		$ObjectID		286
 		Type			"edit"
 		Name			"wbiList"
 		Prompt			"WBI list name"
@@ -5461,11 +5655,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      2
 	      Object {
-		$ObjectID		263
+		$ObjectID		287
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  264
+		  $ObjectID		  288
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -5473,46 +5667,46 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		265
+		$ObjectID		289
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  266
+		  $ObjectID		  290
 		  $ClassName		  "Simulink.dialog.TabContainer"
 		  Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    267
+		    $ObjectID		    291
 		    Prompt		    "Block parameters"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    268
+		    $ObjectID		    292
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "limitsType"
 		    }
 		    Name		    "Container8"
 		    }
 		    Object {
-		    $ObjectID		    269
+		    $ObjectID		    293
 		    Prompt		    "WBI parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Edit"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    270
+		    $ObjectID		    294
 		    Name		    "robotName"
 		    }
 		    Object {
-		    $ObjectID		    271
+		    $ObjectID		    295
 		    Name		    "localName"
 		    }
 		    Object {
-		    $ObjectID		    272
+		    $ObjectID		    296
 		    Name		    "wbiFile"
 		    }
 		    Object {
-		    $ObjectID		    273
+		    $ObjectID		    297
 		    Name		    "wbiList"
 		    }
 		    PropName		    "DialogControls"

From 4791efe8bfdd3331d51d024c0593ab9ac4a9faa6 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 11 Aug 2017 12:54:42 +0000
Subject: [PATCH 89/92] DiscreteFilter: improved behavior of optional
 parameters

Now it works as expected when the initial state vector is set but is not enabled
---
 toolbox/src/DiscreteFilter.cpp | 20 +++++++++++++++-----
 1 file changed, 15 insertions(+), 5 deletions(-)

diff --git a/toolbox/src/DiscreteFilter.cpp b/toolbox/src/DiscreteFilter.cpp
index 0950dc573..8c466ba6d 100644
--- a/toolbox/src/DiscreteFilter.cpp
+++ b/toolbox/src/DiscreteFilter.cpp
@@ -123,8 +123,15 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     yarp::sig::Vector den(0);
     stringToYarpVector(num_coeff_str, num);
     stringToYarpVector(den_coeff_str, den);
-    stringToYarpVector(y0_str, *y0);
-    stringToYarpVector(u0_str, *u0);
+
+    // y0 and u0 are none if they are not defined
+    if (y0_str != "none") {
+        stringToYarpVector(y0_str, *y0);
+    }
+
+    if (u0_str != "nome") {
+        stringToYarpVector(u0_str, *u0);
+    }
 
     // Create the filter object
     // ========================
@@ -173,6 +180,9 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
         return false;
     }
 
+    // Initialize the other data
+    // =========================
+
     // Get the width of the input vector
     inputSignalWidth = blockInfo->getInputPortWidth(INPUT_IDX_SIGNAL);
 
@@ -181,14 +191,14 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     unsigned y0Width           = y0->length();
     unsigned u0Width           = u0->length();
 
-    if (y0Width != outputSignalWidth) {
+    if ((y0_str != "none") && (y0Width != outputSignalWidth)) {
         if (error) {
             error->message = ClassName + " y0 and output signal sizes don't match";
         }
         return false;
     }
 
-    if ((filter_type == "Generic") && (u0Width != inputSignalWidth)) {
+    if ((u0_str != "none") && (filter_type == "Generic") && (u0Width != inputSignalWidth)) {
         if (error) {
             error->message = ClassName + " (Generic) u0 and input signal sizes don't match";
         }
@@ -236,7 +246,7 @@ bool DiscreteFilter::initializeInitialConditions(BlockInformation* blockInfo, wb
 
     // If the initial conditions for the output are not set, allocate a properly
     // sized vector
-    if (*y0 == Vector(1, 0.0)) {
+    if (*y0 == Vector(0)) {
         y0 = new Vector(inputSignalWidth, 0.0);
     }
 

From 189df02d89954a34e914033b91d7a0ced60a0b99 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 11 Aug 2017 13:49:33 +0000
Subject: [PATCH 90/92] Reduced memory allocations

---
 toolbox/src/DiscreteFilter.cpp | 27 +++++++++++++++++----------
 1 file changed, 17 insertions(+), 10 deletions(-)

diff --git a/toolbox/src/DiscreteFilter.cpp b/toolbox/src/DiscreteFilter.cpp
index 8c466ba6d..be74d7c70 100644
--- a/toolbox/src/DiscreteFilter.cpp
+++ b/toolbox/src/DiscreteFilter.cpp
@@ -33,10 +33,9 @@ using namespace yarp::sig;
 
 std::string DiscreteFilter::ClassName = "DiscreteFilter";
 
-DiscreteFilter::DiscreteFilter() : filter(nullptr), inputSignalVector(nullptr)
+DiscreteFilter::DiscreteFilter()
+    : filter(nullptr), y0(nullptr), u0(nullptr), inputSignalVector(nullptr)
 {
-    y0 = new Vector(0);
-    u0 = new Vector(0);
 }
 
 unsigned DiscreteFilter::numberOfParameters()
@@ -125,12 +124,18 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     stringToYarpVector(den_coeff_str, den);
 
     // y0 and u0 are none if they are not defined
+    unsigned y0Width, u0Width;
+
     if (y0_str != "none") {
+        y0 = new Vector(0);
         stringToYarpVector(y0_str, *y0);
+         y0Width = y0->length();
     }
 
-    if (u0_str != "nome") {
+    if (u0_str != "none") {
+        u0 = new Vector(0);
         stringToYarpVector(u0_str, *u0);
+        u0Width = u0->length();
     }
 
     // Create the filter object
@@ -188,17 +193,15 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
 
     // Check the initial conditions are properly sized
     unsigned outputSignalWidth = blockInfo->getInputPortWidth(OUTPUT_IDX_SIGNAL);
-    unsigned y0Width           = y0->length();
-    unsigned u0Width           = u0->length();
 
-    if ((y0_str != "none") && (y0Width != outputSignalWidth)) {
+    if ((y0 != nullptr) && (y0Width != outputSignalWidth)) {
         if (error) {
             error->message = ClassName + " y0 and output signal sizes don't match";
         }
         return false;
     }
 
-    if ((u0_str != "none") && (filter_type == "Generic") && (u0Width != inputSignalWidth)) {
+    if ((u0 != nullptr) && (filter_type == "Generic") && (u0Width != inputSignalWidth)) {
         if (error) {
             error->message = ClassName + " (Generic) u0 and input signal sizes don't match";
         }
@@ -246,8 +249,12 @@ bool DiscreteFilter::initializeInitialConditions(BlockInformation* blockInfo, wb
 
     // If the initial conditions for the output are not set, allocate a properly
     // sized vector
-    if (*y0 == Vector(0)) {
-        y0 = new Vector(inputSignalWidth, 0.0);
+    if (y0 == nullptr) {
+        unsigned outputSignalWidth = blockInfo->getInputPortWidth(OUTPUT_IDX_SIGNAL);
+        y0                         = new Vector(outputSignalWidth, 0.0);
+    }
+    if (u0 == nullptr) {
+        u0 = new Vector(inputSignalWidth, 0.0);
     }
 
     // Initialize the filter. This is required because if the signal is not 1D,

From fafaaf1644d856fc82258de5193f9fd6de3f4857 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Fri, 11 Aug 2017 14:18:26 +0000
Subject: [PATCH 91/92] DiscreteFilter: uploaded test model

---
 tests/models/DiscreteFilter2014b.mdl | 1086 ++++++++++++++++++++++++++
 1 file changed, 1086 insertions(+)
 create mode 100644 tests/models/DiscreteFilter2014b.mdl

diff --git a/tests/models/DiscreteFilter2014b.mdl b/tests/models/DiscreteFilter2014b.mdl
new file mode 100644
index 000000000..d328aa757
--- /dev/null
+++ b/tests/models/DiscreteFilter2014b.mdl
@@ -0,0 +1,1086 @@
+Model {
+  Name			  "DiscreteFilter2014b"
+  Version		  8.4
+  SavedCharacterEncoding  "US-ASCII"
+  GraphicalInterface {
+    NumRootInports	    0
+    NumRootOutports	    0
+    ParameterArgumentNames  ""
+    ComputedModelVersion    "1.64"
+    NumModelReferences	    0
+    NumTestPointedSignals   0
+  }
+  ScopeRefreshTime	  0.035000
+  OverrideScopeRefreshTime on
+  DisableAllScopes	  off
+  DataTypeOverride	  "UseLocalSettings"
+  DataTypeOverrideAppliesTo "AllNumericTypes"
+  MinMaxOverflowLogging	  "UseLocalSettings"
+  MinMaxOverflowArchiveMode "Overwrite"
+  FPTRunName		  "Run 1"
+  MaxMDLFileLineLength	  120
+  Object {
+    $PropName		    "BdWindowsInfo"
+    $ObjectID		    1
+    $ClassName		    "Simulink.BDWindowsInfo"
+    Object {
+      $PropName		      "WindowsInfo"
+      $ObjectID		      2
+      $ClassName	      "Simulink.WindowInfo"
+      IsActive		      [1]
+      Location		      [151.0, 32.0, 1185.0, 779.0]
+      Object {
+	$PropName		"ModelBrowserInfo"
+	$ObjectID		3
+	$ClassName		"Simulink.ModelBrowserInfo"
+	Visible			[0]
+	DockPosition		"Left"
+	Width			[50]
+	Height			[50]
+	Filter			[9]
+      }
+      Object {
+	$PropName		"ExplorerBarInfo"
+	$ObjectID		4
+	$ClassName		"Simulink.ExplorerBarInfo"
+	Visible			[1]
+      }
+      Object {
+	$PropName		"EditorsInfo"
+	$ObjectID		5
+	$ClassName		"Simulink.EditorInfo"
+	IsActive		[1]
+	ViewObjType		"SimulinkTopLevel"
+	LoadSaveID		"0"
+	Extents			[1131.0, 586.0]
+	ZoomFactor		[2.1817619879155012]
+	Offset			[138.17691806436989, 8.7048744900272084]
+      }
+    }
+  }
+  Created		  "Tue Aug 08 11:48:28 2017"
+  Creator		  "icub"
+  UpdateHistory		  "UpdateHistoryNever"
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+      Name		      "Configuration"
+      CurrentDlgPage	      "Solver"
+      ConfigPrmDlgPosition    [ 376, 270, 1266, 1010 ]  
+    }
+    PropName		    "ConfigurationSets"
+  }
+  Simulink.ConfigSet {
+    $PropName		    "ActiveConfigurationSet"
+    $ObjectID		    8
+  }
+  Object {
+    $PropName		    "DataTransfer"
+    $ObjectID		    20
+    $ClassName		    "Simulink.GlobalDataTransfer"
+    DefaultTransitionBetweenSyncTasks "Ensure deterministic transfer (maximum delay)"
+    DefaultTransitionBetweenAsyncTasks "Ensure data integrity only"
+    DefaultTransitionBetweenContTasks "Ensure deterministic transfer (minimum delay)"
+    DefaultExtrapolationMethodBetweenContTasks "None"
+    AutoInsertRateTranBlk   [0]
+  }
+  ExplicitPartitioning	  off
+  BlockDefaults {
+    ForegroundColor	    "black"
+    BackgroundColor	    "white"
+    DropShadow		    off
+    NamePlacement	    "normal"
+    FontName		    "Helvetica"
+    FontSize		    10
+    FontWeight		    "normal"
+    FontAngle		    "normal"
+    ShowName		    on
+    BlockRotation	    0
+    BlockMirror		    off
+  }
+  AnnotationDefaults {
+    HorizontalAlignment	    "center"
+    VerticalAlignment	    "middle"
+    ForegroundColor	    "black"
+    BackgroundColor	    "white"
+    DropShadow		    off
+    FontName		    "Helvetica"
+    FontSize		    10
+    FontWeight		    "normal"
+    FontAngle		    "normal"
+    UseDisplayTextAsClickCallback off
+  }
+  LineDefaults {
+    FontName		    "Helvetica"
+    FontSize		    9
+    FontWeight		    "normal"
+    FontAngle		    "normal"
+  }
+  MaskDefaults {
+    SelfModifiable	    "off"
+    IconFrame		    "on"
+    IconOpaque		    "on"
+    RunInitForIconRedraw    "off"
+    IconRotate		    "none"
+    PortRotate		    "default"
+    IconUnits		    "autoscale"
+  }
+  MaskParameterDefaults {
+    Evaluate		    "on"
+    Tunable		    "on"
+    NeverSave		    "off"
+    Internal		    "off"
+    ReadOnly		    "off"
+    Enabled		    "on"
+    Visible		    "on"
+    ToolTip		    "on"
+  }
+  BlockParameterDefaults {
+    Block {
+      BlockType		      Constant
+      Value		      "1"
+      VectorParams1D	      on
+      SamplingMode	      "Sample based"
+      OutMin		      "[]"
+      OutMax		      "[]"
+      OutDataTypeStr	      "Inherit: Inherit from 'Constant value'"
+      LockScale		      off
+      SampleTime	      "inf"
+      FramePeriod	      "inf"
+      PreserveConstantTs      off
+    }
+    Block {
+      BlockType		      Mux
+      Inputs		      "4"
+      DisplayOption	      "none"
+      UseBusObject	      off
+      BusObject		      "BusObject"
+      NonVirtualBus	      off
+    }
+    Block {
+      BlockType		      Scope
+      Floating		      off
+    }
+    Block {
+      BlockType		      Sin
+      SineType		      "Time based"
+      TimeSource	      "Use simulation time"
+      Amplitude		      "1"
+      Bias		      "0"
+      Frequency		      "1"
+      Phase		      "0"
+      Samples		      "10"
+      Offset		      "0"
+      SampleTime	      "-1"
+      VectorParams1D	      on
+    }
+    Block {
+      BlockType		      Sum
+      IconShape		      "rectangular"
+      Inputs		      "++"
+      CollapseMode	      "All dimensions"
+      CollapseDim	      "1"
+      InputSameDT	      on
+      AccumDataTypeStr	      "Inherit: Inherit via internal rule"
+      OutMin		      "[]"
+      OutMax		      "[]"
+      OutDataTypeStr	      "Inherit: Same as first input"
+      LockScale		      off
+      RndMeth		      "Floor"
+      SaturateOnIntegerOverflow	on
+      SampleTime	      "-1"
+    }
+  }
+  System {
+    Name		    "DiscreteFilter2014b"
+    Location		    [151, 32, 1336, 811]
+    Open		    off
+    ModelBrowserVisibility  off
+    ModelBrowserWidth	    200
+    ScreenColor		    "white"
+    PaperOrientation	    "landscape"
+    PaperPositionMode	    "auto"
+    PaperType		    "usletter"
+    PaperUnits		    "inches"
+    TiledPaperMargins	    [0.500000, 0.500000, 0.500000, 0.500000]
+    TiledPageScale	    1
+    ShowPageBoundaries	    off
+    ZoomFactor		    "218"
+    ReportName		    "simulink-default.rpt"
+    SIDHighWatermark	    "51"
+    Block {
+      BlockType		      Constant
+      Name		      "Constant"
+      SID		      "16"
+      Position		      [155, 190, 185, 220]
+      ZOrder		      14
+    }
+    Block {
+      BlockType		      Reference
+      Name		      "DiscreteFilter1"
+      SID		      "47"
+      Ports		      [1, 1]
+      Position		      [440, 110, 500, 140]
+      ZOrder		      99
+      BackgroundColor	      "yellow"
+      LibraryVersion	      "1.395"
+      SourceBlock	      "WBToolboxLibrary/Utilities/DiscreteFilter"
+      SourceType	      "Discrete Filter"
+      filterType	      "FirstOrderLowPassFilter"
+      numCoeffs		      "[0]"
+      denCoeffs		      "[0]"
+      Fc		      "1"
+      Ts		      "0.01"
+      orderMedianFilter	      "0"
+      initStatus	      on
+      y0		      "[0 1]"
+      u0		      "[0]"
+      Port {
+	PortNumber		1
+	Name			"filtered_signals"
+	RTWStorageClass		"Auto"
+	DataLoggingNameMode	"SignalName"
+      }
+    }
+    Block {
+      BlockType		      Mux
+      Name		      "Mux"
+      SID		      "23"
+      Ports		      [2, 1]
+      Position		      [395, 106, 400, 144]
+      ZOrder		      20
+      ShowName		      off
+      Inputs		      "2"
+      DisplayOption	      "bar"
+    }
+    Block {
+      BlockType		      Mux
+      Name		      "Mux1"
+      SID		      "50"
+      Ports		      [3, 1]
+      Position		      [590, 50, 595, 140]
+      ZOrder		      102
+      ShowName		      off
+      Inputs		      "3"
+      DisplayOption	      "bar"
+    }
+    Block {
+      BlockType		      Scope
+      Name		      "Scope"
+      SID		      "51"
+      Ports		      [1]
+      Position		      [620, 79, 650, 111]
+      ZOrder		      103
+      NumInputPorts	      "1"
+      Open		      off
+      TimeRange		      auto
+      TickLabels	      OneTimeTick
+      ShowLegends	      on
+      LimitDataPoints	      off
+      MaxDataPoints	      5000
+      SaveToWorkspace	      off
+      SaveName		      ScopeData
+      YMin		      -1.6103
+      YMax		      2.6103
+      SampleInput	      off
+      SampleTime	      -1
+      ZoomMode		      on
+      Grid		      on
+      DataFormat	      StructureWithTime
+      Decimation	      1
+      List {
+	ListType		AxesTitles
+	axes1			"%<SignalLabel>"
+      }
+      List {
+	ListType		ScopeGraphics
+	FigureColor		"[0.156862745098039 0.156862745098039 0.156862745098039]"
+	AxesColor		"[0 0 0]"
+	AxesTickColor		"[0.686274509803922 0.686274509803922 0.686274509803922]"
+	LineColors		"[1 1 0;1 0 1;0 1 1;1 0 0;0 1 0;0 0 1]"
+	LineStyles		"-|-|-|-|-|-"
+	LineWidths		"[0.5 0.5 0.5 0.5 0.5 0.5]"
+	MarkerStyles		"none|none|none|none|none|none"
+      }
+      Location		      [675 361 1245 811]
+    }
+    Block {
+      BlockType		      Sin
+      Name		      "Sine 0.5Hz"
+      SID		      "6"
+      Ports		      [0, 1]
+      Position		      [155, 70, 185, 100]
+      ZOrder		      6
+      Frequency		      "2*pi*0.5"
+      SampleTime	      "0"
+    }
+    Block {
+      BlockType		      Sin
+      Name		      "Sine 10Hz"
+      SID		      "13"
+      Ports		      [0, 1]
+      Position		      [155, 130, 185, 160]
+      ZOrder		      11
+      Amplitude		      "0.2"
+      Frequency		      "2*pi*10"
+      SampleTime	      "0"
+    }
+    Block {
+      BlockType		      Sum
+      Name		      "Sum"
+      SID		      "12"
+      Ports		      [2, 1]
+      Position		      [235, 105, 255, 125]
+      ZOrder		      10
+      ShowName		      off
+      IconShape		      "round"
+      Inputs		      "+|+"
+      InputSameDT	      off
+      OutDataTypeStr	      "Inherit: Inherit via internal rule"
+      SaturateOnIntegerOverflow	off
+      Port {
+	PortNumber		1
+	Name			"signal1"
+	RTWStorageClass		"Auto"
+	DataLoggingNameMode	"SignalName"
+      }
+    }
+    Block {
+      BlockType		      Sum
+      Name		      "Sum1"
+      SID		      "15"
+      Ports		      [2, 1]
+      Position		      [295, 125, 315, 145]
+      ZOrder		      13
+      ShowName		      off
+      IconShape		      "round"
+      Inputs		      "|++"
+      InputSameDT	      off
+      OutDataTypeStr	      "Inherit: Inherit via internal rule"
+      SaturateOnIntegerOverflow	off
+      Port {
+	PortNumber		1
+	Name			"signal2"
+	RTWStorageClass		"Auto"
+	DataLoggingNameMode	"SignalName"
+      }
+    }
+    Line {
+      Name		      "filtered_signals"
+      ZOrder		      258
+      Labels		      [-1, 1]
+      SrcBlock		      "DiscreteFilter1"
+      SrcPort		      1
+      DstBlock		      "Mux1"
+      DstPort		      3
+    }
+    Line {
+      Name		      "signal1"
+      ZOrder		      19
+      SrcBlock		      "Sum"
+      SrcPort		      1
+      Points		      [12, 0]
+      Branch {
+	ZOrder			73
+	Points			[47, 0]
+	Branch {
+	  ZOrder		  257
+	  Labels		  [-1, 1]
+	  Points		  [0, -50]
+	  DstBlock		  "Mux1"
+	  DstPort		  1
+	}
+	Branch {
+	  ZOrder		  70
+	  Labels		  [-1, 1]
+	  DstBlock		  "Mux"
+	  DstPort		  1
+	}
+      }
+      Branch {
+	ZOrder			32
+	Points			[0, 20]
+	DstBlock		"Sum1"
+	DstPort			1
+      }
+    }
+    Line {
+      ZOrder		      20
+      SrcBlock		      "Sine 0.5Hz"
+      SrcPort		      1
+      Points		      [55, 0]
+      DstBlock		      "Sum"
+      DstPort		      1
+    }
+    Line {
+      ZOrder		      21
+      SrcBlock		      "Sine 10Hz"
+      SrcPort		      1
+      Points		      [55, 0]
+      DstBlock		      "Sum"
+      DstPort		      2
+    }
+    Line {
+      Name		      "signal2"
+      ZOrder		      41
+      SrcBlock		      "Sum1"
+      SrcPort		      1
+      Points		      [16, 0]
+      Branch {
+	ZOrder			256
+	Labels			[-1, 1]
+	Points			[0, -40]
+	DstBlock		"Mux1"
+	DstPort			2
+      }
+      Branch {
+	ZOrder			71
+	Labels			[-1, 1]
+	DstBlock		"Mux"
+	DstPort			2
+      }
+    }
+    Line {
+      ZOrder		      33
+      SrcBlock		      "Constant"
+      SrcPort		      1
+      Points		      [115, 0]
+      DstBlock		      "Sum1"
+      DstPort		      2
+    }
+    Line {
+      ZOrder		      227
+      SrcBlock		      "Mux"
+      SrcPort		      1
+      DstBlock		      "DiscreteFilter1"
+      DstPort		      1
+    }
+    Line {
+      ZOrder		      259
+      SrcBlock		      "Mux1"
+      SrcPort		      1
+      DstBlock		      "Scope"
+      DstPort		      1
+    }
+  }
+}

From 580e4300f94532bcd6c588e00a1d173a0eb9cea1 Mon Sep 17 00:00:00 2001
From: Diego Ferigo <diego.ferigo@iit.it>
Date: Wed, 6 Dec 2017 10:11:12 +0000
Subject: [PATCH 92/92] Rebased DiscreteFilter block on WB3.0

---
 toolbox/CMakeLists.txt                        |   1 +
 toolbox/include/DiscreteFilter.h              |  43 +-
 .../library/WBToolboxLibrary_repository.mdl   | 575 ++++++++++++------
 .../library/exported/WBToolboxLibrary.slx     | Bin 534789 -> 537123 bytes
 toolbox/src/DiscreteFilter.cpp                | 177 +++---
 5 files changed, 494 insertions(+), 302 deletions(-)

diff --git a/toolbox/CMakeLists.txt b/toolbox/CMakeLists.txt
index b4c538673..fa353fa7a 100755
--- a/toolbox/CMakeLists.txt
+++ b/toolbox/CMakeLists.txt
@@ -94,6 +94,7 @@ if (WBT_USES_ICUB)
     #
     #     include_directories(SYSTEM ${iKin_INCLUDE_DIRS})
     # endif()
+
     configure_block(BLOCK_NAME "Discrete Filter"
         GROUP "Utilities"
         LIST_PREFIX WBT
diff --git a/toolbox/include/DiscreteFilter.h b/toolbox/include/DiscreteFilter.h
index 098ca3966..65915f3a1 100644
--- a/toolbox/include/DiscreteFilter.h
+++ b/toolbox/include/DiscreteFilter.h
@@ -1,6 +1,7 @@
 #include "Block.h"
 #include <string>
 #include <vector>
+#include <memory>
 
 #ifndef WBT_FILTER_H
 #define WBT_FILTER_H
@@ -24,25 +25,41 @@ namespace yarp {
 class wbt::DiscreteFilter : public wbt::Block {
 private:
     unsigned inputSignalWidth;
-    iCub::ctrl::IFilter* filter;
-    yarp::sig::Vector* y0;
-    yarp::sig::Vector* u0;
-    yarp::sig::Vector* inputSignalVector;
+    std::unique_ptr<iCub::ctrl::IFilter> filter;
+    std::unique_ptr<yarp::sig::Vector> y0;
+    std::unique_ptr<yarp::sig::Vector> u0;
+    std::unique_ptr<yarp::sig::Vector> inputSignalVector;
 
     static void stringToYarpVector(const std::string s, yarp::sig::Vector& v);
 
+    // Parameters
+    static const unsigned PARAM_IDX_FLT_TYPE;
+    static const unsigned PARAM_IDX_NUMCOEFF;
+    static const unsigned PARAM_IDX_DENCOEFF;
+    static const unsigned PARAM_IDX_1LOWP_FC;
+    static const unsigned PARAM_IDX_1LOWP_TS;
+    static const unsigned PARAM_IDX_MD_ORDER;
+    static const unsigned PARAM_IDX_INIT_Y0;
+    static const unsigned PARAM_IDX_INIT_U0;
+    // Inputs
+    static const unsigned INPUT_IDX_SIGNAL;
+    // Outputs
+    static const unsigned OUTPUT_IDX_SIGNAL;
+    // Other defines
+    static const int SIGNAL_DYNAMIC_SIZE;
+
 public:
-    static std::string ClassName;
+    static const std::string ClassName;
 
     DiscreteFilter();
-    ~DiscreteFilter() = default;
-
-    virtual unsigned numberOfParameters();
-    virtual bool configureSizeAndPorts(BlockInformation* blockInfo, wbt::Error* error);
-    virtual bool initialize(BlockInformation* blockInfo, wbt::Error* error);
-    virtual bool initializeInitialConditions(BlockInformation *blockInfo, wbt::Error *error);
-    virtual bool terminate(BlockInformation* blockInfo, wbt::Error* error);
-    virtual bool output(BlockInformation* blockInfo, wbt::Error* error);
+    ~DiscreteFilter() override = default;
+
+    unsigned numberOfParameters() override;
+    bool configureSizeAndPorts(BlockInformation* blockInfo) override;
+    bool initialize(const BlockInformation* blockInfo) override;
+    bool initializeInitialConditions(const BlockInformation* blockInfo) override;
+    bool terminate(const BlockInformation* blockInfo) override;
+    bool output(const BlockInformation* blockInfo) override;
 };
 
 #endif // WBT_FILTER_H
diff --git a/toolbox/matlab/library/WBToolboxLibrary_repository.mdl b/toolbox/matlab/library/WBToolboxLibrary_repository.mdl
index 0ae80c40b..1083107e5 100644
--- a/toolbox/matlab/library/WBToolboxLibrary_repository.mdl
+++ b/toolbox/matlab/library/WBToolboxLibrary_repository.mdl
@@ -61,7 +61,7 @@ Library {
 	  LoadSaveID		  "192"
 	  Extents		  [1557.0, 726.0]
 	  ZoomFactor		  [2.13]
-	  Offset		  [0.0, 0.0]
+	  Offset		  [-46.444835680751169, 21.953051643192453]
 	}
 	PropName		"EditorsInfo"
       }
@@ -97,9 +97,9 @@ Library {
   ModifiedByFormat	  "%<Auto>"
   LastModifiedBy	  "dferigo"
   ModifiedDateFormat	  "%<Auto>"
-  LastModifiedDate	  "Thu Nov 30 14:54:35 2017"
-  RTWModifiedTimeStamp	  433954470
-  ModelVersionFormat	  "1.%<AutoIncrement:474>"
+  LastModifiedDate	  "Wed Dec 06 10:03:50 2017"
+  RTWModifiedTimeStamp	  434455429
+  ModelVersionFormat	  "1.%<AutoIncrement:476>"
   ConfigurationManager	  "none"
   SampleTimeColors	  off
   SampleTimeAnnotations	  off
@@ -1080,7 +1080,7 @@ Library {
     ShowPageBoundaries	    off
     ZoomFactor		    "343"
     ReportName		    "simulink-default.rpt"
-    SIDHighWatermark	    "1789"
+    SIDHighWatermark	    "1790"
     Block {
       BlockType		      SubSystem
       Name		      "Utilities"
@@ -1573,6 +1573,217 @@ Library {
 	    }
 	  }
 	}
+	Block {
+	  BlockType		  S-Function
+	  Name			  "DiscreteFilter"
+	  SID			  "1790"
+	  Ports			  [1, 1]
+	  Position		  [125, 260, 185, 290]
+	  ZOrder		  96
+	  BackgroundColor	  "yellow"
+	  FunctionName		  "WBToolbox"
+	  Parameters		  "'DiscreteFilter',filterType,numCoeffs,denCoeffs,Fc,Ts,orderMedianFilter,y0,u0"
+	  SFunctionDeploymentMode off
+	  EnableBusSupport	  off
+	  SFcnIsStateOwnerBlock	  off
+	  Object {
+	    $PropName		    "MaskObject"
+	    $ObjectID		    47
+	    $ClassName		    "Simulink.Mask"
+	    Type		    "Discrete Filter"
+	    Description		    "This block wraps the Filter, FirstOrderLowPassFilter, and MedianFilter from iCub::ctrl."
+	    Initialization	    "filterType = get_param(gcb, 'filterType');\nnumCoeffs  = mat2str(numCoeffs);\ndenCoeffs  = ma"
+	    "t2str(denCoeffs);\n\ninitStatus = get_param(gcb, 'initStatus');\n\nif (strcmp(initStatus,'on'))\n    y0 = mat2str"
+	    "(y0);\n    u0 = mat2str(u0);\nelse\n    y0 = 'none';\n    u0 = 'none';\nend\n\nclear initStatus"
+	    Display		    "disp('Filter')"
+	    Array {
+	      Type		      "Simulink.MaskParameter"
+	      Dimension		      9
+	      Object {
+		$ObjectID		48
+		Type			"popup"
+		Array {
+		  Type			  "Cell"
+		  Dimension		  3
+		  Cell			  "Generic"
+		  Cell			  "FirstOrderLowPassFilter"
+		  Cell			  "MedianFilter"
+		  PropName		  "TypeOptions"
+		}
+		Name			"filterType"
+		Prompt			"Type of the filter"
+		Value			"Generic"
+		Callback		"% From: https://it.mathworks.com/help/simulink/slref/simulink.mask-class.html\nfilterType = get_param(gcb"
+		", 'filterType');\ninitStatus = get_param(gcb, 'initStatus');\np = Simulink.Mask.get(gcbh);\nhowToCoeffs = p.getDialo"
+		"gControl('howToCoeffs');\n\n%set_param(gcb, 'initStatus','off');\nif (strcmp(initStatus,'on'))\n    vis_init = 'on';"
+		"\nelse\n    vis_init = 'off';\nend\n\nif(strcmp(filterType, 'Generic'))\n    set_param(gcb, 'MaskVisibilities',{'on'"
+		",'on','on','off','off','off','on',vis_init,vis_init});\n    howToCoeffs.Visible = 'on';\nelseif(strcmp(filterType, '"
+		"FirstOrderLowPassFilter'))\n    set_param(gcb, 'MaskVisibilities',{'on','off','off','on','on','off','on',vis_init,'o"
+		"ff'});\n    howToCoeffs.Visible = 'off';\nelseif(strcmp(filterType, 'MedianFilter'))\n    set_param(gcb, 'MaskVisibi"
+		"lities',{'on','off','off','off','off','on','on',vis_init,'off'});\n    howToCoeffs.Visible = 'off';\nend\n\nclear fi"
+		"lterType initStatus p howToCoeffs vis_init;"
+	      }
+	      Object {
+		$ObjectID		49
+		Type			"edit"
+		Name			"numCoeffs"
+		Prompt			"Numerator Coefficients*"
+		Value			"[0]"
+	      }
+	      Object {
+		$ObjectID		50
+		Type			"edit"
+		Name			"denCoeffs"
+		Prompt			"Denominator Coefficients*"
+		Value			"[0]"
+	      }
+	      Object {
+		$ObjectID		51
+		Type			"edit"
+		Name			"Fc"
+		Prompt			"Cut Frequency (Hz)"
+		Value			"0"
+		Visible			"off"
+	      }
+	      Object {
+		$ObjectID		52
+		Type			"edit"
+		Name			"Ts"
+		Prompt			"Sampling time (s)"
+		Value			"0"
+		Visible			"off"
+	      }
+	      Object {
+		$ObjectID		53
+		Type			"edit"
+		Name			"orderMedianFilter"
+		Prompt			"Order"
+		Value			"0"
+		Visible			"off"
+	      }
+	      Object {
+		$ObjectID		54
+		Type			"checkbox"
+		Name			"initStatus"
+		Prompt			"Define initial conditions"
+		Value			"off"
+		Callback		"initStatus   = get_param(gcb, 'initStatus');\nvisibilities = get_param(gcb, 'MaskVisibilities');\nfilterT"
+		"ype   = get_param(gcb, 'filterType');\n\nif (strcmp(initStatus,'off'))\n    visibilities{8} = 'off';\n    visibiliti"
+		"es{9} = 'off';\nelseif (strcmp(initStatus,'on'))\n    visibilities{8} = 'on';\n    if (strcmp(filterType,'Generic'))"
+		"\n        visibilities{9} = 'on';\n    end\nend\n\nset_param(gcb, 'MaskVisibilities', visibilities);\n\nclear initSt"
+		"atus visibilities filterType;"
+	      }
+	      Object {
+		$ObjectID		55
+		Type			"edit"
+		Name			"y0"
+		Prompt			"Output y0"
+		Value			"[0]"
+		Visible			"off"
+	      }
+	      Object {
+		$ObjectID		56
+		Type			"edit"
+		Name			"u0"
+		Prompt			"Input u0"
+		Value			"[0]"
+		Visible			"off"
+	      }
+	      PropName		      "Parameters"
+	    }
+	    Array {
+	      Type		      "Simulink.dialog.Group"
+	      Dimension		      2
+	      Object {
+		$ObjectID		57
+		Prompt			"%<MaskType>"
+		Object {
+		  $PropName		  "DialogControls"
+		  $ObjectID		  58
+		  $ClassName		  "Simulink.dialog.Text"
+		  Prompt		  "%<MaskDescription>"
+		  Name			  "DescTextVar"
+		}
+		Name			"DescGroupVar"
+	      }
+	      Object {
+		$ObjectID		59
+		Prompt			"Simulink:studio:ToolBarParametersMenu"
+		Array {
+		  Type			  "Simulink.dialog.Control"
+		  Dimension		  8
+		  Object {
+		    $ObjectID		    60
+		    $ClassName		    "Simulink.dialog.parameter.Popup"
+		    Name		    "filterType"
+		  }
+		  Object {
+		    $ObjectID		    61
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "numCoeffs"
+		  }
+		  Object {
+		    $ObjectID		    62
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "denCoeffs"
+		  }
+		  Object {
+		    $ObjectID		    63
+		    $ClassName		    "Simulink.dialog.Text"
+		    Prompt		    "* The coefficients are ordered in increasing power of z^-1"
+		    Name		    "howToCoeffs"
+		  }
+		  Object {
+		    $ObjectID		    64
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    PromptLocation	    "left"
+		    Name		    "Fc"
+		  }
+		  Object {
+		    $ObjectID		    65
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    PromptLocation	    "left"
+		    Name		    "Ts"
+		  }
+		  Object {
+		    $ObjectID		    66
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    PromptLocation	    "left"
+		    Name		    "orderMedianFilter"
+		  }
+		  Object {
+		    $ObjectID		    67
+		    $ClassName		    "Simulink.dialog.Group"
+		    Array {
+		    Type		    "Simulink.dialog.parameter.Control"
+		    Dimension		    3
+		    Object {
+		    $ObjectID		    68
+		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
+		    Name		    "initStatus"
+		    }
+		    Object {
+		    $ObjectID		    69
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "y0"
+		    }
+		    Object {
+		    $ObjectID		    70
+		    $ClassName		    "Simulink.dialog.parameter.Edit"
+		    Name		    "u0"
+		    }
+		    PropName		    "DialogControls"
+		    }
+		    Name		    "Container3"
+		  }
+		  PropName		  "DialogControls"
+		}
+		Name			"ParameterGroupVar"
+	      }
+	      PropName		      "DialogControls"
+	    }
+	  }
+	}
 	Block {
 	  BlockType		  S-Function
 	  Name			  "DoFs converter"
@@ -1587,7 +1798,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    47
+	    $ObjectID		    71
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "DoFs converter"
 	    Description		    "This block converts from a DoFs serialization to a YARP serialization or viceversa depending on"
@@ -1604,7 +1815,7 @@ Library {
 	    RunInitForIconRedraw    "off"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      48
+	      $ObjectID		      72
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "popup"
 	      Array {
@@ -1622,11 +1833,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      2
 	      Object {
-		$ObjectID		49
+		$ObjectID		73
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  50
+		  $ObjectID		  74
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -1634,22 +1845,22 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		51
+		$ObjectID		75
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Array {
 		  Type			  "Simulink.dialog.Control"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    52
+		    $ObjectID		    76
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "yarp2WBIOption"
 		  }
 		  Object {
-		    $ObjectID		    53
+		    $ObjectID		    77
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    54
+		    $ObjectID		    78
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -1683,7 +1894,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    55
+	    $ObjectID		    79
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Minimum Jerk Trajectory Generator"
 	    Description		    "This block wraps the minJerkTrajGen class from iCub::ctrl::minJerkTrajGen.\n\nThe Minimum Jerk "
@@ -1706,7 +1917,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      7
 	      Object {
-		$ObjectID		56
+		$ObjectID		80
 		Type			"checkbox"
 		Name			"externalSettlingTime"
 		Prompt			"External Settling Time"
@@ -1717,42 +1928,42 @@ Library {
 		"SettlingTime"
 	      }
 	      Object {
-		$ObjectID		57
+		$ObjectID		81
 		Type			"edit"
 		Name			"settlingTime"
 		Prompt			"Settling Time"
 		Value			"3"
 	      }
 	      Object {
-		$ObjectID		58
+		$ObjectID		82
 		Type			"edit"
 		Name			"sampleTime"
 		Prompt			"Sample Time"
 		Value			"0.01"
 	      }
 	      Object {
-		$ObjectID		59
+		$ObjectID		83
 		Type			"checkbox"
 		Name			"resetOnSettlingTime"
 		Prompt			"Reset on Settling Time Changes"
 		Value			"off"
 	      }
 	      Object {
-		$ObjectID		60
+		$ObjectID		84
 		Type			"checkbox"
 		Name			"firstDerivatives"
 		Prompt			"Output First Derivative"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		61
+		$ObjectID		85
 		Type			"checkbox"
 		Name			"secondDerivatives"
 		Prompt			"Output Second Derivative"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		62
+		$ObjectID		86
 		Type			"checkbox"
 		Name			"explicitInitialValue"
 		Prompt			"Explicit Initial Value"
@@ -1765,11 +1976,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      2
 	      Object {
-		$ObjectID		63
+		$ObjectID		87
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  64
+		  $ObjectID		  88
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -1777,38 +1988,38 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		65
+		$ObjectID		89
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  66
+		  $ObjectID		  90
 		  $ClassName		  "Simulink.dialog.TabContainer"
 		  Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    67
+		    $ObjectID		    91
 		    Prompt		    "Trajectory Parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    68
+		    $ObjectID		    92
 		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
 		    Name		    "externalSettlingTime"
 		    }
 		    Object {
-		    $ObjectID		    69
+		    $ObjectID		    93
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "settlingTime"
 		    }
 		    Object {
-		    $ObjectID		    70
+		    $ObjectID		    94
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "sampleTime"
 		    }
 		    Object {
-		    $ObjectID		    71
+		    $ObjectID		    95
 		    $ClassName		    "Simulink.dialog.parameter.CheckBox"
 		    Name		    "resetOnSettlingTime"
 		    }
@@ -1817,21 +2028,21 @@ Library {
 		    Name		    "Tab1"
 		    }
 		    Object {
-		    $ObjectID		    72
+		    $ObjectID		    96
 		    Prompt		    "Input/Output"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.CheckBox"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    73
+		    $ObjectID		    97
 		    Name		    "firstDerivatives"
 		    }
 		    Object {
-		    $ObjectID		    74
+		    $ObjectID		    98
 		    Name		    "secondDerivatives"
 		    }
 		    Object {
-		    $ObjectID		    75
+		    $ObjectID		    99
 		    Name		    "explicitInitialValue"
 		    }
 		    PropName		    "DialogControls"
@@ -1865,7 +2076,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    76
+	    $ObjectID		    100
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Real Time Synchronizer"
 	    Description		    "This block slows down the simulation trying to match the period specified \nas parameter (in se"
@@ -1873,7 +2084,7 @@ Library {
 	    Display		    "disp('Real Time Synchronizer')"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      77
+	      $ObjectID		      101
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "edit"
 	      Name		      "period"
@@ -1898,7 +2109,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    78
+	    $ObjectID		    102
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Simulator Synchronizer"
 	    Description		    "This block synchronizes with the external simulation on a simulator \n(only Gazebo is supported"
@@ -1908,21 +2119,21 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      3
 	      Object {
-		$ObjectID		79
+		$ObjectID		103
 		Type			"edit"
 		Name			"period"
 		Prompt			"Controller Period (in seconds)"
 		Value			"0.01"
 	      }
 	      Object {
-		$ObjectID		80
+		$ObjectID		104
 		Type			"edit"
 		Name			"serverPortName"
 		Prompt			"Server Port Name"
 		Value			"'/clock/rpc'"
 	      }
 	      Object {
-		$ObjectID		81
+		$ObjectID		105
 		Type			"edit"
 		Name			"clientPortName"
 		Prompt			"Client Port Name"
@@ -1944,11 +2155,11 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    82
+	    $ObjectID		    106
 	    $ClassName		    "Simulink.Mask"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      83
+	      $ObjectID		      107
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "edit"
 	      Name		      "tol"
@@ -2165,7 +2376,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    84
+	    $ObjectID		    108
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "YARP Clock"
 	    Description		    "This block outputs the current YARP Time.\nIn a nutshell, this block outputs the equivalent of "
@@ -2189,7 +2400,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    85
+	    $ObjectID		    109
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "YARP Read"
 	    Description		    "This block behaves as the command 'yarp read'. \nBy default it has the option 'Autoconnect' act"
@@ -2207,35 +2418,35 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      6
 	      Object {
-		$ObjectID		86
+		$ObjectID		110
 		Type			"edit"
 		Name			"portName"
 		Prompt			"Source Port Name"
 		Value			"'/portname'"
 	      }
 	      Object {
-		$ObjectID		87
+		$ObjectID		111
 		Type			"edit"
 		Name			"signalSize"
 		Prompt			"Port Size"
 		Value			"1"
 	      }
 	      Object {
-		$ObjectID		88
+		$ObjectID		112
 		Type			"checkbox"
 		Name			"blocking"
 		Prompt			"Blocking Read"
 		Value			"off"
 	      }
 	      Object {
-		$ObjectID		89
+		$ObjectID		113
 		Type			"checkbox"
 		Name			"timestamp"
 		Prompt			"Read Timestamp"
 		Value			"on"
 	      }
 	      Object {
-		$ObjectID		90
+		$ObjectID		114
 		Type			"checkbox"
 		Name			"autoconnect"
 		Prompt			"Autoconnect"
@@ -2247,7 +2458,7 @@ Library {
 		"t_string"
 	      }
 	      Object {
-		$ObjectID		91
+		$ObjectID		115
 		Type			"checkbox"
 		Name			"errorOnConnection"
 		Prompt			"Error on missing connection"
@@ -2272,7 +2483,7 @@ Library {
 	  SFcnIsStateOwnerBlock	  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    92
+	    $ObjectID		    116
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "YARP Write"
 	    Description		    "This block behaves as the command 'yarp write'. \n\nBy default this block opens a port names as"
@@ -2285,14 +2496,14 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      3
 	      Object {
-		$ObjectID		93
+		$ObjectID		117
 		Type			"edit"
 		Name			"portName"
 		Prompt			"Opened Port Name"
 		Value			"'/portname'"
 	      }
 	      Object {
-		$ObjectID		94
+		$ObjectID		118
 		Type			"checkbox"
 		Name			"autoconnect"
 		Prompt			"Autoconnect"
@@ -2303,7 +2514,7 @@ Library {
 		"';'off'});\nend\nset_param(gcb, 'MaskPrompts', prompt_string);\nclear autoconnect_val prompt_string"
 	      }
 	      Object {
-		$ObjectID		95
+		$ObjectID		119
 		Type			"checkbox"
 		Name			"errorOnConnection"
 		Prompt			"Error on missing connection"
@@ -2326,7 +2537,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    96
+	    $ObjectID		    120
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Errors"
 	    Description		    "Computes two kinds of errors. The first is just the difference between x\nand y while the secon"
@@ -2470,7 +2681,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    97
+	    $ObjectID		    121
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Holder"
 	    Description		    "This block holds the first input value during the simulation."
@@ -2707,7 +2918,7 @@ Library {
       Variant		      off
       Object {
 	$PropName		"MaskObject"
-	$ObjectID		98
+	$ObjectID		122
 	$ClassName		"Simulink.Mask"
 	Display			"image(imread('wholeBodyActuators.png'),'center')"
       }
@@ -2739,7 +2950,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    99
+	    $ObjectID		    123
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Set Low Level PIDs"
 	    Description		    "This block sets the low level PID values for the robot actuators.\n\nThe PIDs can be stored in "
@@ -2761,7 +2972,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      2
 	      Object {
-		$ObjectID		100
+		$ObjectID		124
 		Type			"edit"
 		Name			"WBTPIDConfigObjectName"
 		Prompt			"WBTPIDConfig Object Name"
@@ -2769,7 +2980,7 @@ Library {
 		Tunable			"off"
 	      }
 	      Object {
-		$ObjectID		101
+		$ObjectID		125
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
@@ -2795,11 +3006,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      3
 	      Object {
-		$ObjectID		102
+		$ObjectID		126
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  103
+		  $ObjectID		  127
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -2807,19 +3018,19 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		104
+		$ObjectID		128
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Array {
 		  Type			  "Simulink.dialog.parameter.Control"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    105
+		    $ObjectID		    129
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
 		    Name		    "WBTPIDConfigObjectName"
 		  }
 		  Object {
-		    $ObjectID		    106
+		    $ObjectID		    130
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "pidType"
 		  }
@@ -2828,10 +3039,10 @@ Library {
 		Name			"ParameterGroupVar"
 	      }
 	      Object {
-		$ObjectID		107
+		$ObjectID		131
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  108
+		  $ObjectID		  132
 		  $ClassName		  "Simulink.dialog.Button"
 		  Prompt		  "Toggle Config Block Highlighting"
 		  Callback		  "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(configBl"
@@ -2888,7 +3099,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    109
+	    $ObjectID		    133
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Set References"
 	    Description		    "This block sets the references for the robot actuators.\nThe type of control mode is specified "
@@ -2905,7 +3116,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      2
 	      Object {
-		$ObjectID		110
+		$ObjectID		134
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
@@ -2937,7 +3148,7 @@ Library {
 		" maskStr"
 	      }
 	      Object {
-		$ObjectID		111
+		$ObjectID		135
 		Type			"edit"
 		Name			"refSpeed"
 		Prompt			"Reference Speed"
@@ -2949,11 +3160,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      3
 	      Object {
-		$ObjectID		112
+		$ObjectID		136
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  113
+		  $ObjectID		  137
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -2961,18 +3172,18 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		114
+		$ObjectID		138
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Array {
 		  Type			  "Simulink.dialog.parameter.Control"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    115
+		    $ObjectID		    139
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "controlType"
 		  }
 		  Object {
-		    $ObjectID		    116
+		    $ObjectID		    140
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
 		    Name		    "refSpeed"
@@ -2982,10 +3193,10 @@ Library {
 		Name			"ParameterGroupVar"
 	      }
 	      Object {
-		$ObjectID		117
+		$ObjectID		141
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  118
+		  $ObjectID		  142
 		  $ClassName		  "Simulink.dialog.Button"
 		  Prompt		  "Toggle Config Block Highlighting"
 		  Callback		  "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(configBl"
@@ -3060,7 +3271,7 @@ Library {
       Variant		      off
       Object {
 	$PropName		"MaskObject"
-	$ObjectID		119
+	$ObjectID		143
 	$ClassName		"Simulink.Mask"
 	Display			"image(imread('wholeBodyModel.png'),'center')"
       }
@@ -3092,7 +3303,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    120
+	    $ObjectID		    144
 	    $ClassName		    "Simulink.Mask"
 	    Display		    "image(imread('Dynamics.png'))"
 	  }
@@ -3123,7 +3334,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		121
+		$ObjectID		145
 		$ClassName		"Simulink.Mask"
 		Type			"Centroidal Momentum"
 		Description		"This block computed the 6 element centroidal momentum, as defined in:\n\"Centroidal dynamics of a huma"
@@ -3139,24 +3350,24 @@ Library {
 		RunInitForIconRedraw	"on"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  122
+		  $ObjectID		  146
 		  $ClassName		  "Simulink.dialog.Group"
 		  Prompt		  "%<MaskType>"
 		  Array {
 		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    123
+		    $ObjectID		    147
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
 		    }
 		    Object {
-		    $ObjectID		    124
+		    $ObjectID		    148
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    125
+		    $ObjectID		    149
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -3292,7 +3503,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		126
+		$ObjectID		150
 		$ClassName		"Simulink.Mask"
 		Type			"Get Generalized Bias Forces"
 		Description		"This block retrieves the generalied bias forces of the robot.\n\nAssuming DoFs is the number of degree"
@@ -3307,24 +3518,24 @@ Library {
 		RunInitForIconRedraw	"on"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  127
+		  $ObjectID		  151
 		  $ClassName		  "Simulink.dialog.Group"
 		  Prompt		  "%<MaskType>"
 		  Array {
 		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    128
+		    $ObjectID		    152
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
 		    }
 		    Object {
-		    $ObjectID		    129
+		    $ObjectID		    153
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    130
+		    $ObjectID		    154
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -3505,7 +3716,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		131
+		$ObjectID		155
 		$ClassName		"Simulink.Mask"
 		Type			"Gravity bias"
 		Description		"This block compute the generalized bias forces due to the gravity\n\nAssuming DoFs is the number of de"
@@ -3518,24 +3729,24 @@ Library {
 		RunInitForIconRedraw	"off"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  132
+		  $ObjectID		  156
 		  $ClassName		  "Simulink.dialog.Group"
 		  Prompt		  "%<MaskType>"
 		  Array {
 		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    133
+		    $ObjectID		    157
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
 		    }
 		    Object {
-		    $ObjectID		    134
+		    $ObjectID		    158
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    135
+		    $ObjectID		    159
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -3707,7 +3918,7 @@ Library {
 	      SFcnIsStateOwnerBlock   off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		136
+		$ObjectID		160
 		$ClassName		"Simulink.Mask"
 		Type			"Inverse Dynamics"
 		Description		"This block compute the inverse dynamics of the robot.\n\nAssuming DoFs is the number of degrees of fre"
@@ -3727,24 +3938,24 @@ Library {
 		RunInitForIconRedraw	"on"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  137
+		  $ObjectID		  161
 		  $ClassName		  "Simulink.dialog.Group"
 		  Prompt		  "%<MaskType>"
 		  Array {
 		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    138
+		    $ObjectID		    162
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
 		    }
 		    Object {
-		    $ObjectID		    139
+		    $ObjectID		    163
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    140
+		    $ObjectID		    164
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -3772,7 +3983,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		141
+		$ObjectID		165
 		$ClassName		"Simulink.Mask"
 		Type			"Mass Matrix"
 		Description		"This block retrieves the robot mass matrix.\n\nAssuming DoFs is the number of degrees of freedom of th"
@@ -3785,24 +3996,24 @@ Library {
 		RunInitForIconRedraw	"on"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  142
+		  $ObjectID		  166
 		  $ClassName		  "Simulink.dialog.Group"
 		  Prompt		  "%<MaskType>"
 		  Array {
 		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    143
+		    $ObjectID		    167
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
 		    }
 		    Object {
-		    $ObjectID		    144
+		    $ObjectID		    168
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    145
+		    $ObjectID		    169
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -3911,7 +4122,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    146
+	    $ObjectID		    170
 	    $ClassName		    "Simulink.Mask"
 	    Display		    "image(imread('jacobian.png'))"
 	  }
@@ -3942,7 +4153,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		147
+		$ObjectID		171
 		$ClassName		"Simulink.Mask"
 		Type			"DotJ Nu"
 		Description		"This block computes the product between the time derivative of the Jacobian of the specified frame and"
@@ -3963,7 +4174,7 @@ Library {
 		RunInitForIconRedraw	"on"
 		Object {
 		  $PropName		  "Parameters"
-		  $ObjectID		  148
+		  $ObjectID		  172
 		  $ClassName		  "Simulink.MaskParameter"
 		  Type			  "edit"
 		  Name			  "frameName"
@@ -3974,11 +4185,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    149
+		    $ObjectID		    173
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    150
+		    $ObjectID		    174
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -3986,22 +4197,22 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    151
+		    $ObjectID		    175
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Array {
 		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    152
+		    $ObjectID		    176
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "frameName"
 		    }
 		    Object {
-		    $ObjectID		    153
+		    $ObjectID		    177
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    154
+		    $ObjectID		    178
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -4139,7 +4350,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		155
+		$ObjectID		179
 		$ClassName		"Simulink.Mask"
 		Type			"Jacobian"
 		Description		"This block retrieves the Jacobian of the specified frame.\n\nAssuming DoFs is the number of degrees of"
@@ -4156,7 +4367,7 @@ Library {
 		RunInitForIconRedraw	"on"
 		Object {
 		  $PropName		  "Parameters"
-		  $ObjectID		  156
+		  $ObjectID		  180
 		  $ClassName		  "Simulink.MaskParameter"
 		  Type			  "edit"
 		  Name			  "frameName"
@@ -4167,11 +4378,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    157
+		    $ObjectID		    181
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    158
+		    $ObjectID		    182
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4179,22 +4390,22 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    159
+		    $ObjectID		    183
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Array {
 		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    160
+		    $ObjectID		    184
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "frameName"
 		    }
 		    Object {
-		    $ObjectID		    161
+		    $ObjectID		    185
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    162
+		    $ObjectID		    186
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -4305,7 +4516,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    163
+	    $ObjectID		    187
 	    $ClassName		    "Simulink.Mask"
 	    Display		    "image(imread('forwardKinematics.png'))"
 	  }
@@ -4336,7 +4547,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		164
+		$ObjectID		188
 		$ClassName		"Simulink.Mask"
 		Type			"Forward Kinematics"
 		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
@@ -4353,7 +4564,7 @@ Library {
 		"', 2, 'Joint configuration')\n\nclear escapedFrameName;"
 		Object {
 		  $PropName		  "Parameters"
-		  $ObjectID		  165
+		  $ObjectID		  189
 		  $ClassName		  "Simulink.MaskParameter"
 		  Type			  "edit"
 		  Name			  "frameName"
@@ -4364,11 +4575,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    166
+		    $ObjectID		    190
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    167
+		    $ObjectID		    191
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4376,22 +4587,22 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    168
+		    $ObjectID		    192
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Array {
 		    Type		    "Simulink.dialog.Control"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    169
+		    $ObjectID		    193
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "frameName"
 		    }
 		    Object {
-		    $ObjectID		    170
+		    $ObjectID		    194
 		    $ClassName		    "Simulink.dialog.Group"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    171
+		    $ObjectID		    195
 		    $ClassName		    "Simulink.dialog.Button"
 		    Prompt		    "Toggle Config Block Highlighting"
 		    Callback		    "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(conf"
@@ -4504,7 +4715,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		172
+		$ObjectID		196
 		$ClassName		"Simulink.Mask"
 		Type			"Forward Kinematics"
 		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
@@ -4528,21 +4739,21 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  7
 		  Object {
-		    $ObjectID		    173
+		    $ObjectID		    197
 		    Type		    "edit"
 		    Name		    "baseFrame"
 		    Prompt		    "Base Frame"
 		    Value		    "'root_link'"
 		  }
 		  Object {
-		    $ObjectID		    174
+		    $ObjectID		    198
 		    Type		    "edit"
 		    Name		    "endEffFrame"
 		    Prompt		    "End Effector frame"
 		    Value		    "'l_sole'"
 		  }
 		  Object {
-		    $ObjectID		    175
+		    $ObjectID		    199
 		    Type		    "popup"
 		    Array {
 		    Type		    "Cell"
@@ -4556,7 +4767,7 @@ Library {
 		    Value		    "Full Constraint (Position and Orientation)"
 		  }
 		  Object {
-		    $ObjectID		    176
+		    $ObjectID		    200
 		    Type		    "edit"
 		    Name		    "robotName"
 		    Prompt		    "Robot Port Name"
@@ -4564,7 +4775,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    177
+		    $ObjectID		    201
 		    Type		    "edit"
 		    Name		    "localName"
 		    Prompt		    "Model Name"
@@ -4572,7 +4783,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    178
+		    $ObjectID		    202
 		    Type		    "edit"
 		    Name		    "wbiFile"
 		    Prompt		    "WBI filename"
@@ -4580,7 +4791,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    179
+		    $ObjectID		    203
 		    Type		    "edit"
 		    Name		    "wbiList"
 		    Prompt		    "WBI list name"
@@ -4593,11 +4804,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    180
+		    $ObjectID		    204
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    181
+		    $ObjectID		    205
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4605,34 +4816,34 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    182
+		    $ObjectID		    206
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    183
+		    $ObjectID		    207
 		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Array {
 		    Type		    "Simulink.dialog.Tab"
 		    Dimension		    2
 		    Object {
-		    $ObjectID		    184
+		    $ObjectID		    208
 		    Prompt		    "Block parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    185
+		    $ObjectID		    209
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
 		    Name		    "baseFrame"
 		    }
 		    Object {
-		    $ObjectID		    186
+		    $ObjectID		    210
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "endEffFrame"
 		    }
 		    Object {
-		    $ObjectID		    187
+		    $ObjectID		    211
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "optOption"
 		    }
@@ -4641,25 +4852,25 @@ Library {
 		    Name		    "Container8"
 		    }
 		    Object {
-		    $ObjectID		    188
+		    $ObjectID		    212
 		    Prompt		    "WBI parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Edit"
 		    Dimension		    4
 		    Object {
-		    $ObjectID		    189
+		    $ObjectID		    213
 		    Name		    "robotName"
 		    }
 		    Object {
-		    $ObjectID		    190
+		    $ObjectID		    214
 		    Name		    "localName"
 		    }
 		    Object {
-		    $ObjectID		    191
+		    $ObjectID		    215
 		    Name		    "wbiFile"
 		    }
 		    Object {
-		    $ObjectID		    192
+		    $ObjectID		    216
 		    Name		    "wbiList"
 		    }
 		    PropName		    "DialogControls"
@@ -4800,7 +5011,7 @@ Library {
 	      Variant		      off
 	      Object {
 		$PropName		"MaskObject"
-		$ObjectID		193
+		$ObjectID		217
 		$ClassName		"Simulink.Mask"
 		Type			"Forward Kinematics"
 		Description		"This block retrieves the forward kinematics of the specified frame.\n\nAssuming DoFs is the number of "
@@ -4826,14 +5037,14 @@ Library {
 		  Type			  "Simulink.MaskParameter"
 		  Dimension		  3
 		  Object {
-		    $ObjectID		    194
+		    $ObjectID		    218
 		    Type		    "edit"
 		    Name		    "solverName"
 		    Prompt		    "Solver Name"
 		    Value		    "'/cartesianSolver'"
 		  }
 		  Object {
-		    $ObjectID		    195
+		    $ObjectID		    219
 		    Type		    "edit"
 		    Name		    "dofs"
 		    Prompt		    "#Dofs"
@@ -4841,7 +5052,7 @@ Library {
 		    Tunable		    "off"
 		  }
 		  Object {
-		    $ObjectID		    196
+		    $ObjectID		    220
 		    Type		    "popup"
 		    Array {
 		    Type		    "Cell"
@@ -4860,11 +5071,11 @@ Library {
 		  Type			  "Simulink.dialog.Group"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    197
+		    $ObjectID		    221
 		    Prompt		    "%<MaskType>"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    198
+		    $ObjectID		    222
 		    $ClassName		    "Simulink.dialog.Text"
 		    Prompt		    "%<MaskDescription>"
 		    Name		    "DescTextVar"
@@ -4872,33 +5083,33 @@ Library {
 		    Name		    "DescGroupVar"
 		  }
 		  Object {
-		    $ObjectID		    199
+		    $ObjectID		    223
 		    Prompt		    "Simulink:studio:ToolBarParametersMenu"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    200
+		    $ObjectID		    224
 		    $ClassName		    "Simulink.dialog.TabContainer"
 		    Object {
 		    $PropName		    "DialogControls"
-		    $ObjectID		    201
+		    $ObjectID		    225
 		    $ClassName		    "Simulink.dialog.Tab"
 		    Prompt		    "Block parameters"
 		    Array {
 		    Type		    "Simulink.dialog.parameter.Control"
 		    Dimension		    3
 		    Object {
-		    $ObjectID		    202
+		    $ObjectID		    226
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    PromptLocation	    "left"
 		    Name		    "solverName"
 		    }
 		    Object {
-		    $ObjectID		    203
+		    $ObjectID		    227
 		    $ClassName		    "Simulink.dialog.parameter.Edit"
 		    Name		    "dofs"
 		    }
 		    Object {
-		    $ObjectID		    204
+		    $ObjectID		    228
 		    $ClassName		    "Simulink.dialog.parameter.Popup"
 		    Name		    "optOption"
 		    }
@@ -5007,7 +5218,7 @@ Library {
       Variant		      off
       Object {
 	$PropName		"MaskObject"
-	$ObjectID		205
+	$ObjectID		229
 	$ClassName		"Simulink.Mask"
 	Display			"image(imread('wholeBodyStates.png'),'center');"
       }
@@ -5039,7 +5250,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    206
+	    $ObjectID		    230
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Get Limits"
 	    Description		    "This block provides the joint limits gathering data from either the Robot's Control Board or UR"
@@ -5063,7 +5274,7 @@ Library {
 	      Type		      "Simulink.MaskParameter"
 	      Dimension		      2
 	      Object {
-		$ObjectID		207
+		$ObjectID		231
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
@@ -5083,7 +5294,7 @@ Library {
 		"imit blockParameters limitsTypeBlockParam"
 	      }
 	      Object {
-		$ObjectID		208
+		$ObjectID		232
 		Type			"popup"
 		Array {
 		  Type			  "Cell"
@@ -5108,11 +5319,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      3
 	      Object {
-		$ObjectID		209
+		$ObjectID		233
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  210
+		  $ObjectID		  234
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -5120,17 +5331,17 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		211
+		$ObjectID		235
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Array {
 		  Type			  "Simulink.dialog.parameter.Popup"
 		  Dimension		  2
 		  Object {
-		    $ObjectID		    212
+		    $ObjectID		    236
 		    Name		    "limitsSource"
 		  }
 		  Object {
-		    $ObjectID		    213
+		    $ObjectID		    237
 		    Name		    "limitsType"
 		  }
 		  PropName		  "DialogControls"
@@ -5138,10 +5349,10 @@ Library {
 		Name			"ParameterGroupVar"
 	      }
 	      Object {
-		$ObjectID		214
+		$ObjectID		238
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  215
+		  $ObjectID		  239
 		  $ClassName		  "Simulink.dialog.Button"
 		  Prompt		  "Toggle Config Block Highlighting"
 		  Callback		  "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(configBl"
@@ -5230,7 +5441,7 @@ Library {
 	  Variant		  off
 	  Object {
 	    $PropName		    "MaskObject"
-	    $ObjectID		    216
+	    $ObjectID		    240
 	    $ClassName		    "Simulink.Mask"
 	    Type		    "Get Measurement"
 	    Description		    "This block gathers the measurement of the specified type.\n\nAssuming DoFs is the number of deg"
@@ -5243,7 +5454,7 @@ Library {
 	    RunInitForIconRedraw    "off"
 	    Object {
 	      $PropName		      "Parameters"
-	      $ObjectID		      217
+	      $ObjectID		      241
 	      $ClassName	      "Simulink.MaskParameter"
 	      Type		      "popup"
 	      Array {
@@ -5270,11 +5481,11 @@ Library {
 	      Type		      "Simulink.dialog.Group"
 	      Dimension		      3
 	      Object {
-		$ObjectID		218
+		$ObjectID		242
 		Prompt			"%<MaskType>"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  219
+		  $ObjectID		  243
 		  $ClassName		  "Simulink.dialog.Text"
 		  Prompt		  "%<MaskDescription>"
 		  Name			  "DescTextVar"
@@ -5282,21 +5493,21 @@ Library {
 		Name			"DescGroupVar"
 	      }
 	      Object {
-		$ObjectID		220
+		$ObjectID		244
 		Prompt			"Simulink:studio:ToolBarParametersMenu"
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  221
+		  $ObjectID		  245
 		  $ClassName		  "Simulink.dialog.parameter.Popup"
 		  Name			  "measuredType"
 		}
 		Name			"ParameterGroupVar"
 	      }
 	      Object {
-		$ObjectID		222
+		$ObjectID		246
 		Object {
 		  $PropName		  "DialogControls"
-		  $ObjectID		  223
+		  $ObjectID		  247
 		  $ClassName		  "Simulink.dialog.Button"
 		  Prompt		  "Toggle Config Block Highlighting"
 		  Callback		  "[configBlock, ~] = WBToolbox.BlockInitialization(gcb, gcs);\n\ntry\n    if (strcmp(get_param(configBl"
diff --git a/toolbox/matlab/library/exported/WBToolboxLibrary.slx b/toolbox/matlab/library/exported/WBToolboxLibrary.slx
index d2f615da634fff6b1190c48dde0c38cbd266a766..da72a0ac43c624105bff87a15e3398dbb97d435f 100644
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diff --git a/toolbox/src/DiscreteFilter.cpp b/toolbox/src/DiscreteFilter.cpp
index be74d7c70..674501a50 100644
--- a/toolbox/src/DiscreteFilter.cpp
+++ b/toolbox/src/DiscreteFilter.cpp
@@ -1,7 +1,6 @@
 #include "DiscreteFilter.h"
 #include "BlockInformation.h"
-#include "Error.h"
-#include "ForwardKinematics.h"
+#include "Log.h"
 #include "Signal.h"
 #include <algorithm>
 #include <cassert>
@@ -10,40 +9,38 @@
 #include <string>
 #include <yarp/sig/Vector.h>
 
+using namespace wbt;
+using namespace iCub::ctrl;
+using namespace yarp::sig;
+
+const std::string DiscreteFilter::ClassName = "DiscreteFilter";
+
 // Parameters
-#define PARAM_IDX_FLT_TYPE 1 // ::Filter type
-#define PARAM_IDX_NUMCOEFF 2 // ::Filter numerator coefficients
-#define PARAM_IDX_DENCOEFF 3 // ::Filter denominator coefficients
-#define PARAM_IDX_1LOWP_FC 4 // ::FirstOrderLowPassFilter cut frequency
-#define PARAM_IDX_1LOWP_TS 5 // ::FirstOrderLowPassFilter sampling time
-#define PARAM_IDX_MD_ORDER 6 // ::MedianFilter order
-#define PARAM_IDX_INIT_Y0 7  // Output initialization
-#define PARAM_IDX_INIT_U0 8  // ::Filter input initialization
+const unsigned DiscreteFilter::PARAM_IDX_FLT_TYPE = 1; // ::Filter type
+const unsigned DiscreteFilter::PARAM_IDX_NUMCOEFF = 2; // ::Filter numerator coefficients
+const unsigned DiscreteFilter::PARAM_IDX_DENCOEFF = 3; // ::Filter denominator coefficients
+const unsigned DiscreteFilter::PARAM_IDX_1LOWP_FC = 4; // ::FirstOrderLowPassFilter cut frequency
+const unsigned DiscreteFilter::PARAM_IDX_1LOWP_TS = 5; // ::FirstOrderLowPassFilter sampling time
+const unsigned DiscreteFilter::PARAM_IDX_MD_ORDER = 6; // ::MedianFilter order
+const unsigned DiscreteFilter::PARAM_IDX_INIT_Y0 = 7;  // Output initialization
+const unsigned DiscreteFilter::PARAM_IDX_INIT_U0 = 8;  // ::Filter input initialization
 
 // Inputs
-#define INPUT_IDX_SIGNAL 0
+const unsigned DiscreteFilter::INPUT_IDX_SIGNAL = 0;
 // Outputs
-#define OUTPUT_IDX_SIGNAL 0
+const unsigned DiscreteFilter::OUTPUT_IDX_SIGNAL = 0;
 // Other defines
-#define SIGNAL_DYNAMIC_SIZE -1
-
-using namespace wbt;
-using namespace iCub::ctrl;
-using namespace yarp::sig;
-
-std::string DiscreteFilter::ClassName = "DiscreteFilter";
+const int DiscreteFilter::SIGNAL_DYNAMIC_SIZE = -1;
 
 DiscreteFilter::DiscreteFilter()
-    : filter(nullptr), y0(nullptr), u0(nullptr), inputSignalVector(nullptr)
-{
-}
+{}
 
 unsigned DiscreteFilter::numberOfParameters()
 {
     return 8;
 }
 
-bool DiscreteFilter::configureSizeAndPorts(BlockInformation* blockInfo, wbt::Error* error)
+bool DiscreteFilter::configureSizeAndPorts(BlockInformation* blockInfo)
 {
     // Memory allocation / Saving data not allowed here
 
@@ -56,9 +53,7 @@ bool DiscreteFilter::configureSizeAndPorts(BlockInformation* blockInfo, wbt::Err
     // Number of input ports
     int numberOfInputPorts = 1;
     if (!blockInfo->setNumberOfInputPorts(numberOfInputPorts)) {
-        if (error) {
-            error->message = ClassName + " Failed to set input port number.";
-        }
+        Log::getSingleton().error("Failed to set input port number.");
         return false;
     }
 
@@ -71,10 +66,8 @@ bool DiscreteFilter::configureSizeAndPorts(BlockInformation* blockInfo, wbt::Err
 
     // Number of output ports
     int numberOfOutputPorts = 1;
-    if (!blockInfo->setNumberOfOuputPorts(numberOfOutputPorts)) {
-        if (error) {
-            error->message = ClassName + " Failed to set output port number.";
-        }
+    if (!blockInfo->setNumberOfOutputPorts(numberOfOutputPorts)) {
+        Log::getSingleton().error("Failed to set output port number.");
         return false;
     }
 
@@ -85,7 +78,7 @@ bool DiscreteFilter::configureSizeAndPorts(BlockInformation* blockInfo, wbt::Err
     return true;
 }
 
-bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
+bool DiscreteFilter::initialize(const BlockInformation* blockInfo)
 {
     // Handle the parameters
     // =====================
@@ -96,24 +89,29 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     std::string den_coeff_str;
     std::string y0_str;
     std::string u0_str;
-    wbt::Data firstOrderLowPassFilter_fc;
-    wbt::Data firstOrderLowPassFilter_ts;
-    wbt::Data medianFilter_order;
+    double firstOrderLowPassFilter_fc;
+    double firstOrderLowPassFilter_ts;
+    double medianFilter_order;
 
     // Get the scalar parameters
-    firstOrderLowPassFilter_fc = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1LOWP_FC);
-    firstOrderLowPassFilter_ts = blockInfo->getScalarParameterAtIndex(PARAM_IDX_1LOWP_TS);
-    medianFilter_order         = blockInfo->getScalarParameterAtIndex(PARAM_IDX_MD_ORDER);
+    bool ok = true;
+    ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_IDX_1LOWP_FC,
+                                                    firstOrderLowPassFilter_fc);
+    ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_IDX_1LOWP_TS,
+                                                    firstOrderLowPassFilter_ts);
+    ok = ok && blockInfo->getScalarParameterAtIndex(PARAM_IDX_MD_ORDER,
+                                                    medianFilter_order);
 
     // Get the string parameter
-    if (!(blockInfo->getStringParameterAtIndex(PARAM_IDX_FLT_TYPE, filter_type)
-          && blockInfo->getStringParameterAtIndex(PARAM_IDX_NUMCOEFF, num_coeff_str)
-          && blockInfo->getStringParameterAtIndex(PARAM_IDX_DENCOEFF, den_coeff_str)
-          && blockInfo->getStringParameterAtIndex(PARAM_IDX_INIT_Y0, y0_str)
-          && blockInfo->getStringParameterAtIndex(PARAM_IDX_INIT_U0, u0_str))) {
-        if (error) {
-            error->message = ClassName + " Failed to parse string parameters.";
-        }
+    ok = ok && blockInfo->getStringParameterAtIndex(PARAM_IDX_FLT_TYPE, filter_type);
+    ok = ok && blockInfo->getStringParameterAtIndex(PARAM_IDX_NUMCOEFF, num_coeff_str);
+    ok = ok && blockInfo->getStringParameterAtIndex(PARAM_IDX_DENCOEFF, den_coeff_str);
+    ok = ok && blockInfo->getStringParameterAtIndex(PARAM_IDX_INIT_Y0, y0_str);
+    ok = ok && blockInfo->getStringParameterAtIndex(PARAM_IDX_INIT_U0, u0_str);
+
+
+    if (!ok) {
+        Log::getSingleton().error("Failed to parse parameters.");
         return false;
     }
 
@@ -127,13 +125,13 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     unsigned y0Width, u0Width;
 
     if (y0_str != "none") {
-        y0 = new Vector(0);
+        y0 = std::unique_ptr<yarp::sig::Vector>(new Vector(0));
         stringToYarpVector(y0_str, *y0);
-         y0Width = y0->length();
+        y0Width = y0->length();
     }
 
     if (u0_str != "none") {
-        u0 = new Vector(0);
+        u0 = std::unique_ptr<yarp::sig::Vector>(new Vector(0));
         stringToYarpVector(u0_str, *u0);
         u0Width = u0->length();
     }
@@ -145,43 +143,35 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     // -------
     if (filter_type == "Generic") {
         if (num.length() == 0 || den.length() == 0) {
-            if (error) {
-                error->message = ClassName + " (Generic) Wrong coefficients size";
-            }
-            return 1;
+            Log::getSingleton().error("(Generic) Wrong coefficients size.");
+            return false;
         }
-        filter = new Filter(num, den);
+        filter = std::unique_ptr<Filter>(new Filter(num, den));
     }
     // FirstOrderLowPassFilter
     // -----------------------
     else if (filter_type == "FirstOrderLowPassFilter") {
-        if (firstOrderLowPassFilter_fc.floatData() == 0
-            || firstOrderLowPassFilter_ts.floatData() == 0) {
-            if (error) {
-                error->message = ClassName
-                                 + " (FirstOrderLowPassFilter) You need to "
-                                   "specify Fc and Ts";
-            }
+        if (firstOrderLowPassFilter_fc == 0 || firstOrderLowPassFilter_ts == 0) {
+            Log::getSingleton().error("(FirstOrderLowPassFilter) You need to "
+                                      "specify Fc and Ts.");
             return false;
         }
-        filter = new FirstOrderLowPassFilter(firstOrderLowPassFilter_fc.floatData(),
-                                             firstOrderLowPassFilter_ts.floatData());
+        filter =  std::unique_ptr<FirstOrderLowPassFilter>(
+            new FirstOrderLowPassFilter(firstOrderLowPassFilter_fc,
+                                        firstOrderLowPassFilter_ts));
     }
     // MedianFilter
     // ------------
     else if (filter_type == "MedianFilter") {
-        if (medianFilter_order.int32Data() == 0) {
-            if (error) {
-                error->message = ClassName
-                                 + " (MedianFilter) You need to specify the "
-                                   "filter order.";
-            }
+        if (static_cast<int>(medianFilter_order) == 0) {
+            Log::getSingleton().error("(MedianFilter) You need to specify the "
+                                      "filter order.");
             return false;
         }
-        filter = new MedianFilter(medianFilter_order.int32Data());
+        filter = std::unique_ptr<MedianFilter>(new MedianFilter(static_cast<int>(medianFilter_order)));
     }
     else {
-        if (error) error->message = ClassName + " Filter type not recognized.";
+        Log::getSingleton().error("Filter type not recognized.");
         return false;
     }
 
@@ -195,54 +185,27 @@ bool DiscreteFilter::initialize(BlockInformation* blockInfo, wbt::Error* error)
     unsigned outputSignalWidth = blockInfo->getInputPortWidth(OUTPUT_IDX_SIGNAL);
 
     if ((y0 != nullptr) && (y0Width != outputSignalWidth)) {
-        if (error) {
-            error->message = ClassName + " y0 and output signal sizes don't match";
-        }
+        Log::getSingleton().error("y0 and output signal sizes don't match.");
         return false;
     }
 
     if ((u0 != nullptr) && (filter_type == "Generic") && (u0Width != inputSignalWidth)) {
-        if (error) {
-            error->message = ClassName + " (Generic) u0 and input signal sizes don't match";
-        }
+        Log::getSingleton().error("(Generic) u0 and input signal sizes don't match.");
         return false;
     }
 
     // Allocate the input signal
-    inputSignalVector = new Vector(inputSignalWidth, 0.0);
+    inputSignalVector = std::unique_ptr<Vector>(new Vector(inputSignalWidth, 0.0));
 
     return true;
 }
 
-bool DiscreteFilter::terminate(BlockInformation* blockInfo, wbt::Error* error)
+bool DiscreteFilter::terminate(const BlockInformation* blockInfo)
 {
-    // Deallocate all the memory
-    // -------------------------
-
-    if (filter) {
-        delete filter;
-        filter = nullptr;
-    }
-
-    if (inputSignalVector) {
-        delete inputSignalVector;
-        inputSignalVector = nullptr;
-    }
-
-    if (y0) {
-        delete y0;
-        y0 = nullptr;
-    }
-
-    if (u0) {
-        delete u0;
-        u0 = nullptr;
-    }
-
     return true;
 }
 
-bool DiscreteFilter::initializeInitialConditions(BlockInformation* blockInfo, wbt::Error* error)
+bool DiscreteFilter::initializeInitialConditions(const BlockInformation* blockInfo)
 {
     // Reminder: this function is called when, during runtime, a block is disabled
     // and enabled again. The method ::initialize instead is called just one time.
@@ -251,17 +214,17 @@ bool DiscreteFilter::initializeInitialConditions(BlockInformation* blockInfo, wb
     // sized vector
     if (y0 == nullptr) {
         unsigned outputSignalWidth = blockInfo->getInputPortWidth(OUTPUT_IDX_SIGNAL);
-        y0                         = new Vector(outputSignalWidth, 0.0);
+        y0 = std::unique_ptr<Vector>(new Vector(outputSignalWidth, 0.0));
     }
     if (u0 == nullptr) {
-        u0 = new Vector(inputSignalWidth, 0.0);
+        u0 = std::unique_ptr<Vector>(new Vector(inputSignalWidth, 0.0));
     }
 
     // Initialize the filter. This is required because if the signal is not 1D,
     // the default filter constructor initialize a wrongly sized y0
     // Moreover, the Filter class has a different constructor that handles the
     // zero-gain case
-    Filter* filter_c = dynamic_cast<Filter*>(filter);
+    Filter* filter_c = dynamic_cast<Filter*>(filter.get());
     if (filter_c != nullptr) {
         filter_c->init(*y0, *u0);
     }
@@ -272,7 +235,7 @@ bool DiscreteFilter::initializeInitialConditions(BlockInformation* blockInfo, wb
     return true;
 }
 
-bool DiscreteFilter::output(BlockInformation* blockInfo, wbt::Error* error)
+bool DiscreteFilter::output(const BlockInformation* blockInfo)
 {
     if (filter == nullptr) return false;
 
@@ -282,7 +245,7 @@ bool DiscreteFilter::output(BlockInformation* blockInfo, wbt::Error* error)
 
     // Copy the Signal to the data structure that the filter wants
     for (unsigned i = 0; i < inputSignalWidth; ++i) {
-        (*inputSignalVector)[i] = inputSignal.get(i).doubleData();
+        (*inputSignalVector)[i] = inputSignal.get<double>(i);
     }
 
     // Filter the current component of the input signal