updateVisualizer.m

function [] = updateVisualizer(Visualizer,KinDynModel,jointPos,basePose)

    % UPDATEVISUALIZER updates the iDyntree visualizer with the current
    %                  base pose and joints position.
    %
    % WARNING! This function is deprecated! Use updateVisualization instead.
    %
    % This matlab function wraps a functionality of the iDyntree library.
    % For further info see also: https://github.com/robotology/idyntree
    %
    % REQUIREMENTS: compile iDyntree with Irrlicht (IDYNTREE_USES_IRRLICHT = ON).
    %
    % FORMAT: [] = updateVisualizer(Visualizer,KinDynModel,jointPos,basePose)
    %
    % INPUTS:  - KinDynModel: a structure containing the loaded model and additional info.
    %          - Visualizer: a structure containing the visualizer and its options.
    %          - jointPos: [ndof x 1] vector representing the joints
    %                      configuration in radians;
    %          - basePose: [4 x 4] from base frame to world frame transform.
    %
    % Author : Gabriele Nava (gabriele.nava@iit.it)
    %
    % SPDX-FileCopyrightText: Fondazione Istituto Italiano di Tecnologia (IIT)
    % SPDX-License-Identifier: BSD-3-Clause

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

    % Debug input
    if Visualizer.DEBUG

        disp('[updateVisualizer]: debugging inputs...')

        % basePose must be a valid transformation matrix
        if size(basePose,1) ~= 4 || size(basePose,2) ~= 4

            error('[updateVisualizer]: basePose is not a 4x4 matrix.')
        end

        for ii = 1:4

            if ii < 4

                if abs(basePose(4,ii)) > 0.0001

                    error('[updateVisualizer]: the last line of basePose is not [0,0,0,1].')
                end
            else
                if abs(basePose(4,ii)) > 1.0001 || abs(basePose(4,ii)) < 0.9999

                    error('[updateVisualizer]: the last line of basePose is not [0,0,0,1].')
                end
            end
        end

        % baseRotation = basePose(1:3,1:3) must be a valid rotation matrix
        if det(basePose(1:3,1:3)) < 0.9 || det(basePose(1:3,1:3)) > 1.1

            error('[updateVisualizer]: baseRotation is not a valid rotation matrix.')
        end

        IdentityMatr = basePose(1:3,1:3)*basePose(1:3,1:3)';

        for kk = 1:size(IdentityMatr, 1)

            for jj = 1:size(IdentityMatr, 1)

                if jj == kk

                    if abs(IdentityMatr(kk,jj)) < 0.9 || abs(IdentityMatr(kk,jj)) > 1.1

                        error('[updateVisualizer]: baseRotation is not a valid rotation matrix.')
                    end
                else
                    if abs(IdentityMatr(kk,jj)) > 0.01

                        error('[updateVisualizer]: baseRotation is not a valid rotation matrix.')
                    end
                end
            end
        end

        % check joint position vector size
        if length(jointPos) ~= KinDynModel.NDOF

            error('[updateVisualizer]: the length of jointPos is not KinDynModel.NDOF')
        end

        disp('[updateVisualizer]: done.')
    end

    for k = 0:length(jointPos)-1

        KinDynModel.kinematics.jointPos_iDyntree.setVal(k,jointPos(k+1));
    end

    % set the elements of the rotation matrix and of the base position vector
    for k = 0:2

        KinDynModel.kinematics.baseOrigin_iDyntree.setVal(k,basePose(k+1,4));

        for j = 0:2

            KinDynModel.kinematics.baseRotation_iDyntree.setVal(k,j,basePose(k+1,j+1));
        end
    end

    % add the rotation matrix and the position to w_H_b_iDyntree
    KinDynModel.kinematics.basePose_iDyntree.setRotation(KinDynModel.kinematics.baseRotation_iDyntree);
    KinDynModel.kinematics.basePose_iDyntree.setPosition(KinDynModel.kinematics.baseOrigin_iDyntree);

    % set the current joints position and world-to-base transform
    ack = Visualizer.viz.modelViz(0).setPositions(KinDynModel.kinematics.basePose_iDyntree,KinDynModel.kinematics.jointPos_iDyntree);

    % check for errors
    if ~ack
        error('[updateVisualizer]: unable to update the visualizer.')
    end

    Visualizer.viz.draw();
end