setFrameVelocityRepresentation.m

function [] = setFrameVelocityRepresentation(KinDynModel,frameVelRepr)

    % SETFRAMEVELOCITYREPRESENTATION sets the frame velocity representation.
    %
    % This matlab function wraps a functionality of the iDyntree library.
    % For further info see also: https://github.com/robotology/idyntree
    %
    % FORMAT: [] = setFrameVelocityRepresentation(KinDynModel,frameVelRepr)
    %
    % INPUTS:  - frameVelRepr: a string with one of the following values:
    %                          'mixed', 'body', 'inertial';
    %          - KinDynModel: a structure containing the loaded model and additional info.
    %
    % Mapping for the frame velocity reperesentation
    %
    %  0 = INERTIAL_FIXED_REPRESENTATION
    %
    %  1 = BODY_FIXED_REPRESENTATION
    %
    %  2 = MIXED_REPRESENTATION
    %
    % Author : Gabriele Nava (gabriele.nava@iit.it)
    %
    % SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
    % SPDX-License-Identifier: BSD-3-Clause

    %% ------------Initialization----------------

    switch frameVelRepr

        case 'mixed'

            frameVelRepr_idyntree = iDynTree.MIXED_REPRESENTATION;

        case 'body'

            frameVelRepr_idyntree = iDynTree.BODY_FIXED_REPRESENTATION;

        case 'inertial'

            frameVelRepr_idyntree = iDynTree.INERTIAL_FIXED_REPRESENTATION;

        otherwise
            error('[setFrameVelocityRepresentation]: frameVelRepr is not a valid string.')
    end

    % set the desired frameVelRepr
    ack = KinDynModel.kinDynComp.setFrameVelocityRepresentation(frameVelRepr_idyntree);

    % check for errors
    if ~ack
        error('[setFrameVelocityRepresentation]: unable to set the frame velocity representation.')
    end
end